observation dict | action dict | state dict | reward float32 0 0 | metadata dict |
|---|---|---|---|---|
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250402_121851/--/9bee6f0caae72a6d8c4c4d1ef0ee0e5c6afafc93/--/default/train/0/observation/image-f0a0300.jpg?Expires=1773942479&Signature=khJTTLLiXW3DrtawQ2bmTKPHOeVAn2g5IwCTmJFxT6B9pQCdfIgSUcqWb6qyoLuOGqSd6eQpnVPr06m42ZnDc0RTWHv-WFnPXGRnDvg1EJl8-bNBHN5KD~AevaynzSzOlezAb5klrLWzJBdSjx0ccEzlewxdpi3-z8pBNFj0Cfg6g7hfkKEJgsrYA6k-oVjB3VJ94yER7InT~ufsgvOoR8gnT9yZg0tye7i118pHBoSr~nO8MVzS3nxpbg4qbz-PDPCoommwozk6vw7hhLwVPP-QP1BJAomnEZq93RafD4BsRy298wH4GXrcNSpTXm-eo3igyVmyDcPsMZyNWwNC9A__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
},
"instruction": "Hey, can you pick up the Don 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 [0.644, -0.123, -0.377, 0.0, 0.0, 0.0]. \n Dimension width 0.059 meters, length 0.037 meters, and height 0.223 meters. \n 3d bounding box x1: 1.115, y1: -0.105, z1: 0.246, x2: 1.174, y2: -0.142, z2: 0.023.\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 [0.418, 0.569, 0.19, 0.0, 0.0, 0.0]. \n Dimension width 0.623 meters, length 0.218 meters, and height 0.79 meters. \n 3d bounding box x1: 0.606, y1: 0.678, z1: 0.529, x2: 1.229, y2: 0.46, z2: -0.262.\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 [0.647, -0.121, -0.362, 0.0, 0.0, 0.0]. \n Dimension width 0.063 meters, length 0.033 meters, and height 0.238 meters. \n 3d bounding box x1: 1.115, y1: -0.104, z1: 0.246, x2: 1.178, y2: -0.138, 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 [0.436, 0.626, -0.339, 0.0, 0.0, 0.0]. \n Dimension width 0.085 meters, length 0.033 meters, and height 0.261 meters. \n 3d bounding box x1: 0.894, y1: 0.643, z1: 0.264, x2: 0.979, y2: 0.61, z2: 0.003.\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 [0.472, 0.205, -0.383, 0.0, 0.0, 0.0]. \n Dimension width 0.114 meters, length 0.113 meters, and height 0.217 meters. \n 3d bounding box x1: 0.915, y1: 0.261, z1: 0.22, x2: 1.029, y2: 0.149, z2: 0.003.\n \n\nTask: Hey, can you pick up the Don bottle?"
} | {
"pose": {
"x": 0.6439999938011169,
"y": -0.12300000339746475,
"z": 0,
"roll": 0,
"pitch": 0,
"yaw": 0
},
"grasp": 1,
"gripper_force": 50
} | {
"images": {
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"width": 1280
},
"camT": {
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"height": 720,
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}
},
"depths": {
"camF": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250402_121851/--/9bee6f0caae72a6d8c4c4d1ef0ee0e5c6afafc93/--/default/train/0/state/image-36e6058c.png?Expires=1773942479&Signature=wvCBdIzBAkn-DhnbXsXisd7nlwTs2Endj6I5YtWmUa9w1Ct58Y8tA8BMNf9DVh2Vd6GplvTtVBvfdzojBq~020Pqc1hxfg-f1BqUl6BmhNzV2Rqqn0jCitrSa8miP5S9gcjG~7qWP5mP8zI7g4gt6GAcpRs58wcP3-TrAu4JxPWZOLL0tTNitR14D-Y6OUzgeteOKFmxFvgtpP9nRco5o~DafYenpHzmo--zLubKUYy~nP7~DMghihDCkaEbKKHhYt1fYRe1VMuFbU4vN1Jh70craMf9mCHFW1lTLQNolaVfE5HSjL5cZzx5o8jkRfwpNIl4I-pKp7Xvo7Bo0P1VGg__&Key-Pair-Id=K3EI6M078Z3AC3",
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"width": 1280
},
"camT": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250402_121851/--/9bee6f0caae72a6d8c4c4d1ef0ee0e5c6afafc93/--/default/train/0/state/image-3710059a.png?Expires=1773942479&Signature=hsQGCWzLUdRqo1iJxEhjtIbtbwvud7AXV3aoYInkXp0j4tHA5fhF0avtVzNrDejcAMe2WpnQybiV96vKLvOw0~SirWvMy0VHZN~Hn~KBdG40aPgQ87blosOJlUxDT~t6e6xPr05YMHuemgRMybYGu5YtMCtw5BEu7~9R6YJ2231nDmkeoraUHlmKqdqtmDpCYATQ~xv1yJ1kVLJcqeSHyGtbFF83KVs1qeMiV3nDOqwxF0hxoPHcsYy0BsD0fkgA8CUn8f~NqoSl9UzNvA5iRt8JH7bGO8W24pzF4voYv79uC7Ese01VYV53C-ueKwj0BoqwM2Nnzpe1N45uNbiglw__&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\": 585.1295776367188, \"y1\": 138.9161376953125, \"x2\": 644.2896728515625, \"y2\": 295.2806396484375, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 1.1149572574858122, \"y1\": -0.10481989332603958, \"z1\": 0.2463162046933, \"x2\": 1.1740081086274592, \"y2\": -0.1417322200575153, \"z2\": 0.023209910396556066}, \"volume\": 0.00048630575151488204, \"pose\": {\"x\": 1.1444826830566357, \"y\": -0.12327605669177744, \"z\": 0.13476305754492804, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.10650963664391769, -0.3625919176924584, 1.4792023683914575], \"xyz_max\": [-0.03308452250274424, -0.1806287418593625, 1.6061830625705291], \"pca_vectors\": [[-0.023745248737239516, 0.9408222156912789, -0.3380676287729416], [-0.8322844816313475, -0.20594476551224847, -0.5146739698039374], [-0.553839963164492, 0.26914737973804953, 0.7879219397770927]], \"image\": null}, {\"name\": \"large white cardboard box\", \"bbox_2d\": {\"x1\": 69.55757141113281, \"y1\": 15.669357299804688, \"x2\": 493.1878662109375, \"y2\": 299.6679992675781, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.6062455673131242, \"y1\": 0.6779897642723955, \"z1\": 0.5285535999231281, \"x2\": 1.2288705011013714, \"y2\": 0.4602822687330155, \"z2\": -0.26192190313142316}, \"volume\": 0.1071490453401003, \"pose\": {\"x\": 0.9175580342072478, \"y\": 0.5691360165027055, \"z\": 0.13331584839585248, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-1.0208618880351263, -0.698324917672887, 1.5290000000000001], \"xyz_max\": [-0.401256695938529, -0.17604693743139402, 2.164], \"pca_vectors\": [[0.32008552815125246, -0.9316900327823002, -0.1717525472365705], [-0.499804325416223, -0.012056667930880699, -0.8660544284591118], [0.8048235154140118, 0.363054155151158, -0.4695218732541765]], \"image\": null}, {\"name\": \"a dawn platinum liquid dish soap (clear dark blue bottle)\", \"bbox_2d\": {\"x1\": 568.1653442382812, \"y1\": 123.63150787353516, \"x2\": 664.2177734375, \"y2\": 313.77764892578125, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 1.1154140259196696, \"y1\": -0.10449464877379344, \"z1\": 0.24585786278481947, \"x2\": 1.178358580727726, \"y2\": -0.13773232189255835, \"z2\": 0.008227486776259174}, \"volume\": 0.0004971537662414771, \"pose\": {\"x\": 1.1468863033236978, \"y\": -0.1211134853331759, \"z\": 0.12704267478053932, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.10639189969427137, -0.36248862682262206, 1.479909452355991], \"xyz_max\": [-0.032336446339509876, -0.17090427234445899, 1.619], \"pca_vectors\": [[-0.03441676318393382, 0.9377349574713848, -0.34564235265383975], [-0.8229614229022775, -0.22282183006270828, -0.522575284970658], [-0.5670537741930652, 0.26646497252668283, 0.7793885010633365]], \"image\": null}, {\"name\": \"a downy scent booster beads (with pink cap and pink body)\", \"bbox_2d\": {\"x1\": 265.8855895996094, \"y1\": 78.00267028808594, \"x2\": 339.172607421875, \"y2\": 218.44070434570312, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.8936328698396738, \"y1\": 0.6425737482319973, \"z1\": 0.26401437644725473, \"x2\": 0.9790407777057454, \"y2\": 0.6100066911618212, \"z2\": 0.0027775010429623714}, \"volume\": 0.0007266262439332903, \"pose\": {\"x\": 0.9363368237727097, \"y\": 0.6262902196969092, \"z\": 0.13339593874510855, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.7820247200878157, -0.5665630830552234, 1.8108197699736022], \"xyz_max\": [-0.6916006348606955, -0.36342619099890233, 1.975618789690973], \"pca_vectors\": [[0.0028445043493375353, -0.4803828456422783, 0.8770542915963834], [-0.823557982556775, 0.4963657522132166, 0.2745419629069885], [-0.5672249625695445, -0.7230859987874435, -0.39421121267100473]], \"image\": null}, {\"name\": \"a tide laundry detergent pods packet (orange bag)\", \"bbox_2d\": {\"x1\": 357.1661376953125, \"y1\": 135.77542114257812, \"x2\": 487.93402099609375, \"y2\": 279.341552734375, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.9149761167978563, \"y1\": 0.2614999892568175, \"z1\": 0.22002894202759848, \"x2\": 1.0290519357358592, \"y2\": 0.1489559766707791, \"z2\": 0.003203753984162505}, \"volume\": 0.0027837211051884325, \"pose\": {\"x\": 0.9720140262668577, \"y\": 0.2052279829637983, \"z\": 0.1116163480058805, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.5030954994511526, -0.39862128364553845, 1.6068553017509772], \"xyz_max\": [-0.3378552569554255, -0.21506476399560923, 1.715], \"pca_vectors\": [[0.35353577666159886, -0.3796277184041533, -0.8549241194629715], [-0.9012423484958222, -0.38303192287006504, -0.2026049736314377], [-0.2505487655088628, 0.8421219279188243, -0.47755206482672385]], \"image\": null}]}",
"gripper_pose": [
0.49998751282691956,
-0.0000017317472611466656,
0.6002014875411987,
-3.141570568084717,
-0.000026325096769141965,
0.000006019466127327178,
1
]
} | 0 | {
"episode_idx": 0,
"step_idx": 0
} |
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250402_121851/--/9bee6f0caae72a6d8c4c4d1ef0ee0e5c6afafc93/--/default/train/1/observation/image-f0a0300.jpg?Expires=1773942479&Signature=AyN8AqJLN0PzOyHV2szuo54ivTT0tfVZm5~V3wFlVG4p2dRhxtpS-81t9MLyzjh4nqNzPhvQp72WyAdjCra16nMQ98wY-RFX9w2o5OzNAZM3CXfjLYan1AvYt9MdxT0ZNodcMJkUy~mJC3DA5qNqhyslCZPRj7EeuuGkVcNlGzZpvT977mDYdnI-9X1xjSbu6DnePOxfjBbzjKII501bq6aaCfBmWzyM90pv6CekIvvvepn5GMJOxhtxHXAD-HIvOTRqz91XObZkvJv11rh5zgFdKLwe7Few3I0zfAQXODG7-XiMZ9EXoMHz4JUa1M7tbFSwKZ67eQnQkkSugYpiBw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
},
"instruction": "Can you place it a little bit to the back?",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - 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 [-0.162, 0.342, -0.377, 0.0, 0.0, 0.0]. \n Dimension width 0.09 meters, length 0.155 meters, and height 0.223 meters. \n 3d bounding box x1: 0.937, y1: 0.296, z1: 0.203, x2: 1.027, y2: 0.141, z2: -0.02.\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 [-0.203, 0.756, -0.336, 0.0, 0.0, 0.0]. \n Dimension width 0.082 meters, length 0.032 meters, and height 0.264 meters. \n 3d bounding box x1: 0.901, y1: 0.649, z1: 0.265, x2: 0.982, y2: 0.617, 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 [-0.258, 0.714, 0.169, 0.0, 0.0, 0.0]. \n Dimension width 0.605 meters, length 0.341 meters, and height 0.769 meters. \n 3d bounding box x1: 0.583, y1: 0.762, z1: 0.567, x2: 1.188, y2: 0.421, z2: -0.202.\n \n\nTask: Can you place it a little bit to the back?"
} | {
"pose": {
"x": 0,
"y": 0,
"z": -0.37700000405311584,
"roll": 0,
"pitch": 0,
"yaw": 0
},
"grasp": 0,
"gripper_force": 0
} | {
"images": {
"camF": {
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"height": 720,
"width": 1280
},
"camT": {
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},
"depths": {
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"camT": {
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"height": 720,
"width": 1280
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},
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"instruction": "Can you pick it up again?",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \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 [-0.136, 0.692, 0.185, 0.0, 0.0, 0.0]. \n Dimension width 0.647 meters, length 0.214 meters, and height 0.786 meters. \n 3d bounding box x1: 0.584, y1: 0.675, z1: 0.522, x2: 1.231, y2: 0.462, z2: -0.263.\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 [-0.004, 0.026, -0.363, 0.0, 0.0, 0.0]. \n Dimension width 0.058 meters, length 0.036 meters, and height 0.238 meters. \n 3d bounding box x1: 1.01, y1: -0.079, z1: 0.241, x2: 1.069, y2: -0.114, z2: 0.003.\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 [-0.004, 0.027, -0.361, 0.0, 0.0, 0.0]. \n Dimension width 0.059 meters, length 0.035 meters, and height 0.24 meters. \n 3d bounding box x1: 1.01, y1: -0.078, z1: 0.241, x2: 1.07, y2: -0.114, 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 [-0.103, 0.749, -0.359, 0.0, 0.0, 0.0]. \n Dimension width 0.084 meters, length 0.025 meters, and height 0.242 meters. \n 3d bounding box x1: 0.899, y1: 0.638, z1: 0.263, x2: 0.983, y2: 0.613, 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 [-0.073, 0.327, -0.386, 0.0, 0.0, 0.0]. \n Dimension width 0.114 meters, length 0.112 meters, and height 0.215 meters. \n 3d bounding box x1: 0.914, y1: 0.26, z1: 0.218, x2: 1.028, y2: 0.149, z2: 0.003.\n \n\nTask: Can you pick it up again?"
} | {
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null}, {\"name\": \"a dawn platinum liquid dish soap (clear dark blue bottle)\", \"bbox_2d\": {\"x1\": 523.8377075195312, \"y1\": 150.8476104736328, \"x2\": 587.8668823242188, \"y2\": 310.64263916015625, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 1.0103538755931443, \"y1\": -0.07862514302312729, \"z1\": 0.24054705798945014, \"x2\": 1.0686770816319824, \"y2\": -0.1144550818256227, \"z2\": 0.002501555035936298}, \"volume\": 0.0004974477112376828, \"pose\": {\"x\": 1.0395154786125633, \"y\": -0.09654011242437499, \"z\": 0.12152430651269322, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.20022027777654933, -0.3282117478564679, 1.438], \"xyz_max\": [-0.12771899012074645, -0.13361060283958667, 1.573], \"pca_vectors\": [[-0.03322065345625317, 0.9223538594538364, -0.38491524539117994], [-0.8313940360059112, -0.23924735700880234, -0.5015422804291821], [-0.5546894131653688, 0.30335467709418196, 0.7747874513744679]], \"image\": null}, {\"name\": \"a dawn platinum liquid dish soap (clear dark blue bottle)\", \"bbox_2d\": {\"x1\": 507.5729064941406, \"y1\": 136.06178283691406, \"x2\": 610.373046875, \"y2\": 330.3797912597656, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 1.0101963427185736, \"y1\": -0.0783898840706374, \"z1\": 0.24065549669728492, \"x2\": 1.069545974947889, \"y2\": -0.11370035881492346, \"z2\": 0.0005334191252248655}, \"volume\": 0.0005032151191149375, \"pose\": {\"x\": 1.0398711588332312, \"y\": -0.09604512144278043, \"z\": 0.1205944579112549, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.20049899012074643, -0.3283310867178924, 1.438], \"xyz_max\": [-0.12756309549945116, -0.13252716467919679, 1.575], \"pca_vectors\": [[-0.034869214486530485, 0.9174021860735018, -0.39643078446136404], [-0.8295323224003527, -0.24779552418063228, -0.5004732802948856], [-0.5573690554508474, 0.3114010391498491, 0.769655201270169]], \"image\": null}, {\"name\": \"a downy scent booster beads (with pink cap and pink body)\", \"bbox_2d\": {\"x1\": 265.4794921875, \"y1\": 78.31587219238281, \"x2\": 338.683837890625, \"y2\": 218.73313903808594, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.8987578725861617, \"y1\": 0.637968611105415, \"z1\": 0.263387977785134, \"x2\": 0.9831183961791305, \"y2\": 0.61317705491857, \"z2\": 0.02183491203784982}, \"volume\": 0.0005051910047612977, \"pose\": {\"x\": 0.9409381343826462, \"y\": 0.6255728330119925, \"z\": 0.1426114449114919, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.7751245883644348, -0.5662653583702253, 1.8112257978075972], \"xyz_max\": [-0.6912740196143683, -0.3823729967069155, 1.9700712705574934], \"pca_vectors\": [[0.04177807440728767, 0.9162015276563994, -0.3985340050973058], [0.7857647854527617, 0.2162410672601451, 0.5794941783767709], [0.6171128700984889, -0.33736413791372916, -0.7108847614125174]], \"image\": null}, {\"name\": \"a tide laundry detergent pods packet (orange bag)\", \"bbox_2d\": {\"x1\": 356.4996337890625, \"y1\": 135.6667938232422, \"x2\": 487.69586181640625, \"y2\": 279.4885559082031, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.9138850773519348, \"y1\": 0.2604247360838272, \"z1\": 0.21788047050710696, \"x2\": 1.0275978823228602, \"y2\": 0.14855398305343548, \"z2\": 0.0030203708731328938}, \"volume\": 0.0027332647893389965, \"pose\": {\"x\": 0.9707414798373974, \"y\": 0.20448935956863135, \"z\": 0.11045042069011993, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.5030954994511526, -0.3959895689910992, 1.6066641360883815], \"xyz_max\": [-0.3386278814489572, -0.2142206366630077, 1.714], \"pca_vectors\": [[0.27456820732281856, 0.8810503956784096, -0.3851785297786621], [-0.9083270498484439, 0.10620622771653053, -0.404551860344069], [-0.3155222179833877, 0.46094515668259545, 0.8294427602250206]], \"image\": null}]}",
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1
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} | 0 | {
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{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250402_121851/--/9bee6f0caae72a6d8c4c4d1ef0ee0e5c6afafc93/--/default/train/3/observation/image-f0a0300.jpg?Expires=1773942479&Signature=lkkgLcdFGnQRoPE7Q3n9oVLf9iZjU0V08W~0cyx~wifVas3qF2hImEczi-jnMlinD3XxI9TCwoVd8Lu-EaJFQILaotuUNw4isaSslSSXBwCXcMHva~7r256qRFwNlVfke~CZnU9Rb2S~~hbgw2NeJ3pi4EqsFfh92coZvTJFOsJJr-nXBaSQozi-cFtnuCbRUP3dh0phtjRqc~-dJbzLtJE7ol082ir4sVgoYfIUNLQsTrlJ260fLwPxle~n11j1LvvEAjBVHq3BaYbjP7adDQ76aGc3RQNmiLn8a~0xE0WFyZQuVVmypUNn7DFlohryRS4mDP-Xioh4w5nLNEWU-w__&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 large white cardboard box\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [-0.131, 0.693, 0.186, 0.0, 0.0, 0.0]. \n Dimension width 0.63 meters, length 0.217 meters, and height 0.787 meters. \n 3d bounding box x1: 0.597, y1: 0.678, z1: 0.525, x2: 1.228, y2: 0.461, z2: -0.262.\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 [-0.108, 0.749, -0.341, 0.0, 0.0, 0.0]. \n Dimension width 0.085 meters, length 0.032 meters, and height 0.26 meters. \n 3d bounding box x1: 0.894, y1: 0.642, z1: 0.262, x2: 0.979, y2: 0.61, z2: 0.002.\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 [-0.071, 0.33, -0.39, 0.0, 0.0, 0.0]. \n Dimension width 0.115 meters, length 0.11 meters, and height 0.211 meters. \n 3d bounding box x1: 0.915, y1: 0.262, z1: 0.216, x2: 1.03, y2: 0.152, z2: 0.005.\n \n\nTask: Place it in the white cardboard box."
} | {
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"roll": 0,
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"instruction": "Can you pick up the tied pots packet?",
"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 [0.063, 0.072, -0.327, 0.0, -0.001, 0.0]. \n Dimension width 0.04 meters, length 0.024 meters, and height 0.275 meters. \n 3d bounding box x1: 0.956, y1: 0.654, z1: 0.248, x2: 0.996, y2: 0.63, z2: -0.028.\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 [-0.012, 0.039, -0.414, 0.0, -0.001, 0.0]. \n Dimension width 0.058 meters, length 0.059 meters, and height 0.188 meters. \n 3d bounding box x1: 0.872, y1: 0.639, z1: 0.221, x2: 0.93, y2: 0.58, z2: 0.034.\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 [0.074, -0.343, -0.381, 0.0, -0.001, 0.0]. \n Dimension width 0.085 meters, length 0.163 meters, and height 0.221 meters. \n 3d bounding box x1: 0.945, y1: 0.308, z1: 0.198, x2: 1.029, y2: 0.146, z2: -0.023.\n \n \nObject - unlabeled object\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.014, 0.005, 0.232, 0.0, -0.001, 0.0]. \n Dimension width 0.644 meters, length 0.227 meters, and height 0.834 meters. \n 3d bounding box x1: 0.605, y1: 0.688, z1: 0.565, x2: 1.249, y2: 0.461, z2: -0.269.\n \n\nTask: Can you pick up the tied pots packet?"
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"instruction": "Can you place it to the right of the dawn bottle in the box?",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - a can of compressed air\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.947, 0.073, -0.417, 0.0, -0.001, 0.0]. \n Dimension width 0.097 meters, length 0.01 meters, and height 0.185 meters. \n 3d bounding box x1: 1.886, y1: 0.294, z1: 0.199, x2: 1.983, y2: 0.305, z2: 0.014.\n \n \nObject - a can of compressed air\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.961, 0.21, -0.414, 0.0, -0.001, 0.0]. \n Dimension width 0.076 meters, length 0.001 meters, and height 0.188 meters. \n 3d bounding box x1: 1.91, y1: 0.438, z1: 0.198, x2: 1.986, y2: 0.436, z2: 0.01.\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 [-0.011, 0.416, -0.323, 0.0, -0.001, 0.0]. \n Dimension width 0.042 meters, length 0.019 meters, and height 0.279 meters. \n 3d bounding box x1: 0.955, y1: 0.652, z1: 0.249, x2: 0.998, y2: 0.633, z2: -0.03.\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 [-0.091, 0.379, -0.412, 0.0, -0.001, 0.0]. \n Dimension width 0.067 meters, length 0.051 meters, and height 0.19 meters. \n 3d bounding box x1: 0.863, y1: 0.631, z1: 0.225, x2: 0.93, y2: 0.58, z2: 0.035.\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 [-0.072, 0.311, 0.118, 0.0, -0.001, 0.0]. \n Dimension width 0.638 meters, length 0.209 meters, and height 0.72 meters. \n 3d bounding box x1: 0.596, y1: 0.642, z1: 0.468, x2: 1.234, y2: 0.433, z2: -0.252.\n \n\nTask: Can you place it to the right of the dawn bottle in the box?"
} | {
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"instruction": "I don't like it.",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - red bottle\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [1.028, -0.076, -0.391, 0.0, -0.001, 0.0]. \n Dimension width 0.114 meters, length 0.037 meters, and height 0.211 meters. \n 3d bounding box x1: 1.886, y1: 0.294, z1: 0.206, x2: 2.0, y2: 0.33, z2: -0.005.\n \n \nObject - orange object\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [-0.011, 0.214, -0.504, 0.0, -0.001, 0.0]. \n Dimension width 0.052 meters, length 0.032 meters, and height 0.098 meters. \n 3d bounding box x1: 0.878, y1: 0.618, z1: 0.254, x2: 0.93, y2: 0.586, z2: 0.156.\n \n \nObject - red bottle\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [1.036, 0.051, -0.414, 0.0, -0.001, 0.0]. \n Dimension width 0.073 meters, length 0.005 meters, and height 0.188 meters. \n 3d bounding box x1: 1.914, y1: 0.442, z1: 0.198, x2: 1.988, y2: 0.437, z2: 0.01.\n \n \nObject - green object\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [1.0, 0.265, -0.463, 0.0, -0.001, 0.0]. \n Dimension width 0.086 meters, length 0.017 meters, and height 0.139 meters. \n 3d bounding box x1: 1.872, y1: 0.662, z1: 0.108, x2: 1.958, y2: 0.645, z2: -0.031.\n \n \nObject - 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 [0.01, 0.062, -0.397, 0.0, -0.001, 0.0]. \n Dimension width 0.114 meters, length 0.071 meters, and height 0.205 meters. \n 3d bounding box x1: 0.869, y1: 0.485, z1: 0.227, x2: 0.982, y2: 0.414, z2: 0.022.\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, 0.176, 0.231, 0.0, -0.001, 0.0]. \n Dimension width 0.637 meters, length 0.245 meters, and height 0.833 meters. \n 3d bounding box x1: 0.602, y1: 0.687, z1: 0.579, x2: 1.239, y2: 0.441, z2: -0.254.\n \n\nTask: I don't like it."
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"instruction": "Yeah, can you pick it up again and place it a bit further to the right?",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - unknown liquid bottle\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [1.037, 0.052, -0.417, 0.0, -0.001, 0.0]. \n Dimension width 0.071 meters, length 0.009 meters, and height 0.185 meters. \n 3d bounding box x1: 1.917, y1: 0.445, z1: 0.194, x2: 1.987, y2: 0.436, z2: 0.01.\n \n \nObject - unknown liquid bottle\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [1.0, 0.263, -0.472, 0.0, -0.001, 0.0]. \n Dimension width 0.078 meters, length 0.029 meters, and height 0.13 meters. \n 3d bounding box x1: 1.876, y1: 0.665, z1: 0.103, x2: 1.954, y2: 0.637, z2: -0.027.\n \n \nObject - unknown liquid bottle\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [1.027, -0.077, -0.398, 0.0, -0.001, 0.0]. \n Dimension width 0.109 meters, length 0.03 meters, and height 0.204 meters. \n 3d bounding box x1: 1.887, y1: 0.296, z1: 0.203, x2: 1.997, y2: 0.326, z2: -0.001.\n \n \nObject - unknown liquid bottle\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.066, 0.264, -0.483, 0.0, -0.001, 0.0]. \n Dimension width 0.064 meters, length 0.012 meters, and height 0.119 meters. \n 3d bounding box x1: 0.949, y1: 0.658, z1: 0.259, x2: 1.013, y2: 0.647, z2: 0.14.\n \n \nObject - unknown liquid bottle\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [-0.006, 0.222, -0.512, 0.0, -0.001, 0.0]. \n Dimension width 0.048 meters, length 0.037 meters, and height 0.09 meters. \n 3d bounding box x1: 0.885, y1: 0.629, z1: 0.247, x2: 0.933, y2: 0.592, z2: 0.158.\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 [0.014, 0.061, -0.422, 0.0, -0.001, 0.0]. \n Dimension width 0.105 meters, length 0.078 meters, and height 0.18 meters. \n 3d bounding box x1: 0.877, y1: 0.488, z1: 0.196, x2: 0.981, y2: 0.409, z2: 0.016.\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 [0.002, 0.146, 0.153, 0.0, -0.001, 0.0]. \n Dimension width 0.62 meters, length 0.222 meters, and height 0.755 meters. \n 3d bounding box x1: 0.607, y1: 0.644, z1: 0.51, x2: 1.227, y2: 0.423, z2: -0.246.\n \n\nTask: Yeah, can you pick it up again and place it a bit further to the right?"
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"instruction": "I feel like once the context gets too large, like for an extended session, get to be able. Can you pick up the tide again, actually?",
"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 [1.038, -0.097, -0.419, 0.0, -0.002, 0.0]. \n Dimension width 0.077 meters, length 0.001 meters, and height 0.185 meters. \n 3d bounding box x1: 1.915, y1: 0.443, z1: 0.196, x2: 1.992, y2: 0.441, z2: 0.011.\n \n \nObject - 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 [0.207, 0.13, -0.442, 0.0, -0.002, 0.0]. \n Dimension width 0.146 meters, length 0.072 meters, and height 0.162 meters. \n 3d bounding box x1: 1.05, y1: 0.705, z1: 0.113, x2: 1.196, y2: 0.633, z2: -0.049.\n \n \nObject - 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 [-0.006, 0.101, -0.375, 0.0, -0.002, 0.0]. \n Dimension width 0.104 meters, length 0.101 meters, and height 0.229 meters. \n 3d bounding box x1: 0.858, y1: 0.691, z1: 0.209, x2: 0.962, y2: 0.59, z2: -0.02.\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 [-0.064, 0.045, 0.11, 0.0, -0.002, 0.0]. \n Dimension width 0.562 meters, length 0.301 meters, and height 0.714 meters. \n 3d bounding box x1: 0.572, y1: 0.734, z1: 0.533, x2: 1.133, y2: 0.433, z2: -0.181.\n \n\nTask: I feel like once the context gets too large, like for an extended session, get to be able. Can you pick up the tide again, actually?"
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"instruction": "Yeah, can you place it a bit further to the right?",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - unknown bottle\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [1.037, -0.203, -0.426, 0.0, -0.002, 0.0]. \n Dimension width 0.063 meters, length 0.016 meters, and height 0.178 meters. \n 3d bounding box x1: 1.916, y1: 0.444, z1: 0.194, x2: 1.979, y2: 0.427, z2: 0.016.\n \n \nObject - 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 [0.209, 0.003, -0.458, 0.0, -0.002, 0.0]. \n Dimension width 0.118 meters, length 0.056 meters, and height 0.146 meters. \n 3d bounding box x1: 1.06, y1: 0.67, z1: 0.111, x2: 1.178, y2: 0.613, z2: -0.035.\n \n \nObject - unknown bottle\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [1.036, -0.327, -0.399, 0.0, -0.002, 0.0]. \n Dimension width 0.114 meters, length 0.032 meters, and height 0.205 meters. \n 3d bounding box x1: 1.889, y1: 0.296, z1: 0.204, x2: 2.003, y2: 0.328, z2: -0.001.\n \n \nObject - 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 [0.007, -0.034, -0.372, 0.0, -0.002, 0.0]. \n Dimension width 0.11 meters, length 0.092 meters, and height 0.232 meters. \n 3d bounding box x1: 0.862, y1: 0.651, z1: 0.221, x2: 0.972, y2: 0.559, z2: -0.011.\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 [-0.011, -0.083, 0.109, 0.0, -0.002, 0.0]. \n Dimension width 0.583 meters, length 0.283 meters, and height 0.713 meters. \n 3d bounding box x1: 0.608, y1: 0.698, z1: 0.504, x2: 1.191, y2: 0.415, z2: -0.209.\n \n\nTask: Yeah, can you place it a bit further to the right?"
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"instruction": "to the right for you. Remember, you're in like you're doing left. That's not right. Can you pick it up again and place to the real right?",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \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 [0.038, -0.04, -0.427, 0.0, -0.002, 0.0]. \n Dimension width 0.139 meters, length 0.058 meters, and height 0.177 meters. \n 3d bounding box x1: 0.879, y1: 0.778, z1: 0.104, x2: 1.018, y2: 0.719, z2: -0.073.\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 [0.23, -0.059, -0.438, 0.0, -0.002, 0.0]. \n Dimension width 0.193 meters, length 0.067 meters, and height 0.166 meters. \n 3d bounding box x1: 1.044, y1: 0.763, z1: 0.131, x2: 1.236, y2: 0.697, z2: -0.036.\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 [-0.001, -0.194, 0.177, 0.0, -0.002, 0.0]. \n Dimension width 0.63 meters, length 0.234 meters, and height 0.781 meters. \n 3d bounding box x1: 0.594, y1: 0.712, z1: 0.522, x2: 1.224, y2: 0.478, z2: -0.259.\n \n \nObject - 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 [0.03, -0.671, -0.38, 0.0, -0.002, 0.0]. \n Dimension width 0.121 meters, length 0.119 meters, and height 0.224 meters. \n 3d bounding box x1: 0.88, y1: 0.178, z1: 0.214, x2: 1.001, y2: 0.059, z2: -0.011.\n \n\nTask: to the right for you. Remember, you're in like you're doing left. That's not right. Can you pick it up again and place to the real right?"
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"instruction": "Okay, now pick up the tide and then put it in",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \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 [0.005, 0.773, -0.439, 0.0, -0.002, -0.001]. \n Dimension width 0.141 meters, length 0.07 meters, and height 0.168 meters. \n 3d bounding box x1: 0.875, y1: 0.777, z1: 0.102, x2: 1.016, y2: 0.707, z2: -0.066.\n \n \nObject - 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 [0.183, 0.708, -0.427, 0.0, -0.002, -0.001]. \n Dimension width 0.172 meters, length 0.082 meters, and height 0.18 meters. \n 3d bounding box x1: 1.037, y1: 0.717, z1: 0.125, x2: 1.209, y2: 0.636, z2: -0.055.\n \n \nObject - 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 [0.015, 0.059, -0.375, 0.0, -0.002, -0.001]. \n Dimension width 0.088 meters, length 0.087 meters, and height 0.232 meters. \n 3d bounding box x1: 0.912, y1: 0.072, z1: 0.214, x2: 0.999, y2: -0.015, z2: -0.019.\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 [-0.018, 0.628, 0.179, 0.0, -0.002, -0.001]. \n Dimension width 0.629 meters, length 0.231 meters, and height 0.786 meters. \n 3d bounding box x1: 0.608, y1: 0.713, z1: 0.526, x2: 1.237, y2: 0.482, z2: -0.26.\n \n\nTask: Okay, now pick up the tide and then put it in"
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"instruction": "Yeah, actually can you pick it up again and move it?",
"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 [0.196, 0.016, -0.45, 0.0, -0.002, 0.0]. \n Dimension width 0.137 meters, length 0.08 meters, and height 0.157 meters. \n 3d bounding box x1: 1.064, y1: 0.712, z1: 0.113, x2: 1.202, y2: 0.632, z2: -0.045.\n \n \nObject - 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 [0.006, -0.013, -0.393, 0.0, -0.002, 0.0]. \n Dimension width 0.102 meters, length 0.089 meters, and height 0.214 meters. \n 3d bounding box x1: 0.892, y1: 0.687, z1: 0.209, x2: 0.994, y2: 0.598, z2: -0.005.\n \n \nObject - white cardboard shelf\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [-0.025, -0.098, 0.144, 0.0, -0.002, 0.0]. \n Dimension width 0.609 meters, length 0.247 meters, and height 0.751 meters. \n 3d bounding box x1: 0.607, y1: 0.682, z1: 0.515, x2: 1.216, y2: 0.435, z2: -0.236.\n \n\nTask: Yeah, actually can you pick it up again and move it?"
} | {
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"world_objects": "{\"objects\": [{\"name\": \"a downy scent booster beads (with pink cap and pink body)\", \"bbox_2d\": {\"x1\": 340.3611755371094, \"y1\": 132.828125, \"x2\": 423.1809997558594, \"y2\": 197.43060302734375, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 1.064309353858051, \"y1\": 0.7119419449796855, \"z1\": 0.11255139310372952, \"x2\": 1.2016202386390697, \"y2\": 0.6317763193121155, \"z2\": -0.04472707909445739}, \"volume\": 0.0017312605535277229, \"pose\": {\"x\": 1.1329647962485603, \"y\": 0.6718591321459005, \"z\": 0.03391215700463607, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.7025703622392976, -0.5259459055982437, 2.032], \"xyz_max\": [-0.5441805049396268, -0.4136562019758507, 2.1430000000000002], \"pca_vectors\": [[0.816901395153682, 0.5697076223095848, 0.09002963777738691], [0.36226120672547746, -0.3853268041702839, -0.8486990468297444], [-0.448819483420416, 0.725917680643112, -0.5211569746553871]], \"image\": null}, {\"name\": \"tide laundry detergent pods packet (orange bag)\", \"bbox_2d\": {\"x1\": 233.61215209960938, \"y1\": 95.46881103515625, \"x2\": 352.6676940917969, \"y2\": 225.52992248535156, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.8919868457251929, \"y1\": 0.6872885580818755, \"z1\": 0.2092880937590192, \"x2\": 0.9942806302357521, \"y2\": 0.5980693287841852, \"z2\": -0.004996489140258187}, \"volume\": 0.001955683806314405, \"pose\": {\"x\": 0.9431337379804725, \"y\": 0.6426789434330303, \"z\": 0.1021458023093805, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.8127332601536773, -0.5354379802414928, 1.8663652754085782], \"xyz_max\": [-0.672153872003263, -0.3581295279912184, 1.981], \"pca_vectors\": [[0.42620801377306883, 0.721604665779286, 0.5455579119774369], [0.7903799361592501, -0.5904079825334166, 0.16345632651482425], [0.4400525940299813, 0.3615316313773748, -0.8219784632221812]], \"image\": null}, {\"name\": \"white cardboard shelf\", \"bbox_2d\": {\"x1\": 64.94612121582031, \"y1\": 15.051087379455566, \"x2\": 488.64508056640625, \"y2\": 295.5616760253906, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.6070703543278777, \"y1\": 0.6820145092099958, \"z1\": 0.5150889973859195, \"x2\": 1.216127360378415, \"y2\": 0.4346369620299717, \"z2\": -0.23590832551186014}, \"volume\": 0.11315053486440702, \"pose\": {\"x\": 0.9115988573531464, \"y\": 0.5583257356199838, \"z\": 0.13959033593702969, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-1.0227214270032932, -0.6885926783754116, 1.539], \"xyz_max\": [-0.3934379802414929, -0.18421047200878152, 2.1270000000000002], \"pca_vectors\": [[0.6429665952718613, -0.7545076462656122, 0.1315757161912351], [-0.39122103112820095, -0.47123704159347174, -0.7904946270742261], [0.6584375917028872, 0.45678645159084824, -0.5981689355654838]], \"image\": null}]}",
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0.6068102121353149,
3.1407508850097656,
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1
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} | 0 | {
"episode_idx": 0,
"step_idx": 12
} |
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250402_121851/--/9bee6f0caae72a6d8c4c4d1ef0ee0e5c6afafc93/--/default/train/13/observation/image-f0a0300.jpg?Expires=1773942479&Signature=SbuGMrlW7upBaVnHq4JT-pqtgeoltOY54qqAJeTLGjqzVdQxKqrujRa996UY3uxtCB6NMG0lmfFuFPd9wEcvNtIOUEopb6vzpxA1OXyvh2TLsEXO0RNq4TMlf4eDS-3L9Z9JO9QgFw9nQ691AsYtsI57-rt~ipwhwnFPj6UAnurEAzVwVecvNagLU0AzcSJhADOE4BhXRpc-2cIrDx50ZHJkE7wqMDA1DzKAZ4mC4RU46e~WaCHFkIShSXTRQPMGAOhODwb5K8khplPUC5C-bsCddjGF1VzzEsMvZtRmFFwKzZZmbkLwIOj-Ea3sTJ4bCIM6cAwhfuZGdcFwwnwKqQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
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"instruction": "Yeah, place it a bit in front.",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - other\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [1.006, -0.207, -0.438, 0.0, -0.002, -0.001]. \n Dimension width 0.068 meters, length 0.01 meters, and height 0.169 meters. \n 3d bounding box x1: 1.915, y1: 0.442, z1: 0.19, x2: 1.983, y2: 0.431, z2: 0.021.\n \n \nObject - other\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.991, -0.341, -0.421, 0.0, -0.002, -0.001]. \n Dimension width 0.101 meters, length 0.018 meters, and height 0.186 meters. \n 3d bounding box x1: 1.884, y1: 0.293, z1: 0.201, x2: 1.985, y2: 0.311, z2: 0.015.\n \n \nObject - other\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.969, 0.006, -0.471, 0.0, -0.002, -0.001]. \n Dimension width 0.084 meters, length 0.018 meters, and height 0.136 meters. \n 3d bounding box x1: 1.869, y1: 0.658, z1: 0.107, x2: 1.954, y2: 0.64, z2: -0.029.\n \n \nObject - 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 [0.185, 0.049, -0.425, 0.0, -0.002, -0.001]. \n Dimension width 0.171 meters, length 0.089 meters, and height 0.182 meters. \n 3d bounding box x1: 1.043, y1: 0.737, z1: 0.122, x2: 1.214, y2: 0.648, z2: -0.06.\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 [-0.113, -0.057, 0.065, 0.0, -0.002, -0.001]. \n Dimension width 0.636 meters, length 0.209 meters, and height 0.672 meters. \n 3d bounding box x1: 0.511, y1: 0.69, z1: 0.462, x2: 1.148, y2: 0.482, z2: -0.209.\n \n\nTask: Yeah, place it a bit in front."
} | {
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"y": 0,
"z": 0,
"roll": 0,
"pitch": 0,
"yaw": 0
},
"grasp": 1,
"gripper_force": 50
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"world_objects": "{\"objects\": [{\"name\": \"other\", \"bbox_2d\": {\"x1\": 686.736083984375, \"y1\": 51.32000732421875, \"x2\": 719.1997680664062, \"y2\": 120.22914123535156, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 1.9149094046510717, \"y1\": 0.4415194441792605, \"z1\": 0.19027074275666767, \"x2\": 1.9829169648901979, \"y2\": 0.43127283132363403, \"z2\": 0.02088449673774584}, \"volume\": 0.0001180363212674157, \"pose\": {\"x\": 1.948913184770635, \"y\": 0.43639613775144726, \"z\": 0.10557761974720675, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [0.09827442371020856, -0.8109857299670692, 2.315], \"xyz_max\": [0.15857189901207464, -0.6879209659714598, 2.436], \"pca_vectors\": [[-0.03565140344784968, -0.041550022567789835, 0.9985001617710509], [0.7938416603583746, -0.6081169160915031, 0.0030388555113587505], [0.6070785745780012, 0.7927593657522918, 0.05466436042218254]], \"image\": null}, {\"name\": \"other\", \"bbox_2d\": {\"x1\": 719.2392578125, \"y1\": 66.4662094116211, \"x2\": 752.0023193359375, \"y2\": 119.7685317993164, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 1.883803917118363, \"y1\": 0.29279346708976317, \"z1\": 0.20107923178620213, \"x2\": 1.9851585538725707, \"y2\": 0.31096293627785676, \"z2\": 0.01469448630576764}, \"volume\": -0.00034323868248868373, \"pose\": {\"x\": 1.9344812354954668, \"y\": 0.30187820168380997, \"z\": 0.10788685904598488, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [0.17790322722283206, -0.754647069154775, 2.198], \"xyz_max\": [0.24319490669593855, -0.6397986388583974, 2.365], \"pca_vectors\": [[0.09992151185849839, 0.9717468467088494, -0.21383114221113844], [0.030716990301998152, -0.21781689843669758, -0.9755061584952729], [-0.9945210696484509, 0.09090580106255888, -0.05161373226647682]], \"image\": null}, {\"name\": \"other\", \"bbox_2d\": {\"x1\": 617.3310546875, \"y1\": 74.86087036132812, \"x2\": 657.3182373046875, \"y2\": 115.08690643310547, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 1.8694660378632033, \"y1\": 0.6584825650805426, \"z1\": 0.10719520188148757, \"x2\": 1.953581631980591, \"y2\": 0.6402217945823923, \"z2\": -0.028877984979352678}, \"volume\": 0.00020901053224807366, \"pose\": {\"x\": 1.9115238349218973, \"y\": 0.6493521798314674, \"z\": 0.039158608451067445, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.08213430296377608, -0.8018570801317234, 2.468], \"xyz_max\": [-0.0054222832052689355, -0.7103362239297476, 2.576], \"pca_vectors\": [[-0.47457411224179913, -0.8365640209150412, 0.2737518052915208], [-0.42238239264369626, -0.05642192669049961, -0.9046599806408584], [0.77225159525539, -0.5449561497028824, -0.3265735269836106]], \"image\": null}, {\"name\": \"downy scent booster beads (with pink cap and pink body)\", \"bbox_2d\": {\"x1\": 330.1838684082031, \"y1\": 133.62782287597656, \"x2\": 421.495361328125, \"y2\": 198.2351837158203, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 1.0426548526716708, \"y1\": 0.73655181086667, \"z1\": 0.12196958443319539, \"x2\": 1.2135871537210023, \"y2\": 0.6479071623549657, \"z2\": -0.06000455621387424}, \"volume\": 0.00275731471477818, \"pose\": {\"x\": 1.1281210031963367, \"y\": 0.6922294866108178, \"z\": 0.030982514109660575, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.735431394072448, -0.5348575740944017, 2.0300000000000002], \"xyz_max\": [-0.5462601536772778, -0.41091986827661914, 2.168], \"pca_vectors\": [[0.7560359731972991, 0.5484282328451882, -0.35726192163441783], [0.33456084637850775, -0.7929380463476173, -0.50923304559398], [-0.5625643494766703, 0.2654726503290463, -0.7829723013141414]], \"image\": null}, {\"name\": \"large white cardboard box\", \"bbox_2d\": {\"x1\": 64.49966430664062, \"y1\": 14.564245223999023, \"x2\": 490.313232421875, \"y2\": 295.5246887207031, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.5113430242326035, \"y1\": 0.6900775568913096, \"z1\": 0.4622845027312236, \"x2\": 1.1477570305223719, \"y2\": 0.48156858364540645, \"z2\": -0.2093056124036361}, \"volume\": 0.08911868592470655, \"pose\": {\"x\": 0.8295500273774876, \"y\": 0.585823070268358, \"z\": 0.12648944516379376, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-1.0964143217808233, -0.6107633369923161, 1.516], \"xyz_max\": [-0.475927552140505, -0.19850221734357845, 2.103], \"pca_vectors\": [[0.6414731325769472, -0.7460759818068584, 0.1785576925053933], [-0.14127934821448238, -0.3436655298707041, -0.9284040873169287], [0.754024114965834, 0.570319763772588, -0.32585733243303]], \"image\": null}]}",
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0.6066707372665405,
3.140690803527832,
0.0018183161737397313,
0.0005282952333800495,
0
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} | 0 | {
"episode_idx": 0,
"step_idx": 13
} |
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250402_121851/--/9bee6f0caae72a6d8c4c4d1ef0ee0e5c6afafc93/--/default/train/14/observation/image-f0a0300.jpg?Expires=1773942479&Signature=Umr1geqB5mxvw8bJPz8Ua2XgbIcOuiV-95cpcRypKAO5FQpqfjYi-6EWCCUvV36A0V8WMRiRwW-tcFZQINFCrMICaZUo0S2jdkHCCEaRN00r58fwCGIpkmLgJWLDayj4~xEmFJWETXJ-9rcHgIfA1Y717~MV7fRjQO-4tcEqwnQMkz5-UcAh0of4VzM-26dHz8YF30iNf1b-luEq0fK0O47IyN3V0Lc4KtjffyRvQMlquY7Igg4zifZCidGpvqC1VzDiQYTi9k6YaVwfnemxJBTGwJ4GEbUbF0opXE-L5dIRoHUjlSnlvhf7G~k1X5KFq~5AQwsu66-wIINk6a5oPA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
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"instruction": "Oh, oh.",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - a glass cup\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.859, -0.204, -0.425, 0.0, -0.002, -0.001]. \n Dimension width 0.071 meters, length 0.011 meters, and height 0.184 meters. \n 3d bounding box x1: 1.916, y1: 0.444, z1: 0.199, x2: 1.987, y2: 0.434, z2: 0.015.\n \n \nObject - a coffee cup\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.855, -0.329, -0.392, 0.0, -0.002, -0.001]. \n Dimension width 0.123 meters, length 0.041 meters, and height 0.217 meters. \n 3d bounding box x1: 1.887, y1: 0.294, z1: 0.208, x2: 2.009, y2: 0.335, z2: -0.009.\n \n \nObject - 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 [-0.006, 0.001, -0.383, 0.0, -0.002, -0.001]. \n Dimension width 0.128 meters, length 0.09 meters, and height 0.226 meters. \n 3d bounding box x1: 1.023, y1: 0.689, z1: 0.228, x2: 1.152, y2: 0.599, z2: 0.003.\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 [-0.074, 0.02, -0.006, 0.0, -0.002, -0.001]. \n Dimension width 0.444 meters, length 0.419 meters, and height 0.603 meters. \n 3d bounding box x1: 0.797, y1: 0.873, z1: 0.453, x2: 1.241, y2: 0.454, z2: -0.15.\n \n\nTask: Oh, oh."
} | {
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"z": 0.37700000405311584,
"roll": 0,
"pitch": 0,
"yaw": 0
},
"grasp": 0,
"gripper_force": 0
} | {
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"instruction": "Yeah, can you pick it out again and then plays it a bit to the behind. I'm wrong.",
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} | 0 | {
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"instruction": "Yeah, do it even further back.",
"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 [0.961, -0.33, -0.397, 0.0, -0.002, -0.001]. \n Dimension width 0.121 meters, length 0.04 meters, and height 0.215 meters. \n 3d bounding box x1: 1.888, y1: 0.294, z1: 0.209, x2: 2.009, y2: 0.334, z2: -0.006.\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 [0.039, 0.037, -0.375, 0.0, -0.002, -0.001]. \n Dimension width 0.065 meters, length 0.042 meters, and height 0.237 meters. \n 3d bounding box x1: 0.994, y1: 0.702, z1: 0.184, x2: 1.059, y2: 0.66, z2: -0.053.\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 [0.141, 0.018, -0.463, 0.0, -0.002, -0.001]. \n Dimension width 0.131 meters, length 0.083 meters, and height 0.149 meters. \n 3d bounding box x1: 1.063, y1: 0.704, z1: 0.108, x2: 1.193, y2: 0.62, z2: -0.041.\n \n \nObject - coffee cup\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.961, -0.208, -0.438, 0.0, -0.002, -0.001]. \n Dimension width 0.073 meters, length 0.008 meters, and height 0.174 meters. \n 3d bounding box x1: 1.911, y1: 0.44, z1: 0.19, x2: 1.984, y2: 0.432, z2: 0.015.\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 [0.092, 0.009, -0.365, 0.0, -0.002, -0.001]. \n Dimension width 0.163 meters, length 0.095 meters, and height 0.247 meters. \n 3d bounding box x1: 0.997, y1: 0.7, z1: 0.178, x2: 1.16, y2: 0.605, z2: -0.069.\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 [-0.168, -0.035, 0.031, 0.0, -0.002, -0.001]. \n Dimension width 0.607 meters, length 0.236 meters, and height 0.643 meters. \n 3d bounding box x1: 0.515, y1: 0.727, z1: 0.442, x2: 1.122, y2: 0.491, z2: -0.201.\n \n\nTask: Yeah, do it even further back."
} | {
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} | 0 | {
"episode_idx": 0,
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{
"image": {
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"instruction": "Okay, okay. Can you, uh, go home, go home?",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - 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 [0.242, 0.02, -0.456, 0.0, -0.002, -0.001]. \n Dimension width 0.136 meters, length 0.076 meters, and height 0.156 meters. \n 3d bounding box x1: 1.061, y1: 0.702, z1: 0.11, x2: 1.197, y2: 0.626, z2: -0.046.\n \n \nObject - unknown\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [1.053, -0.338, -0.418, 0.0, -0.002, -0.001]. \n Dimension width 0.102 meters, length 0.017 meters, and height 0.194 meters. \n 3d bounding box x1: 1.889, y1: 0.298, z1: 0.202, x2: 1.991, y2: 0.315, z2: 0.007.\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 [1.066, -0.203, -0.432, 0.0, -0.002, -0.001]. \n Dimension width 0.063 meters, length 0.015 meters, and height 0.18 meters. \n 3d bounding box x1: 1.921, y1: 0.449, z1: 0.191, x2: 1.985, y2: 0.434, z2: 0.01.\n \n \nObject - unknown\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [1.03, 0.013, -0.476, 0.0, -0.002, -0.001]. \n Dimension width 0.084 meters, length 0.022 meters, and height 0.136 meters. \n 3d bounding box x1: 1.875, y1: 0.668, z1: 0.106, x2: 1.959, y2: 0.646, 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 [0.138, 0.038, -0.383, 0.0, -0.002, -0.001]. \n Dimension width 0.063 meters, length 0.047 meters, and height 0.229 meters. \n 3d bounding box x1: 0.993, y1: 0.705, z1: 0.179, x2: 1.056, y2: 0.658, z2: -0.05.\n \n \nObject - a bounce dryer sheets box (orange box)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.195, 0.013, -0.365, 0.0, -0.002, -0.001]. \n Dimension width 0.164 meters, length 0.09 meters, and height 0.247 meters. \n 3d bounding box x1: 1.0, y1: 0.702, z1: 0.174, x2: 1.164, y2: 0.612, z2: -0.073.\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 [-0.061, -0.042, 0.044, 0.0, -0.002, -0.001]. \n Dimension width 0.571 meters, length 0.237 meters, and height 0.656 meters. \n 3d bounding box x1: 0.54, y1: 0.721, z1: 0.465, x2: 1.111, y2: 0.484, z2: -0.191.\n \n\nTask: Okay, okay. Can you, uh, go home, go home?"
} | {
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} | 0 | {
"episode_idx": 0,
"step_idx": 17
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{
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"instruction": "Can you pick up the down dish soap and then 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 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 [1.447, 0.435, -0.435, 0.0, 0.0, 0.0]. \n Dimension width 0.065 meters, length 0.015 meters, and height 0.165 meters. \n 3d bounding box x1: 1.914, y1: 0.443, z1: 0.184, x2: 1.98, y2: 0.428, 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 [0.613, 0.671, -0.358, 0.0, 0.0, 0.0]. \n Dimension width 0.221 meters, length 0.078 meters, and height 0.242 meters. \n 3d bounding box x1: 1.003, y1: 0.71, z1: 0.165, x2: 1.224, y2: 0.632, z2: -0.077.\n \n \nObject - 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 [0.654, 0.136, -0.38, 0.0, 0.0, 0.0]. \n Dimension width 0.089 meters, length 0.13 meters, and height 0.22 meters. \n 3d bounding box x1: 1.11, y1: 0.202, z1: 0.207, x2: 1.199, y2: 0.071, z2: -0.013.\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 [0.415, 0.022, -0.403, 0.0, 0.0, 0.0]. \n Dimension width 0.058 meters, length 0.035 meters, and height 0.197 meters. \n 3d bounding box x1: 0.885, y1: 0.04, z1: 0.239, x2: 0.944, y2: 0.004, z2: 0.042.\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 [0.41, 0.607, 0.173, 0.0, 0.0, 0.0]. \n Dimension width 0.627 meters, length 0.204 meters, and height 0.773 meters. \n 3d bounding box x1: 0.596, y1: 0.709, z1: 0.511, x2: 1.223, y2: 0.505, z2: -0.262.\n \n\nTask: Can you pick up the down dish soap and then place it in the center of the white box?"
} | {
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"instruction": "Go home, go home.",
"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 [0.184, 0.665, 0.048, 0.0, -0.001, 0.0]. \n Dimension width 0.21 meters, length 0.048 meters, and height 0.25 meters. \n 3d bounding box x1: 0.995, y1: 0.711, z1: 0.176, x2: 1.205, y2: 0.663, z2: -0.074.\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 [0.008, 0.03, -0.007, 0.0, -0.001, 0.0]. \n Dimension width 0.072 meters, length 0.025 meters, and height 0.195 meters. \n 3d bounding box x1: 0.888, y1: 0.065, z1: 0.242, x2: 0.959, y2: 0.04, z2: 0.047.\n \n \nObject - 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 [0.232, 0.119, -0.001, 0.0, -0.001, 0.0]. \n Dimension width 0.112 meters, length 0.102 meters, and height 0.201 meters. \n 3d bounding box x1: 1.092, y1: 0.192, z1: 0.213, x2: 1.204, y2: 0.09, z2: 0.012.\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 [-0.07, 0.577, 0.477, 0.0, -0.001, 0.0]. \n Dimension width 0.566 meters, length 0.291 meters, and height 0.679 meters. \n 3d bounding box x1: 0.563, y1: 0.744, z1: 0.5, x2: 1.129, y2: 0.454, z2: -0.179.\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 [-0.111, 0.581, 0.409, 0.0, -0.001, 0.0]. \n Dimension width 0.574 meters, length 0.194 meters, and height 0.611 meters. \n 3d bounding box x1: 0.518, y1: 0.7, z1: 0.419, x2: 1.092, y2: 0.506, z2: -0.192.\n \n\nTask: Go home, go home."
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