observation
dict | action
dict | state
dict | reward
float32 0
0
| metadata
dict |
|---|---|---|---|---|
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250402_112156/--/9e5e23065a3f73d46b5cb90362817715843802b2/--/default/train/0/observation/image-f0a0300.jpg?Expires=1767826887&Signature=A8H0TRUs82PySY-Rx18yytgrXL~HijdpZ4YMm0TA2kLBRQT3bqhmEk9f5JJfzKDY9mwRtmCo-6V9b1lcOgUhtWFIStzGTCgIbTmviV3MKznAQZBKXnStQP1mDLOzyNnAXqELOZegdCqYxZ7n5UMUc3ZsqIzII-xYQEGqHidhzGjEq3OxQGGqAKsOA0AuPiXHdbeLyBeH63HHh1XRL7aRSarIAaXvnklqkfF9B6VOozmJj50CLVtD9k4SQNYRyRMPnPOibM7UgqP9jlXs-hWuqcTaSQ3-N420y2YcTgV7QGucFqIH3jMudqYzeme~3aJ-DkdDAtv~X3UqBioUUkeTfQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
},
"instruction": "Hi, can you pick up the Downey Sand booster?",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - coffee cup\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [1.418, 0.206, -0.435, 0.0, 0.0, 0.0]. \n Dimension width 0.081 meters, length 0.008 meters, and height 0.165 meters. \n 3d bounding box x1: 1.877, y1: 0.21, z1: 0.198, x2: 1.959, y2: 0.202, z2: 0.033.\n \n \nObject - 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 [0.543, 0.035, -0.354, 0.0, 0.0, 0.0]. \n Dimension width 0.058 meters, length 0.03 meters, and height 0.246 meters. \n 3d bounding box x1: 1.014, y1: 0.05, z1: 0.25, x2: 1.071, y2: 0.02, z2: 0.004.\n \n \nObject - water bottle\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [1.44, -0.51, -0.463, 0.0, 0.0, 0.0]. \n Dimension width 0.043 meters, length 0.035 meters, and height 0.137 meters. \n 3d bounding box x1: 1.918, y1: -0.492, z1: 0.18, x2: 1.961, y2: -0.527, z2: 0.042.\n \n \nObject - 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 [0.541, 0.034, -0.344, 0.0, 0.0, 0.0]. \n Dimension width 0.056 meters, length 0.033 meters, and height 0.256 meters. \n 3d bounding box x1: 1.013, y1: 0.05, z1: 0.25, x2: 1.069, y2: 0.018, z2: -0.007.\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 [0.268, 0.038, -0.341, 0.0, 0.0, 0.0]. \n Dimension width 0.06 meters, length 0.041 meters, and height 0.259 meters. \n 3d bounding box x1: 0.738, y1: 0.058, z1: 0.252, x2: 0.798, y2: 0.018, z2: -0.008.\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 [0.441, 0.566, 0.206, 0.0, 0.0, 0.0]. \n Dimension width 0.625 meters, length 0.216 meters, and height 0.806 meters. \n 3d bounding box x1: 0.629, y1: 0.674, z1: 0.54, x2: 1.254, y2: 0.458, z2: -0.266.\n \n\nTask: Hi, can you pick up the Downey Sand booster?"
}
|
{
"pose": {
"x": 0.2680000066757202,
"y": 0.03799999877810478,
"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_20250402_112156/--/9e5e23065a3f73d46b5cb90362817715843802b2/--/default/train/0/state/image-36390588.jpg?Expires=1767826887&Signature=uLtKXHVtXWB7BfUWM3yk2SGVhLFpUr32vZmwt2KqVim6kr8RDThspf5Vvz6FyMn5H19qGTILrBAvJMOF1oXFhvVEQG13h7eTnNhIsUeNY15NjPHGpxDSJZw~trXK1KDkLwf5hQPTSlEjiXekVjlL6HwtHZrCvdwt4K1WtJ7ZK~BQSghul1mJ~94fv9RwODFCKVOcWwL3IAtQ1RXg24yJDQmy1Ig14EwjOgVBPt058YhHfXWZvfVsLBnyeiGZp6vStkGtEax5wN4Q1GjLfian6d64AUmU5~35Y-wGxB1aWk~UmZ-1Ua5H247TLjDo1HDOulX9j7ieNilHos5ZGdWbxg__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
}
},
"depths": {
"camF": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250402_112156/--/9e5e23065a3f73d46b5cb90362817715843802b2/--/default/train/0/state/image-36e6058c.png?Expires=1767826887&Signature=UVyPcVDtJW3boWbfQWelArIU87YMD-dIPN5VADiUxZHWwZqA1fm0cwL4fmFcxOWWYcsKOe-Zs9oHvZlT~xkCKPmbB3UWxXYVLGtxa0wxPRRIaF4h6dsojM8T7az2l54z~LDDwckdnlcEUaaOfmnWY3KMdIK0kIgGu-422c7-YhBNlK06Kl-RV344iyQovr-p0wJktji6OwkQIoW7MzKLXLa9twFryHDVtf28tVhTRSYKfTPmRlEzoMHyBIU~s7HBUc-BlxSZ2xk85XDgi82SKuDzcRBws6-WDFmXh-GNVvJ9FeGGZ~tUL9IBVFIc2f8AF8oupNBKwQ9~VDIpWhlW0Q__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
},
"camT": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250402_112156/--/9e5e23065a3f73d46b5cb90362817715843802b2/--/default/train/0/state/image-3710059a.png?Expires=1767826887&Signature=Ntj8k3m5SJO3uiyeEi4lGZfLjTQ5WIcIWwbT8TdAJlaOVqQxfV4rEZBpJxufBNNI8FGmaWcrxah96GpoP5SDCYkwG9Rxijad~CACkYs77sKecOxBenK8oF41EGjYxWL-gNAserGRYecDFWuW56ReDyeDp-OHTu7wRvM62lBYJ2SpleM1vLa6CN2QcNSmNmh8SbTv6y8fgopeE8VgFGR3SuHMXGowokWhkQMHkMx18kc06R8NkKIw33Bmw9stuVkqmenKEdwKWp5vBDkkgfRgNCgD7J7ZKJ3toPZZ0vo5ueQ9qvc6NaPsroOkz0BlnD6AEfSWKFuTkdsfFNLenbFaOA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
}
},
"world_objects": "{\"objects\": [{\"name\": \"coffee cup\", \"bbox_2d\": {\"x1\": 739.9326171875, \"y1\": 68.44841766357422, \"x2\": 780.53125, \"y2\": 130.8187713623047, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 1.877483811931444, \"y1\": 0.21004286863087174, \"z1\": 0.19794432622918245, \"x2\": 1.958967266280065, \"y2\": 0.2022299137563257, \"z2\": 0.0330784960743955}, \"volume\": 0.00010495796496898466, \"pose\": {\"x\": 1.9182255391057546, \"y\": 0.20613639119359872, \"z\": 0.11551141115178898, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [0.2270026234906696, -0.7190442810098793, 2.1510000000000002], \"xyz_max\": [0.29509582875960483, -0.605639462129528, 2.279], \"pca_vectors\": [[-0.02723221016719006, 0.8629538317172318, -0.5045484030833489], [-0.4272670887414367, -0.4663547650316008, -0.7745683107452419], [-0.9037152436513546, 0.19448372028750363, 0.38141164236990044]], \"image\": null}, {\"name\": \"dawn platinum liquid dish soap (clear dark blue bottle)\", \"bbox_2d\": {\"x1\": 477.58868408203125, \"y1\": 133.5544891357422, \"x2\": 536.5953369140625, \"y2\": 275.30902099609375, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 1.0137931586878115, \"y1\": 0.050022566562723414, \"z1\": 0.2498123733773509, \"x2\": 1.0713877519585575, \"y2\": 0.01959166045604599, \"z2\": 0.003903749355859687}, \"volume\": 0.00043099314175236116, \"pose\": {\"x\": 1.0425904553231846, \"y\": 0.0348071135093847, \"z\": 0.1268580613666053, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.28917501646542265, -0.3841144676180022, 1.522], \"xyz_max\": [-0.22096048298572996, -0.1843721185510428, 1.6640000000000001], \"pca_vectors\": [[-0.0009209160716200485, 0.9721186372088618, -0.23448775470112412], [0.7870061591558462, 0.1453706018480417, 0.5995737599070703], [0.6169444524139527, -0.18399115008478983, -0.7651972290371447]], \"image\": null}, {\"name\": \"water bottle\", \"bbox_2d\": {\"x1\": 1019.2611694335938, \"y1\": 118.8634033203125, \"x2\": 1066.7137451171875, \"y2\": 207.46983337402344, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 1.9180818358387217, \"y1\": -0.491815007335787, \"z1\": 0.1796262770668845, \"x2\": 1.9611480955410387, \"y2\": -0.5272659113036308, \"z2\": 0.04241502489316307}, \"volume\": 0.00020948561035042624, \"pose\": {\"x\": 1.9396149656898802, \"y\": -0.5095404593197088, \"z\": 0.11102065098002378, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [0.7406772777167947, -0.463941207464325, 1.744], \"xyz_max\": [0.7993870362239298, -0.34985544456641055, 1.818], \"pca_vectors\": [[0.028457967372171752, 0.45204383014784916, 0.8915416533837929], [-0.9124420172414041, 0.3759832928015269, -0.16151200793302797], [-0.4082152731898717, -0.8088837612162726, 0.4231635045406617]], \"image\": null}, {\"name\": \"dawn platinum liquid dish soap (clear dark blue bottle)\", \"bbox_2d\": {\"x1\": 463.99169921875, \"y1\": 117.54447174072266, \"x2\": 558.3385620117188, \"y2\": 295.0894775390625, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 1.0132939837770527, \"y1\": 0.050434712471185694, \"z1\": 0.24975157419459537, \"x2\": 1.069201607147709, \"y2\": 0.017661812761632367, \"z2\": -0.006655470466215951}, \"volume\": 0.0004698030726218745, \"pose\": {\"x\": 1.0412477954623809, \"y\": 0.03404826261640903, \"z\": 0.12154805186418971, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.2898191986827662, -0.38402634467618, 1.522], \"xyz_max\": [-0.22097514818880354, -0.1738364434687157, 1.667], \"pca_vectors\": [[0.002844185220513052, 0.9619804911356484, -0.27310336007608593], [0.7926737628917675, 0.16432710635745107, 0.5870816874500456], [0.6096394149277403, -0.21815163714857555, -0.7620693190097335]], \"image\": null}, {\"name\": \"a downy scent booster beads (with pink cap and pink body)\", \"bbox_2d\": {\"x1\": 319.0785217285156, \"y1\": 163.1422882080078, \"x2\": 410.66314697265625, \"y2\": 341.8750915527344, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.7379046679673705, \"y1\": 0.05838621747512085, \"z1\": 0.25168689471365285, \"x2\": 0.798270610677817, \"y2\": 0.01770134564161019, \"z2\": -0.007660275178020148}, \"volume\": 0.0006369516288849752, \"pose\": {\"x\": 0.7680876393225937, \"y\": 0.03804378155836552, \"z\": 0.12201330976781635, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.4947321559231609, -0.28614413426764784, 1.366], \"xyz_max\": [-0.417139407244786, -0.0722305159165752, 1.5101547418669834], \"pca_vectors\": [[0.023486068956662675, -0.9932171325963425, -0.1138777066947812], [0.8347738127491364, 0.08216109589958012, -0.5444283569661392], [0.5500918887906208, -0.08227564547106105, 0.8310412938290658]], \"image\": null}, {\"name\": \"large white cardboard box\", \"bbox_2d\": {\"x1\": 69.35466766357422, \"y1\": 16.194202423095703, \"x2\": 492.7894592285156, \"y2\": 301.1291198730469, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.6286819636315581, \"y1\": 0.6740739417669601, \"z1\": 0.5399586554165009, \"x2\": 1.253587921381834, \"y2\": 0.45798906192230815, \"z2\": -0.26636018708557463}, \"volume\": 0.10887943358161944, \"pose\": {\"x\": 0.941134942506696, \"y\": 0.5660315018446341, \"z\": 0.13679923416546313, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-1.0047625686059276, -0.715144785949506, 1.539], \"xyz_max\": [-0.38519607025246966, -0.18019473106476397, 2.185], \"pca_vectors\": [[0.3421200606359167, -0.9366097454785863, -0.07560455531920458], [-0.4908955972075896, -0.10954391835016558, -0.8643041377864024], [0.8012336592734236, 0.33280972736239284, -0.49725477234541365]], \"image\": null}]}",
"gripper_pose": [
0.49999818205833435,
-0.0000274725207418669,
0.5999855399131775,
-3.141517400741577,
-0.0000447629536211025,
0.000012917518688482232,
1
]
}
| 0
|
{
"episode_idx": 0,
"step_idx": 0
}
|
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250402_112156/--/9e5e23065a3f73d46b5cb90362817715843802b2/--/default/train/1/observation/image-f0a0300.jpg?Expires=1767826887&Signature=hScFSMyY9NKTHTAkS-zUECzyIbaHT365w5imtP1QPE5tn1U0qGu1QLOBnChL6Ni9g5VyW2H3oU3w9-0FjfVJW9bnYNZlmeXKkdVTwdSJOJ9ORlD~SKVyOV4h2ATKhfqzhXv1fOWGEM8O0~-9uIAINTYdhBjLZjKyImtfX2zTywz0Ib55KWJ770j1VJMbhEOZKwe-WHg4lDQBCgFIa6cVfbz5DWG5ttF0s4qeDyGTd5NYyoKIy8b30zZkSJgUbPXwBGDV~a1WKr~Ki3BX6hfpoFIPdgEuLMl7ccYpG~y-Mrh79c18QGMtOIewkeAFrO3aeTcYeH6N00jTgI4ZVOq18g__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
},
"instruction": "Can you place it in the center of the white box?",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - a bottle\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [1.175, -0.547, -0.453, 0.0, 0.0, 0.0]. \n Dimension width 0.046 meters, length 0.033 meters, and height 0.147 meters. \n 3d bounding box x1: 1.921, y1: -0.492, z1: 0.184, x2: 1.966, y2: -0.525, z2: 0.037.\n \n \nObject - a bottle\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [1.175, 0.384, -0.396, 0.0, 0.0, 0.0]. \n Dimension width 0.074 meters, length 0.003 meters, and height 0.204 meters. \n 3d bounding box x1: 1.906, y1: 0.423, z1: 0.212, x2: 1.98, y2: 0.42, z2: 0.008.\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 [0.277, -0.001, -0.365, 0.0, 0.0, 0.0]. \n Dimension width 0.052 meters, length 0.04 meters, and height 0.235 meters. \n 3d bounding box x1: 1.019, y1: 0.057, z1: 0.245, x2: 1.071, y2: 0.017, z2: 0.01.\n \n \nObject - a bottle\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [1.153, 0.17, -0.432, 0.0, 0.0, 0.0]. \n Dimension width 0.079 meters, length 0.009 meters, and height 0.168 meters. \n 3d bounding box x1: 1.881, y1: 0.212, z1: 0.201, x2: 1.96, y2: 0.204, 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 [0.276, -0.001, -0.347, 0.0, 0.0, 0.0]. \n Dimension width 0.051 meters, length 0.041 meters, and height 0.253 meters. \n 3d bounding box x1: 1.018, y1: 0.058, z1: 0.245, x2: 1.069, y2: 0.017, z2: -0.008.\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 [0.185, 0.535, 0.157, 0.0, 0.0, 0.0]. \n Dimension width 0.619 meters, length 0.214 meters, and height 0.757 meters. \n 3d bounding box x1: 0.643, y1: 0.68, z1: 0.483, x2: 1.262, y2: 0.465, z2: -0.275.\n \n\nTask: Can you place it in the center of the white box?"
}
|
{
"pose": {
"x": 0,
"y": 0,
"z": -0.3409999907016754,
"roll": 0,
"pitch": 0,
"yaw": 0
},
"grasp": 0,
"gripper_force": 0
}
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{
"images": {
"camF": {
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"height": 720,
"width": 1280
},
"camT": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250402_112156/--/9e5e23065a3f73d46b5cb90362817715843802b2/--/default/train/1/state/image-36390588.jpg?Expires=1767826887&Signature=Uq9l818hLWV~aBUZyPtXNw2BLX47oR~-fpeAMQ8Zc2gWVMlpy~NOtDqt-gKEqQ4bybduUFzNQuluXesLdE-ubf-nBix6ZvpwmkxwBQ0Wh4v5B1-iinaUPQazq9jB8U4wLbHwEOjx4EMu~RdGcIebZdPT3wT-w232F9dyc-RZKRxT-jiq2sRZpXURYrmT8bJNcwVxEBAY-vetED~NqGtYzlY~FIDbkcPWRuFzC5IiMvlLLkEX0~nKob2NyFxrPaXUpXdBfbbvnmVuCQ2PxE2WLC14fduG~442rYaCs6mGxK6IkvpjqHzKFQmNJFTwlMdctjeDv9Tf3KBv8MZl9Sw~0w__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
}
},
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"instruction": "Okay, actually, can you place it, pick it up again and place it a bit to the right?",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - coffee cup\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.967, -0.366, -0.44, 0.0, -0.001, 0.0]. \n Dimension width 0.076 meters, length 0.012 meters, and height 0.165 meters. \n 3d bounding box x1: 1.882, y1: 0.213, z1: 0.199, x2: 1.958, y2: 0.201, z2: 0.034.\n \n \nObject - water bottle\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.993, -1.079, -0.429, 0.0, -0.001, 0.0]. \n Dimension width 0.035 meters, length 0.034 meters, and height 0.176 meters. \n 3d bounding box x1: 1.929, y1: -0.489, z1: 0.199, x2: 1.964, y2: -0.523, z2: 0.022.\n \n \nObject - coffee cup\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [1.01, -0.132, -0.388, 0.0, -0.001, 0.0]. \n Dimension width 0.084 meters, length 0.004 meters, and height 0.217 meters. \n 3d bounding box x1: 1.921, y1: 0.439, z1: 0.21, x2: 2.006, y2: 0.443, z2: -0.007.\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 [0.091, -0.536, -0.362, 0.0, -0.001, 0.0]. \n Dimension width 0.063 meters, length 0.029 meters, and height 0.243 meters. \n 3d bounding box x1: 1.012, y1: 0.052, z1: 0.252, x2: 1.075, y2: 0.022, z2: 0.009.\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 [0.089, -0.537, -0.344, 0.0, -0.001, 0.0]. \n Dimension width 0.059 meters, length 0.033 meters, and height 0.261 meters. \n 3d bounding box x1: 1.012, y1: 0.053, z1: 0.251, x2: 1.071, y2: 0.02, z2: -0.01.\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 [-0.013, 0.006, -0.34, 0.0, -0.001, 0.0]. \n Dimension width 0.078 meters, length 0.038 meters, and height 0.265 meters. \n 3d bounding box x1: 0.901, y1: 0.598, z1: 0.265, x2: 0.979, y2: 0.56, z2: -0.0.\n \n \nObject - white cardboard box\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [-0.023, -0.015, 0.172, 0.0, -0.001, 0.0]. \n Dimension width 0.645 meters, length 0.208 meters, and height 0.777 meters. \n 3d bounding box x1: 0.607, y1: 0.662, z1: 0.506, x2: 1.252, y2: 0.454, z2: -0.271.\n \n\nTask: Okay, actually, can you place it, pick it up again and place it a bit to the right?"
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| 0
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{
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"instruction": "Okay, forget it. Can you pick up the Downey Sand booster again?",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - glass jar\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [1.019, -0.28, -0.401, 0.0, -0.001, 0.0]. \n Dimension width 0.081 meters, length 0.004 meters, and height 0.204 meters. \n 3d bounding box x1: 1.908, y1: 0.426, z1: 0.208, x2: 1.99, y2: 0.43, z2: 0.003.\n \n \nObject - water bottle\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [1.022, -1.213, -0.432, 0.0, -0.001, 0.0]. \n Dimension width 0.038 meters, length 0.039 meters, and height 0.173 meters. \n 3d bounding box x1: 1.933, y1: -0.485, z1: 0.193, x2: 1.971, y2: -0.524, z2: 0.02.\n \n \nObject - glass jar\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.992, -0.498, -0.437, 0.0, -0.001, 0.0]. \n Dimension width 0.079 meters, length 0.01 meters, and height 0.168 meters. \n 3d bounding box x1: 1.883, y1: 0.215, z1: 0.2, x2: 1.962, y2: 0.205, z2: 0.032.\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 [0.11, -0.671, -0.373, 0.0, -0.001, 0.0]. \n Dimension width 0.067 meters, length 0.023 meters, and height 0.232 meters. \n 3d bounding box x1: 1.007, y1: 0.049, z1: 0.251, x2: 1.073, y2: 0.025, z2: 0.019.\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 [0.11, -0.671, -0.362, 0.0, -0.001, 0.0]. \n Dimension width 0.066 meters, length 0.024 meters, and height 0.243 meters. \n 3d bounding box x1: 1.007, y1: 0.049, z1: 0.251, x2: 1.073, y2: 0.026, z2: 0.008.\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 [0.013, -0.124, -0.339, 0.0, -0.001, 0.0]. \n Dimension width 0.076 meters, length 0.038 meters, and height 0.266 meters. \n 3d bounding box x1: 0.905, y1: 0.603, z1: 0.267, x2: 0.981, y2: 0.565, z2: 0.0.\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 [-0.054, -0.121, 0.156, 0.0, -0.001, 0.0]. \n Dimension width 0.603 meters, length 0.33 meters, and height 0.761 meters. \n 3d bounding box x1: 0.575, y1: 0.752, z1: 0.562, x2: 1.178, y2: 0.422, z2: -0.2.\n \n\nTask: Okay, forget it. Can you pick up the Downey Sand booster again?"
}
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"grasp": 0,
"gripper_force": 0
}
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"instruction": "Can you pick up the down dish soap?",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - water bottle\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [1.006, -1.092, -0.423, 0.0, -0.001, 0.0]. \n Dimension width 0.049 meters, length 0.026 meters, and height 0.183 meters. \n 3d bounding box x1: 1.925, y1: -0.495, z1: 0.201, x2: 1.973, y2: -0.521, z2: 0.018.\n \n \nObject - bottle\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.98, -0.374, -0.435, 0.0, -0.001, 0.0]. \n Dimension width 0.083 meters, length 0.006 meters, and height 0.171 meters. \n 3d bounding box x1: 1.882, y1: 0.213, z1: 0.199, x2: 1.965, y2: 0.207, z2: 0.028.\n \n \nObject - bottle\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [1.008, -0.154, -0.398, 0.0, -0.001, 0.0]. \n Dimension width 0.078 meters, length 0.004 meters, and height 0.208 meters. \n 3d bounding box x1: 1.912, y1: 0.428, z1: 0.209, x2: 1.99, y2: 0.432, z2: 0.001.\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 [0.102, -0.545, -0.366, 0.0, -0.001, 0.0]. \n Dimension width 0.059 meters, length 0.03 meters, and height 0.24 meters. \n 3d bounding box x1: 1.015, y1: 0.054, z1: 0.249, x2: 1.075, y2: 0.023, z2: 0.008.\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 [0.101, -0.546, -0.349, 0.0, -0.001, 0.0]. \n Dimension width 0.057 meters, length 0.033 meters, and height 0.257 meters. \n 3d bounding box x1: 1.015, y1: 0.055, z1: 0.248, x2: 1.072, y2: 0.022, z2: -0.01.\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 [0.003, 0.014, -0.39, 0.0, -0.001, 0.0]. \n Dimension width 0.071 meters, length 0.04 meters, and height 0.216 meters. \n 3d bounding box x1: 0.911, y1: 0.618, z1: 0.277, x2: 0.981, y2: 0.578, z2: 0.061.\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 [0.006, -0.021, 0.207, 0.0, -0.001, 0.0]. \n Dimension width 0.614 meters, length 0.21 meters, and height 0.813 meters. \n 3d bounding box x1: 0.642, y1: 0.668, z1: 0.542, x2: 1.256, y2: 0.458, z2: -0.271.\n \n\nTask: Can you pick up the down dish soap?"
}
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