observation dict | action dict | state dict | reward float32 0 0 | metadata dict |
|---|---|---|---|---|
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250401_190426/--/62006b0df76bdda4c34c7bde7fc403f451335d99/--/default/train/0/observation/image-f0a0300.jpg?Expires=1774418899&Signature=AjDFYZHTmiLF8pSU0ROYgWGvjf9q03XNY~BKO08BdEvZUN8MOaegDmWa5702vkDIe8S8ge4-~YYcNitegptMungpb69OhdDc8jZCHOL-DhvoLRYYMi5xEF-GzkhU5ls33I-8bgrkUcPfKRDsLK9T8x4QCRQtrY1pMuMyL6PVTBw9YqE-DMRyytb9pLtbTWn3XjBqSCmoGoiadyJfXdZcCp2hz3bkuj3g09NNmYLJ5Z3Klbo3Juet5vJPpF~NaX-gs7eq-KXFm375IJ~aYcT1dYTCsbnFC2OyRPK3CLokXazdUW11uRF2yhvHUsIzMUAc1zs9yATKdO6UuliaDD1OKQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
},
"instruction": "Hey, Gopha, how are you doing today?",
"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 [0.492, -0.369, -0.373, 0.0, 0.0, 0.0]. \n Dimension width 0.055 meters, length 0.045 meters, and height 0.227 meters. \n 3d bounding box x1: 0.965, y1: -0.347, z1: 0.25, x2: 1.019, y2: -0.392, z2: 0.024.\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 [0.237, -0.034, -0.338, 0.0, 0.0, 0.0]. \n Dimension width 0.061 meters, length 0.037 meters, and height 0.262 meters. \n 3d bounding box x1: 0.706, y1: -0.016, z1: 0.25, x2: 0.767, y2: -0.053, z2: -0.012.\n \n \nObject - white cardboard box tray\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.435, 0.56, 0.238, 0.0, 0.0, 0.0]. \n Dimension width 0.667 meters, length 0.231 meters, and height 0.838 meters. \n 3d bounding box x1: 0.602, y1: 0.676, z1: 0.549, x2: 1.268, y2: 0.445, z2: -0.289.\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 [0.571, -0.026, -0.398, 0.0, 0.0, 0.0]. \n Dimension width 0.124 meters, length 0.096 meters, and height 0.202 meters. \n 3d bounding box x1: 1.009, y1: 0.022, z1: 0.219, x2: 1.134, y2: -0.074, z2: 0.017.\n \n\nTask: Hey, Gopha, how are you doing today?"
} | {
"pose": {
"x": 0.2370000034570694,
"y": -0.03500000014901161,
"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_190426/--/62006b0df76bdda4c34c7bde7fc403f451335d99/--/default/train/0/state/image-36390588.jpg?Expires=1774418899&Signature=fN0RHanTkeNX62C0Pvm51oXtIlvVvKKcGk911wjiEZeFCFRd80jHC2u66mPGMSpokCyOItoP-gJfIUbbBJNYS598WTgd77EeonAzoj-76K0ce2-MKkqWDIudgQYC6StO5MwFbgL7YinAovtJ3erwk7CXG~NKmywWEJ83EVmaUDg06JJoNJWros48b4D1odtrhTsMiYqlrjV6mbTYyniw6O1OxSrlIha76i7RO9wPHQSaOqPGibxKs7rzdnV~-E~DCfLXzkl0TfGlnq5BnR6dWDMHg0KAqFARZX~cheVrI7ukKvFoaUX-U5YvFbxerFV869duaR2H9IPR8ipb4ysVfg__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
}
},
"depths": {
"camF": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250401_190426/--/62006b0df76bdda4c34c7bde7fc403f451335d99/--/default/train/0/state/image-36e6058c.png?Expires=1774418899&Signature=O2J2hZBIIqejNRXMjbeVkMIALf0W0IHLsoNG9bGpi95ZfjX9q4whlkDYIxrfucGNRM2td7jh~Keau1D6gur1JLH41RZFACMc5Ax3~sVu~accgLX2MOtcF7LDkIbGPuktGS7LqN3FIOzDtrWxRs2gvIi6VASe~z0rzBknWz2qGta8qqpEUApxIneeN4tYOSUP825IpJpSgJ9bhvMlpFboJj5B6tNvWrTVmOeQR3-o5~-5PsD8NBY0Y7pN8I8DkIUf4T3~umaXZXmwCms5ITkP-hhJNu2ypjG6e4aPy57iNCusEm2asMG2QhtQP1UDNXsVFXQNywlUifT9t0CpTZgtfw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
},
"camT": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250401_190426/--/62006b0df76bdda4c34c7bde7fc403f451335d99/--/default/train/0/state/image-3710059a.png?Expires=1774418899&Signature=iOkDyQn9HmInQ2BwgThm9FM3h~z~vI6JSDjAXulO9282-MiR3Nz-y4c38TBtabHSPKmwNCi3nSFsQF-YMZKPMedmHNHwZDRyCo1lzwTR~FdYeH7oQiJntrebgRG3fL5TWTfCQI6-5B9fvw9OVnZXxbrZdyjNIrkUQeLjBBnWkP7qb7Vy155AHkMjMsNYq5jtyeqXQgZ5s32LgoV6Wd8KC2027yaRfsA1-CmEA7zQdB5DbPg27kbak5qEHPZK74TQMJkYYpz2~BYmIJrsp~7~-V0NWzZf8Q2iHzqjI5MaZv8s~ZxtlvJosPw46yGUgS3cir7ilelSZayuQYnwm7~jNg__&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\": 610.501708984375, \"y1\": 195.2207489013672, \"x2\": 681.5200805664062, \"y2\": 376.0796203613281, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.963451041449418, \"y1\": -0.349146369276388, \"z1\": 0.24848555878349604, \"x2\": 1.0147965036345863, \"y2\": -0.3966946934697093, \"z2\": 0.0150483428787348}, \"volume\": 0.0005699114437036938, \"pose\": {\"x\": 0.9891237725420021, \"y\": -0.37292053137304865, \"z\": 0.13176695083111542, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.05086917080400476, -0.21984772952750226, 1.2425115543585052], \"xyz_max\": [0.024915477497255763, -0.022561745334796927, 1.363858416340749], \"pca_vectors\": [[-0.05223551202314887, 0.9604914754572, -0.2733634519421544], [-0.8418922719213283, -0.18958318405058738, -0.5052480764974621], [-0.5371115840892129, 0.20375068564128118, 0.8185333251235922]], \"image\": null}, {\"name\": \"a dawn platinum liquid dish soap (clear dark blue bottle)\", \"bbox_2d\": {\"x1\": 592.7588500976562, \"y1\": 177.31173706054688, \"x2\": 708.4125366210938, \"y2\": 401.0071105957031, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.9634317146718165, \"y1\": -0.3489053460175289, \"z1\": 0.24826858350322178, \"x2\": 1.0146382011013468, \"y2\": -0.3977698024996865, \"z2\": 0.010114473928488854}, \"volume\": 0.0005959037658551775, \"pose\": {\"x\": 0.9890349578865817, \"y\": -0.3733375742586077, \"z\": 0.12919152871585532, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.05104384987548462, -0.2197425907595139, 1.242764491246575], \"xyz_max\": [0.025665050889529716, -0.017901207464324918, 1.3656588352986754], \"pca_vectors\": [[-0.053135054997777986, 0.9611104427673823, -0.2710043961522941], [-0.8419497400844507, -0.1890422389318531, -0.5053549911412356], [-0.5369332370994641, 0.20132001565447633, 0.819251457242996]], \"image\": null}, {\"name\": \"a downy scent booster beads (with pink cap and pink body)\", \"bbox_2d\": {\"x1\": 298.7159423828125, \"y1\": 159.89639282226562, \"x2\": 441.6170654296875, \"y2\": 389.4820556640625, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.7067365018235036, \"y1\": -0.015259368957555752, \"z1\": 0.24913325426938993, \"x2\": 0.7670802025912761, \"y2\": -0.05440946094061516, \"z2\": -0.01174600339361409}, \"volume\": 0.0006163171855915442, \"pose\": {\"x\": 0.7369083522073898, \"y\": -0.03483441494908546, \"z\": 0.11869362543788792, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.4668944446081712, -0.24529223476419004, 1.303], \"xyz_max\": [-0.38969557204172717, -0.030989901207464327, 1.4491058619975403], \"pca_vectors\": [[-0.02161833279980504, 0.9402699598084688, -0.33974262371497826], [-0.8500136373356714, -0.19618225161919997, -0.48886536029156596], [-0.5263168855645223, 0.2782174092888534, 0.8034834218191812]], \"image\": null}, {\"name\": \"a downy scent booster beads (with pink cap and pink body)\", \"bbox_2d\": {\"x1\": 322.4263916015625, \"y1\": 178.21240234375, \"x2\": 416.3275146484375, \"y2\": 365.42852783203125, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.7068120026788001, \"y1\": -0.01532041553393615, \"z1\": 0.24914368199046333, \"x2\": 0.7671513129641305, \"y2\": -0.05427691438965465, \"z2\": -0.011423487503363638}, \"volume\": 0.0006124913440460472, \"pose\": {\"x\": 0.7369816578214653, \"y\": -0.0347986649617954, \"z\": 0.11886009724354984, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.466797958287596, -0.2453072744100281, 1.303], \"xyz_max\": [-0.3897434810510005, -0.031339846322722416, 1.4490624463793769], \"pca_vectors\": [[-0.021749677501508097, 0.9404875179158328, -0.33913150867045144], [-0.8497790391117812, -0.19609247889251544, -0.4893090275153793], [-0.5266901709874964, 0.2775445340234689, 0.803471527447524]], \"image\": null}, {\"name\": \"white cardboard box tray\", \"bbox_2d\": {\"x1\": 73.48712921142578, \"y1\": 18.452159881591797, \"x2\": 498.2406005859375, \"y2\": 309.0258483886719, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.6121842601447806, \"y1\": 0.6643088201494227, \"z1\": 0.5272536750777449, \"x2\": 1.261310442432236, \"y2\": 0.43653522633627095, \"z2\": -0.2780045544253341}, \"volume\": 0.11906049193332352, \"pose\": {\"x\": 0.9367473512885083, \"y\": 0.5504220232428468, \"z\": 0.12462456032620539, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-1.0106507354555434, -0.6935155214050495, 1.53], \"xyz_max\": [-0.36347585071350164, -0.16649835345773875, 2.182], \"pca_vectors\": [[0.3733751095670394, -0.9225235275851635, -0.0976799294001965], [-0.47482761657735106, -0.09959092165929397, -0.8744257446224492], [0.7969502883438048, 0.37286993627118614, -0.4752244191262147]], \"image\": null}, {\"name\": \"a tide laundry detergent pods packet (orange bag)\", \"bbox_2d\": {\"x1\": 478.0905456542969, \"y1\": 149.0342254638672, \"x2\": 602.5946655273438, \"y2\": 300.5981140136719, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 1.0056803599919153, \"y1\": 0.01767340219289104, \"z1\": 0.21746938742230748, \"x2\": 1.132610880327305, \"y2\": -0.07710373559927097, \"z2\": 0.014451163077824458}, \"volume\": 0.0024423318583137953, \"pose\": {\"x\": 1.0691456201596101, \"y\": -0.029715166703189966, \"z\": 0.11596027525006597, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.2723121198845703, -0.3420611035551343, 1.513304786331774], \"xyz_max\": [-0.11000242042861565, -0.18191767288693744, 1.6329714288559631], \"pca_vectors\": [[0.27802272658956473, 0.8892742428477507, 0.3631730778943616], [0.7127934096723483, -0.44443666362284656, 0.5425878796614063], [0.6439168569212738, 0.1080156147756085, -0.757432312710037]], \"image\": null}]}",
"gripper_pose": [
0.4999943673610687,
-5.665193043569161e-7,
0.6000005602836609,
3.1415648460388184,
-0.000017296653822995722,
0.00002177265014324803,
1
]
} | 0 | {
"episode_idx": 0,
"step_idx": 0
} |
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250401_190426/--/62006b0df76bdda4c34c7bde7fc403f451335d99/--/default/train/1/observation/image-f0a0300.jpg?Expires=1774418899&Signature=dZcD0zoRje~xGLxuLIwebpgTAhhe3q-gqT-OgPUui7ETyqHlvXLr9u8pY8O~FpOci6x1C~wU90Miv5Tzg5k4Y-ql2upyJsTYrpnBMjD4wacfa7NWvbrcmyAaqfPBypG-6eNN0z5y9GisCsZHEo85e4rbp4DY7s8z2zm1CJNeMs83ednIvTDQv6Lcx0F28fUFil5EaKCbeY-UJG9tSWwKJNTdvqE~zeu0cLzyKS8VU4G4U45hdytM~EXzb9uHD1Rv61gXYsngy0bxy7KmdOq-4L8ncd1-yb~Mnix9YwV2mgwA4giM33Snl6HTGQVeG89hjOPyL2NoGoATGbctMvLamA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
},
"instruction": "So let's start with picking up the Downy Pink 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 [0.489, -0.373, -0.367, 0.0, 0.0, 0.0]. \n Dimension width 0.051 meters, length 0.048 meters, and height 0.233 meters. \n 3d bounding box x1: 0.963, y1: -0.349, z1: 0.248, x2: 1.015, y2: -0.397, z2: 0.015.\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 [0.489, -0.373, -0.362, 0.0, 0.0, 0.0]. \n Dimension width 0.051 meters, length 0.049 meters, and height 0.238 meters. \n 3d bounding box x1: 0.963, y1: -0.349, z1: 0.248, x2: 1.015, y2: -0.398, 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 [0.237, -0.035, -0.339, 0.0, 0.0, 0.0]. \n Dimension width 0.06 meters, length 0.039 meters, and height 0.261 meters. \n 3d bounding box x1: 0.707, y1: -0.015, z1: 0.249, x2: 0.767, y2: -0.054, z2: -0.012.\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 [0.237, -0.035, -0.339, 0.0, 0.0, 0.0]. \n Dimension width 0.06 meters, length 0.039 meters, and height 0.261 meters. \n 3d bounding box x1: 0.707, y1: -0.015, z1: 0.249, x2: 0.767, y2: -0.054, z2: -0.011.\n \n \nObject - white cardboard box tray\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.437, 0.55, 0.205, 0.0, 0.0, 0.0]. \n Dimension width 0.649 meters, length 0.228 meters, and height 0.805 meters. \n 3d bounding box x1: 0.612, y1: 0.664, z1: 0.527, x2: 1.261, y2: 0.437, z2: -0.278.\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 [0.569, -0.03, -0.397, 0.0, 0.0, 0.0]. \n Dimension width 0.127 meters, length 0.095 meters, and height 0.203 meters. \n 3d bounding box x1: 1.006, y1: 0.018, z1: 0.217, x2: 1.133, y2: -0.077, z2: 0.014.\n \n\nTask: So let's start with picking up the Downy Pink bottle."
} | {
"pose": {
"x": 0,
"y": 0,
"z": -0.33899998664855957,
"roll": 0,
"pitch": 0,
"yaw": 0
},
"grasp": 0,
"gripper_force": 0
} | {
"images": {
"camF": {
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"height": 720,
"width": 1280
},
"camT": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250401_190426/--/62006b0df76bdda4c34c7bde7fc403f451335d99/--/default/train/1/state/image-36390588.jpg?Expires=1774418899&Signature=QfHLC20mpv9x8N6RZn1HJUZKh2ornhlcQd5b7TZ3go-EgotwB01qemEVNrjLoDTgr5SBlcWZs87OVevestt4zEXzTPv9WvQW3wmI3Xy57wSEN0Vw0ms4RM~k2a29~mV5gpWDaXIRWe3PiTv9bDmjhnKMUNy4jlE179o4aHrVjkymZFER7DcilbDY1kyDv4OtEZsd-YIONk4BGzNdRZnSSNbymtMEm5IbUonxb3ymHlbxBCV0etn1XNDkM0y0dbssMcFcWor7XYQDi2SiChzHfLJCUc45zfiDcpiv-ZCcpQ9c9ie1qgtOCjAv1ueOW5Q2Ac1vz9rbp4XRM1z-9G~qrg__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
}
},
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"instruction": "Hey Gopha, how are you doing today?",
"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 [0.491, -0.371, -0.38, 0.0, 0.0, 0.0]. \n Dimension width 0.053 meters, length 0.047 meters, and height 0.22 meters. \n 3d bounding box x1: 0.965, y1: -0.347, z1: 0.251, x2: 1.018, y2: -0.394, z2: 0.031.\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 [0.238, -0.032, -0.338, 0.0, 0.0, 0.0]. \n Dimension width 0.06 meters, length 0.039 meters, and height 0.262 meters. \n 3d bounding box x1: 0.708, y1: -0.013, z1: 0.25, x2: 0.768, y2: -0.052, z2: -0.012.\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 [0.571, -0.027, -0.398, 0.0, 0.0, 0.0]. \n Dimension width 0.127 meters, length 0.094 meters, and height 0.202 meters. \n 3d bounding box x1: 1.007, y1: 0.021, z1: 0.218, x2: 1.134, y2: -0.074, z2: 0.016.\n \n \nObject - a white cardboard box tray\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.361, 0.563, 0.137, 0.0, 0.0, 0.0]. \n Dimension width 0.578 meters, length 0.264 meters, and height 0.737 meters. \n 3d bounding box x1: 0.572, y1: 0.695, z1: 0.521, x2: 1.15, y2: 0.432, z2: -0.216.\n \n\nTask: Hey Gopha, how are you doing today?"
} | {
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0.000023209333448903635,
1
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} | 0 | {
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{
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"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250401_190426/--/62006b0df76bdda4c34c7bde7fc403f451335d99/--/default/train/3/observation/image-f0a0300.jpg?Expires=1774418899&Signature=g2WrG2wqdy~8dszfUBc-vyA9OTzbAAEGdsS~Pa-yU28SJv8U1aVZetoPG-g58S3cZ~0~eT8x2WXbjecEBlK3h8aVXqyetr7nd9-G6sR0xY57UNpk-2bSrTEbQqa59kDnplr9yRdyVsheeUtaj2bZ1Z1gGoTPSimIpUGK4fULWn14Lbx2VLyZHpEgramEVGWFmStfKwFIYNg6ZltLiDhxPmSRZmiem6xibCFpapqOK1gpcrr5jLjInIwuKwIglxc9RMBk92i4aor-8UB0fIHZQ91~vau1bBuPi3MgfqaNXmOVOwL0UOOyHeLsoQJBOnoRQSJb~swRNbh7rtyOntRYOQ__&Key-Pair-Id=K3EI6M078Z3AC3",
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"instruction": "Great, please put it inside the white tray.",
"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 [0.252, -0.338, -0.361, 0.0, 0.0, 0.0]. \n Dimension width 0.052 meters, length 0.048 meters, and height 0.239 meters. \n 3d bounding box x1: 0.963, y1: -0.349, z1: 0.249, x2: 1.015, y2: -0.397, z2: 0.01.\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, -0.335, -0.38, 0.0, 0.0, 0.0]. \n Dimension width 0.057 meters, length 0.043 meters, and height 0.22 meters. \n 3d bounding box x1: 0.963, y1: -0.349, z1: 0.249, x2: 1.02, y2: -0.392, z2: 0.03.\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 [0.331, 0.006, -0.399, 0.0, 0.0, 0.0]. \n Dimension width 0.126 meters, length 0.096 meters, and height 0.201 meters. \n 3d bounding box x1: 1.005, y1: 0.019, z1: 0.216, x2: 1.132, y2: -0.077, z2: 0.015.\n \n \nObject - white cardboard box tray\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.205, 0.563, 0.226, 0.0, 0.0, 0.0]. \n Dimension width 0.629 meters, length 0.196 meters, and height 0.826 meters. \n 3d bounding box x1: 0.628, y1: 0.626, z1: 0.552, x2: 1.257, y2: 0.429, z2: -0.275.\n \n\nTask: Great, please put it inside the white tray."
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"instruction": "So, great job. Now please pick up the tight pods bag.",
"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 [0.047, -0.902, -0.371, 0.0, 0.0, 0.0]. \n Dimension width 0.051 meters, length 0.048 meters, and height 0.229 meters. \n 3d bounding box x1: 0.963, y1: -0.35, z1: 0.248, x2: 1.014, y2: -0.398, z2: 0.019.\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 [-0.008, 0.012, -0.365, 0.0, 0.0, 0.0]. \n Dimension width 0.087 meters, length 0.026 meters, and height 0.235 meters. \n 3d bounding box x1: 0.89, y1: 0.553, z1: 0.257, x2: 0.977, y2: 0.527, z2: 0.022.\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 [0.127, -0.557, -0.396, 0.0, 0.0, 0.0]. \n Dimension width 0.125 meters, length 0.096 meters, and height 0.204 meters. \n 3d bounding box x1: 1.007, y1: 0.019, z1: 0.22, x2: 1.132, y2: -0.078, z2: 0.015.\n \n \nObject - a white cardboard box tray\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [-0.009, 0.01, 0.232, 0.0, 0.0, 0.0]. \n Dimension width 0.653 meters, length 0.206 meters, and height 0.832 meters. \n 3d bounding box x1: 0.607, y1: 0.641, z1: 0.551, x2: 1.26, y2: 0.435, z2: -0.281.\n \n\nTask: So, great job. Now please pick up the tight pods bag."
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} | 0 | {
"episode_idx": 0,
"step_idx": 4
} |
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250401_190426/--/62006b0df76bdda4c34c7bde7fc403f451335d99/--/default/train/5/observation/image-f0a0300.jpg?Expires=1774418899&Signature=JEYd7yQaYZkOVdsaCjdqWXa8iUZA0mzIChRqCL7OfjkH3abrLphshc4PHv9koDcusJ4FxcPhQ9Cka-VXM2rxPNVClRniarlBAhsDfu0x4OS1fpK99zp5Hvozd3wPdHs1829X-W5cNXHQUKjxkr8c73~DaAOQTsgxYraeQvzsRdIbBP~GAAJeSzyBFyg-bq-HpENqh3ykrMCfF~diYl~5SCaTEs1c~G4Cz1B2G8-hVe-mtfP29AgIHVMVo8PDvHCzuaOw19agrWH2sB-uwHIzkHgLgWPKYEC~ft3ySCTgrheJJtH2SHGJg0IH0wnD6rASbTqNs3mXkQxr1Ep7XFAGwg__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
},
"instruction": "So you are in great shape today. Please place it in the front of the Downey pink 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 [-0.079, -0.343, -0.365, 0.0, 0.0, 0.0]. \n Dimension width 0.05 meters, length 0.049 meters, and height 0.235 meters. \n 3d bounding box x1: 0.965, y1: -0.348, z1: 0.248, x2: 1.015, y2: -0.397, z2: 0.013.\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 [-0.136, 0.569, -0.365, 0.0, 0.0, 0.0]. \n Dimension width 0.086 meters, length 0.027 meters, and height 0.235 meters. \n 3d bounding box x1: 0.89, y1: 0.553, z1: 0.255, x2: 0.976, y2: 0.526, z2: 0.02.\n \n\nTask: So you are in great shape today. Please place it in the front of the Downey pink bottle."
} | {
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} | 0 | {
"episode_idx": 0,
"step_idx": 5
} |
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