observation dict | action dict | state dict | reward float32 0 0 | metadata dict |
|---|---|---|---|---|
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250401_093449/--/0ed7ee1eefb60f9804cc188a4a82f4f2ed218712/--/default/train/0/observation/image-f0a0300.jpg?Expires=1772807771&Signature=kuJx~tqddKWgZ6KXqsJve7DKgOPrEEgbUIBOnGfezatNhdg5qr~lhwQKGsA7zrSRL8VAwnnN07X2BpOe2oDgNzLEH0oR7gQTLwJLYvnJha8tidazbVb5aZ1lBORTrH6cqH3sZtyJc8XYb~vaURrJrPeHphnfeo5k9NnXYsd6TQosTAEetX8lXMtz54rqZPklASOiFoZ3OupBkMn1rz0GH~~JSh6q083lPz-E3BpCgPV9XoC3sqv8h9-nO0af139F74cWbSnPbVvtlLpLizjGfBirVrqO5W5Tn~P2O7zV7val0bzr5mayGpdNg6gOcYQ2uCSl3oxwHIb2RQBzLICGFw__&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 [0.414, 0.193, -0.366, 0.0, 0.0, 0.0]. \n Dimension width 0.029 meters, length 0.054 meters, and height 0.227 meters. \n 3d bounding box x1: 0.899, y1: 0.166, z1: 0.262, x2: 0.928, y2: 0.22, z2: 0.035.\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 [0.467, -0.097, -0.345, 0.0, 0.0, 0.0]. \n Dimension width 0.033 meters, length 0.076 meters, and height 0.248 meters. \n 3d bounding box x1: 0.951, y1: -0.135, z1: 0.272, x2: 0.984, y2: -0.059, z2: 0.024.\n \n \nObject - a tide laundry detergent pods packet (orange bag)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.208, -0.35, -0.369, 0.0, 0.0, 0.0]. \n Dimension width 0.125 meters, length 0.117 meters, and height 0.224 meters. \n 3d bounding box x1: 0.646, y1: -0.409, z1: 0.219, x2: 0.771, y2: -0.292, z2: -0.005.\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 [0.313, 0.72, -0.021, 0.0, 0.0, 0.0]. \n Dimension width 0.258 meters, length 0.563 meters, and height 0.572 meters. \n 3d bounding box x1: 0.683, y1: 0.439, z1: 0.435, x2: 0.942, y2: 1.002, z2: -0.137.\n \n\nTask: Pick up the dawn bottle."
} | {
"pose": {
"x": 0.414000004529953,
"y": 0.19300000369548798,
"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_20250401_093449/--/0ed7ee1eefb60f9804cc188a4a82f4f2ed218712/--/default/train/0/state/image-36390588.jpg?Expires=1772807771&Signature=SWBmhaneLCTycq2pD2X7gzK20A-dlPekGonwUyR3nGluhcAudhCHkT9nyvntdMtZrXLHNv7vzGzyGPsGAxANYIa2vZMtMYwzxfs8NvT5JDbgmmF4n-un-vERQlii9qaHnaW9450kIPPclIcETTSq-GksXL88Nrweng4IIKRY6UhrJjfJ0gym-bFrw15zl1AJdGXHdh6u51GpOgX5TyhzS2Sn-wR8LOK4xP7-yP6xkzHt~jlP~SzS0qv2C3QTm71BULcYpZ5CCKTxOzhToLXEUyL7gGpw2WStUW1V~KTATtQO-8mB1AcdCNQ1RA4mphgZZ-dk7t8CQjKaQKqK-KtjPQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
}
},
"depths": {
"camF": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250401_093449/--/0ed7ee1eefb60f9804cc188a4a82f4f2ed218712/--/default/train/0/state/image-36e6058c.png?Expires=1772807771&Signature=AlCRVvOC0RBmFPA4XYHZZ3tF6GoHCQe6cezGmfDEIS1xfLAPSgIqL-i0ySxMQOWstCCaHsMEo8u7APtdSj5d3t8OhvV6OkIOQHhEwiFzcCAuftulGw3xuVKJXLGD6B58MIhGWsmWY6TqTds~CeLDdGar15i-ijDUGXgSfYfMJsXlfXvlKg14V6GlhyB4r9p1D5xxI~Yp7lORet9EdF2Dbc-2pIIg1qNkJBHdily-R~Vk6HZaJBEptboQE0yN4CkxhrOZ6tlrIHzldbKumATFkDHg1JdDpgf-cEiB3ZGK7DbhgT4UCwq9gwRF9rsR10AxM9TGi04E2sq8C7JNMyl0PQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
},
"camT": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250401_093449/--/0ed7ee1eefb60f9804cc188a4a82f4f2ed218712/--/default/train/0/state/image-3710059a.png?Expires=1772807771&Signature=P9hP8FXibB2SDK5akqmlIG60MIVamjvxrhOhTG6bR3NqXqALQbDXOvbl4huL9AiyDlqUx1BXwXGJR1MdQfxnK4xheucrC0r5-jJOMRq~1TtZw97X~23Q-DSKsLgfFspPIaq0YPgNexv-cs9YB~YRaWLDE-Z20jOSreT59APXpHFBUmQKeCoB9X0Nte7hPTmyKcmMTrqMwPoxXRpVPC8QCz~r1gGHgHU44bWeLv5~t8GyLv8AsnkznePhIygQ-BRJylnKoS9jMXY17ZaC~7kjN2Ok~BeyVsDBrWBaJ4ax8zhZJtKBcSGB~6oQqqqbROK9roYA--m9lf23gZR5FQHOiQ__&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\": 688.1527709960938, \"y1\": 327.68463134765625, \"x2\": 751.9436645507812, \"y2\": 491.61322021484375, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.8993172230088196, \"y1\": 0.16630804099104857, \"z1\": 0.2619382927081166, \"x2\": 0.9283088689706855, \"y2\": 0.22031298894714313, \"z2\": 0.03645294892980466}, \"volume\": -0.00035304067358148334, \"pose\": {\"x\": 0.9138130459897525, \"y\": 0.19331051496909585, \"z\": 0.14919562081896062, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [0.0662305159165752, -0.040719494891812605, 1.2510000000000001], \"xyz_max\": [0.12237139407244786, 0.1561662628842194, 1.3636272186595555], \"pca_vectors\": [[0.059492149947416105, 0.262465704392712, 0.9631056214726772], [0.9058007772870056, -0.41965805448363047, 0.05841291957496124], [0.41950641945134853, 0.8689067103692156, -0.262707998954081]], \"image\": null}, {\"name\": \"a downy scent booster beads (with pink cap and pink body)\", \"bbox_2d\": {\"x1\": 576.865234375, \"y1\": 400.6924133300781, \"x2\": 670.4456176757812, \"y2\": 635.8290405273438, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.9502606796272316, \"y1\": -0.13446012524933404, \"z1\": 0.2720720196842848, \"x2\": 0.9839443641960484, \"y2\": -0.05979887120527805, \"z2\": 0.02038757061012919}, \"volume\": -0.0006329526966086065, \"pose\": {\"x\": 0.96710252191164, \"y\": -0.09712949822730604, \"z\": 0.146229795147207, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.06984632272228321, 0.05734941967501657, 0.996], \"xyz_max\": [0.002359890230515917, 0.27283218441273327, 1.1316738599706246], \"pca_vectors\": [[0.06907975021382605, 0.1029739606261193, 0.9922823950586677], [0.9275756265947392, -0.37273709386732296, -0.025894319892968337], [0.367194015552776, 0.9222057375056354, -0.12126472139049671]], \"image\": null}, {\"name\": \"a tide laundry detergent pods packet (orange bag)\", \"bbox_2d\": {\"x1\": 178.4573211669922, \"y1\": 449.4558410644531, \"x2\": 400.5256652832031, \"y2\": 677.7484741210938, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.6456222909973464, \"y1\": -0.4091582021662332, \"z1\": 0.2198299795287419, \"x2\": 0.7699558894165549, \"y2\": -0.2923262771048597, \"z2\": -0.0046083129227187936}, \"volume\": -0.003260220633028823, \"pose\": {\"x\": 0.7077890902069506, \"y\": -0.35074223963554646, \"z\": 0.10761083330301155, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.47762897914379804, 0.12354698133918772, 0.978], \"xyz_max\": [-0.3074401756311745, 0.32116794731064763, 1.085064534255707], \"pca_vectors\": [[-0.42307024501536733, 0.8359165729182725, -0.3496498976164693], [-0.8697371009355181, -0.4828571130664012, -0.10201168373015398], [-0.2541041972083841, 0.26094538026520236, 0.9313101338863073]], \"image\": null}, {\"name\": \"a large white cardboard box\", \"bbox_2d\": {\"x1\": 651.9808349609375, \"y1\": 155.22120666503906, \"x2\": 1090.2607421875, \"y2\": 472.9425048828125, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.686215624404198, \"y1\": 0.43395603743988165, \"z1\": 0.43918413138223683, \"x2\": 0.9426256682558235, \"y2\": 1.0046316890892877, \"z2\": -0.13716036756499084}, \"volume\": -0.08433474355266482, \"pose\": {\"x\": 0.8144206463300108, \"y\": 0.7192938632645847, \"z\": 0.151011881908623, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [0.051022803732577296, -0.33758354058024426, 1.4961617680753618], \"xyz_max\": [0.5967167947310648, 0.06937601854567213, 2.006251737457607], \"pca_vectors\": [[-0.6725564983573602, -0.6693016504871683, 0.3157579091209574], [-0.5552772270940567, 0.174338496095394, -0.813187118595672], [0.48921872162461416, -0.722247457201719, -0.4889004530347967]], \"image\": null}]}",
"gripper_pose": [
0.49997761845588684,
0.000002153630020984565,
0.5930840969085693,
3.1415822505950928,
-0.000051883820560760796,
0.00003389301127754152,
0
]
} | 0 | {
"episode_idx": 0,
"step_idx": 0
} |
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250401_093449/--/0ed7ee1eefb60f9804cc188a4a82f4f2ed218712/--/default/train/1/observation/image-f0a0300.jpg?Expires=1772807771&Signature=UspDNDCEbl2UYsuqWDfPnuBBeGdgGfo-F23JbfQh7HgWwzX8-nA94xgQtp7HMCy2aMIL3kKPLl4dV4Av~rpjevQHPn5C2m7EpIwKZlGDqlEn4RUnLLYSNHQWGkQIDM-KxOqhP0sLNQpG48Inj3QJcaDyDsYbMlsbfRtilCH3ptJLZDHF-RMY2H7QKdchN68usSsX91OBHh7JqhwJMhrksD6EjCsKJUm6luChNvgp7Q-3afjobnmYfHcce0EAxaN3ZG9LNRRU-BbOPTQwQiRzGRD4CFDSolvbYpTrzLLCauJqKGY2km2oyksjTsBv0yEXKQ5g5QuWx7NUqjMdtsqQTw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
},
"instruction": " Place it in the white cardboard box.",
"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 [-1.489, 0.727, -0.296, 0.0, 0.0, 0.0]. \n Dimension width 0.016 meters, length 0.169 meters, and height 0.297 meters. \n 3d bounding box x1: -0.583, y1: 0.836, z1: 0.281, x2: -0.567, y2: 1.005, z2: -0.016.\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 [0.054, -0.291, -0.348, 0.0, 0.0, 0.0]. \n Dimension width 0.032 meters, length 0.077 meters, and height 0.245 meters. \n 3d bounding box x1: 0.952, y1: -0.136, z1: 0.272, x2: 0.984, y2: -0.06, z2: 0.027.\n \n \nObject - a tide laundry detergent pods packet (orange bag)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [-0.206, -0.544, -0.366, 0.0, 0.0, 0.0]. \n Dimension width 0.123 meters, length 0.117 meters, and height 0.227 meters. \n 3d bounding box x1: 0.646, y1: -0.41, z1: 0.222, x2: 0.769, y2: -0.293, z2: -0.004.\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 [-0.013, 0.509, 0.081, 0.0, 0.0, 0.0]. \n Dimension width 0.259 meters, length 0.788 meters, and height 0.674 meters. \n 3d bounding box x1: 0.772, y1: 0.308, z1: 0.481, x2: 1.031, y2: 1.096, z2: -0.193.\n \n\nTask: Place it in the white cardboard box."
} | {
"pose": {
"x": 0,
"y": 0,
"z": -0.3659999966621399,
"roll": 0,
"pitch": 0,
"yaw": 0
},
"grasp": 0,
"gripper_force": 0
} | {
"images": {
"camF": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250401_093449/--/0ed7ee1eefb60f9804cc188a4a82f4f2ed218712/--/default/train/1/state/image-360f057a.jpg?Expires=1772807771&Signature=RNsoz~WdiAoyBiXFZ7pbKgVm8F8y0Ud4TauTps88SDmX~i~vryYtEHbnNRfXMKJeqzq0yYcboVWVBkqLzKPByJP-G0aNQmRxnS~IzmfkdyWyCXvGoDeAOq68tMH~FThY~v~mYQzVeb15URgphh-RHASul9s-9nHmadtufA60ab4D5GXWBF7nvSTIho5dBlegBdDKhjAtF3EaclZHi6JnCnqUTXNzIPxRegUR2r6DxsuewJpLUjKA1U1ki2SgnUpKiqwWLGxVH7RqN9A4WwQa-TlvnJK4UhcP011NtApsWIUg6Ggtx7rws80uJDPmAwqPF14urfLtA2RffY~OejqS7g__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
},
"camT": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250401_093449/--/0ed7ee1eefb60f9804cc188a4a82f4f2ed218712/--/default/train/1/state/image-36390588.jpg?Expires=1772807771&Signature=ecievigqvCMp7qEXoYlsR5s2i9Ppp4lO8hUrJ4R794~EcfZjFqHC0kWS6YL-7tLObiRr5pPdcW7FQVcfNgnJclvVK7pINb3W1y6A2I-BWZUgr67XV1BBNgBAKGc9LdhDpWxUg9EuemnpdWnTzTwBOXFUMMjA2oFdRsmpX0KnvJ2wIRR7DT2fit-IRa9Aj47cGLvG3djKBHDqYP2BgYksALEARtjX1E6IQc-hnhXDhd5VB~G9PKTdFsNbGJ9EcVPOCfisGbrBVrHmSfmgtkQ9CVUOTKkYvcCHXwW~hhfag8jujdftUtVaUTn9JXVEsnV8Nwr0-hq7NGzK6sJGQK4NmA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
}
},
"depths": {
"camF": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250401_093449/--/0ed7ee1eefb60f9804cc188a4a82f4f2ed218712/--/default/train/1/state/image-36e6058c.png?Expires=1772807771&Signature=qRzVMx-xyOoM-xHLd7AlsG0AWZUnrOVmM1cbhuZrAzjIYjr~s9kxQfDqSACmZ-58ZW08CZ0IQO9vSW7Kam9Btyt4Ei3VJ9idnXO1xzFkvek2NMSpelihXBAlS-HkBZW5BzjVy32yT-Lh6LCntE078cOdUq8SbpqDXPL-l5jx9HyOQIG5wTB9JES5FWTgCFLQwBeKPkaN8cg54OYidqPun9HY29GD8BdsbNEa7RWl9Wy33l4ANKEA8y5sNtworCiKXZ4s0OszVVYM8Mf-~~VGNtaLlgqyjryMYfqt476BwqHDiyDDlOeWP2Jqv5tEoG45k1uDuaaPHhd8wH7vgR5IpQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
},
"camT": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250401_093449/--/0ed7ee1eefb60f9804cc188a4a82f4f2ed218712/--/default/train/1/state/image-3710059a.png?Expires=1772807771&Signature=BxyoNIeE2c6wA-jJEgEOGdu3L~zwGi1vnQGhpYy9RrsiYWc0IQB3pfgQ-3SClr6WDwwrcuJMRssPCvifBsZaz2HP9Kgb710WHgW7-LjhExoGu2ZcE5fekQazlGGLkxZAotJCLF7p1xAH2-CCDyd1QvvdfecZxSnOmryRWpw606gEktGPEk-A8HPJJroixPpaKwChfkWIcu2xmapzgOWQgjIBdDsrytCIgZ2c0gRUkMk5KRGnPJENclnXcq6C5ey0A4XCMy749eDSkZqSpcU-S2aGSxEac2DNYaJln8ysAKIZHJlrps~w-a~VQTvzUcL2rrTuOEwMTVR86l0qTWXDQA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
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},
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"instruction": " Pick it up again.",
"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 [-0.0, 0.0, -0.368, 0.0, 0.0, 0.0]. \n Dimension width 0.028 meters, length 0.055 meters, and height 0.226 meters. \n 3d bounding box x1: 0.9, y1: 0.166, z1: 0.263, x2: 0.927, y2: 0.221, z2: 0.037.\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 [0.052, -0.295, -0.356, 0.0, 0.0, 0.0]. \n Dimension width 0.033 meters, length 0.077 meters, and height 0.238 meters. \n 3d bounding box x1: 0.949, y1: -0.14, z1: 0.268, x2: 0.982, y2: -0.063, z2: 0.029.\n \n \nObject - a tide laundry detergent pods packet (orange bag)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [-0.208, -0.545, -0.369, 0.0, 0.0, 0.0]. \n Dimension width 0.124 meters, length 0.116 meters, and height 0.225 meters. \n 3d bounding box x1: 0.644, y1: -0.409, z1: 0.222, x2: 0.768, y2: -0.294, z2: -0.003.\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 [-0.099, 0.526, -0.019, 0.0, 0.0, 0.0]. \n Dimension width 0.259 meters, length 0.57 meters, and height 0.575 meters. \n 3d bounding box x1: 0.686, y1: 0.434, z1: 0.439, x2: 0.944, y2: 1.004, z2: -0.136.\n \n\nTask: Pick it up again."
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} | 0 | {
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{
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"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250401_093449/--/0ed7ee1eefb60f9804cc188a4a82f4f2ed218712/--/default/train/3/observation/image-f0a0300.jpg?Expires=1772807771&Signature=hGRyBFUTMn26c3nhpaZS9~d2N2bHTwx4aB97eX4FXNp4vM8mfQmu9sNUcLOl91onFjaek~bF0aQzLzcB0IcOVVEdzkqg0G0okR~K5OhvqkKPCEF49BUhugcrb~-hKyBwUgLUC8MFL-Z9IvQHZUZHcqrFXdxSUGMaWORP6-9fZ4khe2IZ8-RP3vWuArAk1FE2fMC9kyeVcf6BxwZ~eMuVQvMO58si3HVhsQcbqmFCPwB5DLqhFvlteNK-VS0BCm4Jz9qyKd9Oh9UpVfVii5kxzw9-lC6a4kZDNyDe2K4GDdDhAKhC8CHS-pWDnn5hB2uy3IBCRDmhQeSeiMHLCGAE2w__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
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"instruction": " Place it in the white cardboard box.",
"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 [-0.001, 0.0, -0.393, 0.0, 0.0, 0.0]. \n Dimension width 0.027 meters, length 0.06 meters, and height 0.201 meters. \n 3d bounding box x1: 0.9, y1: 0.163, z1: 0.266, x2: 0.926, y2: 0.223, z2: 0.065.\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 [0.051, -0.294, -0.353, 0.0, 0.0, 0.0]. \n Dimension width 0.033 meters, length 0.077 meters, and height 0.241 meters. \n 3d bounding box x1: 0.949, y1: -0.14, z1: 0.269, x2: 0.982, y2: -0.063, z2: 0.028.\n \n \nObject - a tide laundry detergent pods packet (orange bag)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [-0.207, -0.545, -0.367, 0.0, 0.0, 0.0]. \n Dimension width 0.125 meters, length 0.118 meters, and height 0.227 meters. \n 3d bounding box x1: 0.644, y1: -0.411, z1: 0.223, x2: 0.769, y2: -0.293, 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 [-0.082, 0.523, -0.012, 0.0, 0.0, 0.0]. \n Dimension width 0.246 meters, length 0.59 meters, and height 0.582 meters. \n 3d bounding box x1: 0.709, y1: 0.421, z1: 0.444, x2: 0.955, y2: 1.011, z2: -0.138.\n \n\nTask: Place it in the white cardboard box."
} | {
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"instruction": " Now 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 [-1.426, 0.227, -0.284, 0.0, 0.0, 0.0]. \n Dimension width 0.006 meters, length 0.193 meters, and height 0.312 meters. \n 3d bounding box x1: -0.591, y1: 0.847, z1: 0.28, x2: -0.597, y2: 1.04, z2: -0.031.\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 [-0.015, -0.0, -0.348, 0.0, 0.0, 0.0]. \n Dimension width 0.024 meters, length 0.046 meters, and height 0.248 meters. \n 3d bounding box x1: 0.804, y1: 0.693, z1: 0.285, x2: 0.829, y2: 0.739, z2: 0.038.\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 [0.134, -0.818, -0.348, 0.0, 0.0, 0.0]. \n Dimension width 0.033 meters, length 0.076 meters, and height 0.248 meters. \n 3d bounding box x1: 0.949, y1: -0.14, z1: 0.271, x2: 0.982, y2: -0.063, z2: 0.023.\n \n \nObject - a tide laundry detergent pods packet (orange bag)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [-0.125, -1.069, -0.37, 0.0, 0.0, 0.0]. \n Dimension width 0.124 meters, length 0.119 meters, and height 0.226 meters. \n 3d bounding box x1: 0.645, y1: -0.412, z1: 0.222, x2: 0.769, y2: -0.293, 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 [-0.011, -0.002, -0.018, 0.0, 0.0, 0.0]. \n Dimension width 0.263 meters, length 0.576 meters, and height 0.578 meters. \n 3d bounding box x1: 0.69, y1: 0.426, z1: 0.444, x2: 0.953, y2: 1.002, z2: -0.135.\n \n\nTask: Now pick up the Downey bottle."
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} | 0 | {
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