observation dict | action dict | state dict | reward float32 0 0 | metadata dict |
|---|---|---|---|---|
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250331_222932/--/790705bc2296ba9be1b849f5b0681967ee054d35/--/default/train/0/observation/image-f0a0300.jpg?Expires=1771958978&Signature=JRfU-wmm9epd85FY90J1MSw43FeZ035pBBfyJsPKY47I3vhFjv0knE5b~2QsIFuXo5lpqRuF74qcAyVLxQ~kSzyNl45FH1wvRKRzxiBu00j3egYYbgW~rEiH5vJpKk9i23qLB4Ldx1UCxJEUJ27tNrQqdSjXmvAaanlqvUl~oKxqfxvEJ-WcY8beexYYew43HPGyxbj7fim3xFRHKe~1~CPFNzdoh40ohf~HrxiQ~hl0nbQHOxIHc~C9jF4xI-M~BzgdZqkFKWd5Hhopu4wCIuyfVV4qSuhbHmNi1~LqXEkT19uubUOatqNg-F8ZdUHOIhCOEGJjKC3A-vCR3pucUg__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
},
"instruction": " Pick up the dawn bottle.",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - a dawn platinum liquid dish soap (clear dark blue bottle)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.375, -0.019, -0.373, 0.0, 0.0, 0.0]. \n Dimension width 0.044 meters, length 0.065 meters, and height 0.228 meters. \n 3d bounding box x1: 0.854, y1: -0.052, z1: 0.261, x2: 0.897, y2: 0.014, z2: 0.033.\n \n \nObject - a downy scent booster beads (with pink cap and pink body)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.352, 0.658, -0.336, 0.0, 0.0, 0.0]. \n Dimension width 0.054 meters, length 0.08 meters, and height 0.265 meters. \n 3d bounding box x1: 0.824, y1: 0.618, z1: 0.29, x2: 0.879, y2: 0.698, z2: 0.026.\n \n \nObject - a tide liquid laundry detergent soap (orange bottle)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.333, -0.253, -0.364, 0.0, 0.0, 0.0]. \n Dimension width 0.043 meters, length 0.098 meters, and height 0.237 meters. \n 3d bounding box x1: 0.811, y1: -0.302, z1: 0.227, x2: 0.854, y2: -0.204, z2: -0.01.\n \n \nObject - a large white cardboard box\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.463, 0.611, 0.047, 0.0, 0.0, 0.0]. \n Dimension width 0.269 meters, length 0.708 meters, and height 0.648 meters. \n 3d bounding box x1: 0.828, y1: 0.257, z1: 0.478, x2: 1.098, y2: 0.964, z2: -0.17.\n \n\nTask: Pick up the dawn bottle."
} | {
"pose": {
"x": 0.375,
"y": -0.01899999938905239,
"z": 0,
"roll": 0,
"pitch": 0,
"yaw": 0
},
"grasp": 1,
"gripper_force": 50
} | {
"images": {
"camF": {
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"height": 720,
"width": 1280
},
"camT": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250331_222932/--/790705bc2296ba9be1b849f5b0681967ee054d35/--/default/train/0/state/image-36390588.jpg?Expires=1771958978&Signature=ov~qjXmDRG6bPRebYB8DkctA476xk7-KD7~mUGRqLprOcVgFjdK6-cj1~BXT~06hfWYP7~xHZJfkB93L9IgpZN1hdCW34nqU42~68uWo78dnac8xGLVbEemUcK7igsvndBfNu634NvpTrUNVLGblgfRlYjUN7mKm~yohuKvvfoLkXu361~40XR68IY0FbDvEoSTJnJeLyWfWeM4Na4Fa~K1POje~1vdBWprE65IbSs9FJOIq4udHTOy0uUgamoX0X9YzRj~MyLjRDV6sq1XpSIrsQPdf514SR-DtLX1VkFewtiodzRjSIgTYyBUyfVnzXG21RoyEOasYI6wlTRS5fA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
}
},
"depths": {
"camF": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250331_222932/--/790705bc2296ba9be1b849f5b0681967ee054d35/--/default/train/0/state/image-36e6058c.png?Expires=1771958978&Signature=OmnQyQYqMUuxQHB4upUBV57ts454L03d0lQ7WXDyFI9Bqo1SzdYMR8OJs-gLYmRZF~zh~OGy-asLzdhRz8jwEz3Om~wHFL9SI9vAWHYFFWQy6nNQ1u64gsMgG3v5efAurPi9qcO4i6LWz0qzT17LXDb1y~fFs0fouioDZnRK6exHR71Hzzoz-vguRb3JYmEhGMQH0TU7YZtttA-x2qOkbswmZn5Ic4DVeVvtAFj8jm8kraHVpyv~31GzcmZPe~iV2h5fCN4O7QjCtknQ56~bWSoUp5p1OCddi92PIV3WgQKfFVS-pSuxCESPveuhyoitNHWzApCZOeNTxU9hqO0aeg__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
},
"camT": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250331_222932/--/790705bc2296ba9be1b849f5b0681967ee054d35/--/default/train/0/state/image-3710059a.png?Expires=1771958978&Signature=N~K4Fn-hhtjRvVGbqGpjqXL7Nytnc16Q9e3aEcHiosnQL0coKB5QpF5F-4hdSHsEhkublZI~O8JwDMJ30o0iq83GGBQ7xhsITmP35TZzAbEOWnWdtvWS1lNDOiw3FacUdFasPLTqHTBtbFen37M8yTpLCAJGy-LnEHTdmJYBSKNGrCOmkcSWTT9~6qBi2Qdd54AkKCNT7XeDLkb2~pRRTE5rESBNK3r4Rfw6e6GDGpzEWkJLXFWu2-zlYUJZOsvxfOIyGOe-TbFpFTVNg3TpVqYboBeVHOqeLCTB6GwDQ9ynai0HbQekAwG5iYWY~3q1db02VD1Kn5nFqpcisdjTLg__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
}
},
"world_objects": "{\"objects\": [{\"name\": \"a dawn platinum liquid dish soap (clear dark blue bottle)\", \"bbox_2d\": {\"x1\": 569.3956298828125, \"y1\": 372.3099365234375, \"x2\": 645.0335083007812, \"y2\": 561.9842529296875, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.853590083692894, \"y1\": -0.05165676860222357, \"z1\": 0.2605019379274712, \"x2\": 0.897160868484971, \"y2\": 0.013671311277559717, \"z2\": 0.0326159224525725}, \"volume\": -0.0006486537766621594, \"pose\": {\"x\": 0.8753754760889325, \"y\": -0.018992728662331926, \"z\": 0.14655893019002186, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.09976935554598154, 0.02454190813889407, 1.117], \"xyz_max\": [-0.024697914379802503, 0.22349758507135006, 1.2304862313004699], \"pca_vectors\": [[-0.07186801336124601, 0.290705537853952, 0.954109678662025], [-0.9106050051445052, 0.3711969721180108, -0.18169021023763693], [-0.4069809740777617, -0.8818747633034213, 0.23804072884120278]], \"image\": null}, {\"name\": \"a downy scent booster beads (with pink cap and pink body)\", \"bbox_2d\": {\"x1\": 798.6951293945312, \"y1\": 232.55126953125, \"x2\": 862.5017700195312, \"y2\": 387.49700927734375, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.8243492616284277, \"y1\": 0.618075961971303, \"z1\": 0.290491791470798, \"x2\": 0.8787310572306807, \"y2\": 0.6975938735821241, \"z2\": 0.025816080567568123}, \"volume\": -0.0011445442741862095, \"pose\": {\"x\": 0.8515401594295542, \"y\": 0.6578349177767135, \"z\": 0.15815393601918307, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [0.27137884901558257, -0.22243353913172106, 1.6185460956763942], \"xyz_max\": [0.36376851811196487, 0.008334357629712677, 1.7510000000000001], \"pca_vectors\": [[0.11325225368162987, 0.4411428871869344, 0.8902622535637505], [0.9085859863530656, -0.40856492743367273, 0.08686889819690817], [0.40205152958154367, 0.7990417092714832, -0.44708714408451494]], \"image\": null}, {\"name\": \"a tide liquid laundry detergent soap (orange bottle)\", \"bbox_2d\": {\"x1\": 374.9362487792969, \"y1\": 457.28851318359375, \"x2\": 512.3807983398438, \"y2\": 679.3289184570312, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.8114965941672754, \"y1\": -0.3019692930188711, \"z1\": 0.22732605369067294, \"x2\": 0.8542142590247476, \"y2\": -0.2039380030289325, \"z2\": -0.009768995585328843}, \"volume\": -0.0009928753013383027, \"pose\": {\"x\": 0.8328554265960115, \"y\": -0.2529536480239018, \"z\": 0.10877852905267205, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.2811756311745335, 0.12514322124041072, 0.967], \"xyz_max\": [-0.18745311111618052, 0.32199942919868274, 1.1088193136401303], \"pca_vectors\": [[0.16216139357280523, 0.2829060238971527, 0.9453400785311228], [0.8927828015564915, -0.45010962595589205, -0.018444345116849694], [0.42028865280836253, 0.8469743244423356, -0.3255640367976492]], \"image\": null}, {\"name\": \"a large white cardboard box\", \"bbox_2d\": {\"x1\": 658.269775390625, \"y1\": 167.4466552734375, \"x2\": 1123.2900390625, \"y2\": 507.68707275390625, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.8283939881088188, \"y1\": 0.2565858920520807, \"z1\": 0.47780511417733296, \"x2\": 1.0978720308517593, \"y2\": 0.9644249855955092, \"z2\": -0.17019644906152942}, \"volume\": -0.1236044147745226, \"pose\": {\"x\": 0.963133009480289, \"y\": 0.6105054388237949, \"z\": 0.15380433255790177, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [0.06035675082327113, -0.2792091108671789, 1.2750000000000001], \"xyz_max\": [0.6992667398463228, 0.15344970362239296, 1.9060000000000001], \"pca_vectors\": [[0.5350086990601782, 0.8439391441187316, 0.039146046468051136], [0.33362362789774447, -0.16847472859625412, -0.9275298058460256], [-0.7761835909359868, 0.5092965608057467, -0.37169348435660715]], \"image\": null}]}",
"gripper_pose": [
0.4999857246875763,
-0.00003568243846530095,
0.6012897491455078,
-3.14152193069458,
-0.00003592698703869246,
-0.000046902347094146535,
1
]
} | 0 | {
"episode_idx": 0,
"step_idx": 0
} |
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250331_222932/--/790705bc2296ba9be1b849f5b0681967ee054d35/--/default/train/1/observation/image-f0a0300.jpg?Expires=1771958978&Signature=yE1kGyLjHwdbgszhkC9CUGoL2gk~BjYLAaTzqsj6Sz4NRd-5ySNQXGWVKgJA~YCD-IrlVOyqsWxEIYSYODO7Z1SybyIatQqlWBOLLK4x2wkIqT9wPwV6w8inbuY1wq09XExgmvULWDrdkgYvaLzEuywxEmlQgysUXTrqA99u6dp3WNeMjxYRSEzVrWu2JcPSyYFdhAxO8S~5clc5Ay0~5VLp8Y7ddp-iQBtPubg6ZA~5a9nZb-Y09RvQa3UmrwXMhUYn2TrsPwXMpczrXjlIxBiSuojAT8Ouc4B8U5B66ED23g-ha-s4ia5s1vi2ko8ae5OeWeWfsTVozHxZralQNA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
},
"instruction": " Place it to the front by 20 centimeters.",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - a dawn platinum liquid dish soap (clear dark blue bottle)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.023, -0.014, -0.37, 0.0, 0.0, 0.0]. \n Dimension width 0.046 meters, length 0.048 meters, and height 0.231 meters. \n 3d bounding box x1: 0.874, y1: -0.056, z1: 0.649, x2: 0.921, y2: -0.009, z2: 0.418.\n \n \nObject - a downy scent booster beads (with pink cap and pink body)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [-0.025, 0.678, -0.339, 0.0, 0.0, 0.0]. \n Dimension width 0.057 meters, length 0.078 meters, and height 0.262 meters. \n 3d bounding box x1: 0.821, y1: 0.62, z1: 0.288, x2: 0.878, y2: 0.697, z2: 0.026.\n \n \nObject - a tide liquid laundry detergent soap (orange bottle)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [-0.041, -0.234, -0.363, 0.0, 0.0, 0.0]. \n Dimension width 0.043 meters, length 0.098 meters, and height 0.238 meters. \n 3d bounding box x1: 0.812, y1: -0.302, z1: 0.228, x2: 0.855, y2: -0.204, z2: -0.01.\n \n \nObject - large white cardboard box\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.091, 0.634, 0.057, 0.0, 0.0, 0.0]. \n Dimension width 0.268 meters, length 0.72 meters, and height 0.658 meters. \n 3d bounding box x1: 0.832, y1: 0.255, z1: 0.485, x2: 1.1, y2: 0.975, z2: -0.173.\n \n\nTask: Place it to the front by 20 centimeters."
} | {
"pose": {
"x": 0,
"y": 0,
"z": -0.37299999594688416,
"roll": 0,
"pitch": 0,
"yaw": 0
},
"grasp": 0,
"gripper_force": 0
} | {
"images": {
"camF": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250331_222932/--/790705bc2296ba9be1b849f5b0681967ee054d35/--/default/train/1/state/image-360f057a.jpg?Expires=1771958978&Signature=QovMACJzKkHn0eICfXIFTnB3MeTXaVPA99WlKt~VoRN15GUND0lqOUpDNERMJEUlVGlvT7I42C1fDJ1j3JmydNP5YO9zEyJEWU83C9F5i9uVw8~SoRVjXOBpIClUp-EvnUuIZo9kCtYDqAReX~r9kb1gGhIV8tSJuukU7lGAgqPcv0dYSYuow4qheuTBziDv-dBXc74KdWst188kkivuOCyV9YNp-Dpz15mTTazwPMuNBZZftv33PWPmmuo6wWts8Q0yVd3UX2KMplGAyrotBWCUXStNZDgpLqtTCppg3vxejzR5UtQvieB6qyojyu-zmEvVgAS7mUCSCuc8VreRRg__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
},
"camT": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250331_222932/--/790705bc2296ba9be1b849f5b0681967ee054d35/--/default/train/1/state/image-36390588.jpg?Expires=1771958978&Signature=VY~NmI1O3irkOW0ZcgnQeTk2QFBZqKn53PP3doTUurdhAjxNtDxLdBJJ-GO5wnLH-iQx7ZMlbPEHQ6hyioy-XvvunVaKiHjD2dC1aDZXJPx~Zc-sQpFedIoZeMUAUZGR1rocWgb3UA~l8U1lOP1dbktW0~F~UdaQnFMpDWWoVIepQ-e0hpe5-vlDoGhvgWdufwlCsAKptCg9LryMDVk3rI7r2PODZHP6QYstds~I0ZmXSsqLOC~LaH4JU0-4kTtfCKB3W7qiXqqY2Crag9FEI4aEcdYbHZHkcYd1P3OpypUhprP1~ThjWtM5S89r-Ts3mAZjvGrE5MXrwkcqL8clQw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
}
},
"depths": {
"camF": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250331_222932/--/790705bc2296ba9be1b849f5b0681967ee054d35/--/default/train/1/state/image-36e6058c.png?Expires=1771958978&Signature=taDqqlyrDDf7o8N8lYmKuUSUVNQ7xLe~ePKG9~UcdI7jpL62zethyg5002A8~Zm1JSkvaj-IDTLXsNu3BjG0KyST03Ph3v--glPrGqgvq73CfRtyJp7Pqkt3g-Am086tTFJC~Aw36Gwd8bSVgTx7lGZtPrX-KqHn7WCS80VtQF3cn0GIK495acCI9AVAGAzkK12F4VJGh9~TPYXIZ-bL9fHkTtZDLy~7vmJkxYGWpgRPLA4XB5~Y7IRnDM7IWclLCmSp~PPIbrxvtSXtLSnXiGv-mEVA21Xi9yzeHlOQC9TEhBG8ynL~WFkg3i35KiSaD1eaw9hg2xJFrqt5j~4zAA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
},
"camT": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250331_222932/--/790705bc2296ba9be1b849f5b0681967ee054d35/--/default/train/1/state/image-3710059a.png?Expires=1771958978&Signature=POy7p5BFUWoi7dJ3gr9OXnLdtvr5hYSCHtBonhTXgxLPFBoLWo~I2vFZl7vjXXWXx5eDRbhnMtcRdpMtd53nGupliNOKII8BdtjtuFAlK1581Qr8XcgXTNM-g8zCbnBh5Q66ntU-CZqKZvTj01GlvkO3O5jOqYb64nCPgdESqGK6MtNk-7Z1PK9QOYAypFpjayW~K9GVQfGgmCO9q7L04WQFrf4qcwEkxG0tXrUWj9nfeb1PREt5fxHDHYGaNGoNlDqwD-rZPqofcNvldWEn7QWtsmHGWnivkapstUPXQ0ch561cXW7cVx8nwsQgIYu7gOXr1h7PhtZOHAKYAd0Ccg__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
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"instruction": " Can you pick up the tight bottle?",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - a dawn platinum liquid dish soap (clear dark blue bottle)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.018, 0.008, -0.394, 0.0, 0.0, 0.0]. \n Dimension width 0.036 meters, length 0.073 meters, and height 0.208 meters. \n 3d bounding box x1: 1.075, y1: -0.047, z1: 0.257, x2: 1.111, y2: 0.026, z2: 0.049.\n \n \nObject - a downy scent booster beads (with pink cap and pink body)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [-0.225, 0.675, -0.346, 0.0, 0.0, 0.0]. \n Dimension width 0.061 meters, length 0.078 meters, and height 0.256 meters. \n 3d bounding box x1: 0.819, y1: 0.617, z1: 0.284, x2: 0.881, y2: 0.695, z2: 0.028.\n \n \nObject - large white cardboard box\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.043, 0.671, -0.05, 0.0, 0.0, 0.0]. \n Dimension width 0.073 meters, length 0.607 meters, and height 0.552 meters. \n 3d bounding box x1: 1.081, y1: 0.348, z1: 0.389, x2: 1.154, y2: 0.955, z2: -0.163.\n \n \nObject - a tide liquid laundry detergent soap (orange bottle)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [-0.244, -0.232, -0.362, 0.0, 0.0, 0.0]. \n Dimension width 0.04 meters, length 0.099 meters, and height 0.24 meters. \n 3d bounding box x1: 0.811, y1: -0.3, z1: 0.23, x2: 0.851, y2: -0.201, z2: -0.01.\n \n\nTask: Can you pick up the tight bottle?"
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"instruction": " Can you pick up the Tide bottle?",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - a downy scent booster beads (with pink cap and pink body)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [-0.225, 0.681, -0.339, 0.0, 0.0, 0.0]. \n Dimension width 0.054 meters, length 0.076 meters, and height 0.263 meters. \n 3d bounding box x1: 0.823, y1: 0.624, z1: 0.29, x2: 0.876, y2: 0.7, z2: 0.027.\n \n \nObject - a dawn platinum liquid dish soap (clear dark blue bottle)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.011, 0.013, -0.386, 0.0, 0.0, 0.0]. \n Dimension width 0.048 meters, length 0.061 meters, and height 0.216 meters. \n 3d bounding box x1: 1.062, y1: -0.036, z1: 0.265, x2: 1.11, y2: 0.025, z2: 0.048.\n \n \nObject - a tide liquid laundry detergent soap (orange bottle)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [-0.241, -0.233, -0.362, 0.0, 0.0, 0.0]. \n Dimension width 0.043 meters, length 0.098 meters, and height 0.24 meters. \n 3d bounding box x1: 0.813, y1: -0.301, z1: 0.231, x2: 0.856, y2: -0.203, z2: -0.009.\n \n \nObject - large white cardboard box\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [-0.191, 0.662, 0.01, 0.0, 0.0, 0.0]. \n Dimension width 0.27 meters, length 0.62 meters, and height 0.612 meters. \n 3d bounding box x1: 0.749, y1: 0.333, z1: 0.473, x2: 1.019, y2: 0.953, z2: -0.139.\n \n\nTask: Can you pick up the Tide bottle?"
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"instruction": " Place it behind a dawn bottle.",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - a tide liquid laundry detergent soap (orange bottle)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.019, 0.006, -0.387, 0.0, 0.0, 0.0]. \n Dimension width 0.06 meters, length 0.079 meters, and height 0.215 meters. \n 3d bounding box x1: 0.823, y1: -0.286, z1: 0.591, x2: 0.883, y2: -0.206, z2: 0.376.\n \n \nObject - a downy scent booster beads (with pink cap and pink body)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.017, 0.911, -0.338, 0.0, 0.0, 0.0]. \n Dimension width 0.054 meters, length 0.077 meters, and height 0.264 meters. \n 3d bounding box x1: 0.824, y1: 0.62, z1: 0.291, x2: 0.878, y2: 0.697, z2: 0.026.\n \n \nObject - a dawn platinum liquid dish soap (clear dark blue bottle)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.254, 0.244, -0.392, 0.0, 0.0, 0.0]. \n Dimension width 0.048 meters, length 0.061 meters, and height 0.21 meters. \n 3d bounding box x1: 1.064, y1: -0.038, z1: 0.264, x2: 1.112, y2: 0.023, z2: 0.053.\n \n \nObject - a large white cardboard box\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.131, 0.868, 0.053, 0.0, 0.0, 0.0]. \n Dimension width 0.269 meters, length 0.724 meters, and height 0.655 meters. \n 3d bounding box x1: 0.831, y1: 0.254, z1: 0.48, x2: 1.099, y2: 0.978, z2: -0.175.\n \n\nTask: Place it behind a dawn bottle."
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"instruction": " Can you pick up the Downey bottle?",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - a dawn platinum liquid dish soap (clear dark blue bottle)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.147, 0.0, -0.391, 0.0, 0.0, 0.0]. \n Dimension width 0.052 meters, length 0.062 meters, and height 0.212 meters. \n 3d bounding box x1: 1.06, y1: -0.039, z1: 0.262, x2: 1.111, y2: 0.023, z2: 0.05.\n \n \nObject - a downy scent booster beads (with pink cap and pink body)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [-0.09, 0.667, -0.34, 0.0, 0.0, 0.0]. \n Dimension width 0.057 meters, length 0.08 meters, and height 0.263 meters. \n 3d bounding box x1: 0.82, y1: 0.619, z1: 0.288, x2: 0.877, y2: 0.699, z2: 0.025.\n \n \nObject - a tide liquid laundry detergent soap (orange bottle)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [-0.004, 0.027, -0.377, 0.0, 0.0, 0.0]. \n Dimension width 0.052 meters, length 0.102 meters, and height 0.226 meters. \n 3d bounding box x1: 0.908, y1: -0.032, z1: 0.222, x2: 0.96, y2: 0.07, z2: -0.004.\n \n \nObject - a large white cardboard box\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [-0.05, 0.646, 0.012, 0.0, 0.0, 0.0]. \n Dimension width 0.267 meters, length 0.633 meters, and height 0.615 meters. \n 3d bounding box x1: 0.755, y1: 0.322, z1: 0.473, x2: 1.022, y2: 0.955, z2: -0.142.\n \n\nTask: Can you pick up the Downey bottle?"
} | {
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"instruction": " Can you pick up the Downie bottle?",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - a dawn platinum liquid dish soap (clear dark blue bottle)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.239, -0.665, -0.051, 0.0, 0.0, 0.0]. \n Dimension width 0.047 meters, length 0.062 meters, and height 0.212 meters. \n 3d bounding box x1: 1.063, y1: -0.037, z1: 0.26, x2: 1.11, y2: 0.025, z2: 0.048.\n \n \nObject - a downy scent booster beads (with pink cap and pink body)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.002, -0.0, -0.007, 0.0, 0.0, 0.0]. \n Dimension width 0.056 meters, length 0.077 meters, and height 0.256 meters. \n 3d bounding box x1: 0.822, y1: 0.62, z1: 0.286, x2: 0.878, y2: 0.697, z2: 0.03.\n \n \nObject - a tide liquid laundry detergent soap (orange bottle)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.086, -0.64, -0.04, 0.0, 0.0, 0.0]. \n Dimension width 0.047 meters, length 0.107 meters, and height 0.223 meters. \n 3d bounding box x1: 0.911, y1: -0.035, z1: 0.218, x2: 0.958, y2: 0.072, z2: -0.004.\n \n \nObject - a large white cardboard box\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.055, -0.024, 0.366, 0.0, 0.0, 0.0]. \n Dimension width 0.269 meters, length 0.659 meters, and height 0.629 meters. \n 3d bounding box x1: 0.769, y1: 0.305, z1: 0.48, x2: 1.038, y2: 0.965, z2: -0.149.\n \n\nTask: Can you pick up the Downie bottle?"
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