observation
dict | action
dict | state
dict | reward
float32 0
0
| metadata
dict |
|---|---|---|---|---|
{
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"height": 720,
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"instruction": "Can you pick up the down the nemron, the dahlon dish soap, blue one?",
"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 [0.291, 0.105, -0.37, 0.0, 0.0, 0.0]. \n Dimension width 0.053 meters, length 0.044 meters, and height 0.231 meters. \n 3d bounding box x1: 0.764, y1: 0.126, z1: 0.241, x2: 0.817, y2: 0.083, 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 [0.555, -0.021, -0.34, 0.0, 0.0, 0.0]. \n Dimension width 0.07 meters, length 0.037 meters, and height 0.261 meters. \n 3d bounding box x1: 1.02, y1: -0.003, z1: 0.254, x2: 1.09, y2: -0.04, z2: -0.007.\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 [0.451, 0.574, 0.211, 0.0, 0.0, 0.0]. \n Dimension width 0.624 meters, length 0.226 meters, and height 0.812 meters. \n 3d bounding box x1: 0.639, y1: 0.687, z1: 0.542, x2: 1.263, y2: 0.461, z2: -0.27.\n \n\nTask: Can you pick up the down the nemron, the dahlon dish soap, blue one?"
}
|
{
"pose": {
"x": 0.29100000858306885,
"y": 0.10499999672174454,
"z": 0,
"roll": 0,
"pitch": 0,
"yaw": 0
},
"grasp": 1,
"gripper_force": 50
}
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"world_objects": "{\"objects\": [{\"name\": \"a dawn platinum liquid dish soap (clear dark blue bottle)\", \"bbox_2d\": {\"x1\": 317.09539794921875, \"y1\": 158.68527221679688, \"x2\": 396.56414794921875, \"y2\": 317.4508056640625, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.7644877404958883, \"y1\": 0.1264885364148729, \"z1\": 0.24092965386561666, \"x2\": 0.817296416446158, \"y2\": 0.08278246271025003, \"z2\": 0.009927935936357102}, \"volume\": 0.0005331657981319202, \"pose\": {\"x\": 0.7908920784710232, \"y\": 0.10463549956256146, \"z\": 0.12542879490098688, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.5221938000971684, -0.31153799977736457, 1.4297284356816127], \"xyz_max\": [-0.44862788144895727, -0.1179388489651088, 1.5528876628583936], \"pca_vectors\": [[-0.02817871617427444, 0.8473555286271095, -0.5302778215801992], [-0.8508459914285987, -0.2987682441414129, -0.4322020767679652], [-0.5246589928941032, 0.43900585918382573, 0.7293879604007846]], \"image\": null}, {\"name\": \"a downy scent booster beads (with pink cap and pink body)\", \"bbox_2d\": {\"x1\": 501.2872009277344, \"y1\": 129.45375061035156, \"x2\": 573.4149780273438, \"y2\": 297.48345947265625, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 1.0199281815713634, \"y1\": -0.0030407873037550104, \"z1\": 0.25434619333093167, \"x2\": 1.090304975187589, \"y2\": -0.039919720747873866, \"z2\": -0.006980514402872284}, \"volume\": 0.0006782528480532911, \"pose\": {\"x\": 1.0551165783794763, \"y\": -0.021480254025814438, \"z\": 0.12368283946402969, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.24825273368173317, -0.3710252469813392, 1.4899382996768917], \"xyz_max\": [-0.16599121844127335, -0.16052360043907793, 1.6433224478148467], \"pca_vectors\": [[0.01928446162879368, 0.9550893671359921, -0.2956897196783439], [0.8207741326337016, 0.1537571680315756, 0.550171388276694], [0.5709272569593106, -0.25330423222417714, -0.7809475226916579]], \"image\": null}, {\"name\": \"large white cardboard box\", \"bbox_2d\": {\"x1\": 67.70652770996094, \"y1\": 15.47496223449707, \"x2\": 495.5949401855469, \"y2\": 300.3638916015625, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.6392493852514962, \"y1\": 0.6866690997770997, \"z1\": 0.5419559270552318, \"x2\": 1.263295337711447, \"y2\": 0.4606804472899362, \"z2\": -0.26958394926139917}, \"volume\": 0.11444928075331229, \"pose\": {\"x\": 0.9512723614814717, \"y\": 0.5736747735335179, \"z\": 0.1361859888969163, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-1.0058397365532383, -0.7253495499451152, 1.552], \"xyz_max\": [-0.37995060373216244, -0.18202645444566412, 2.194], \"pca_vectors\": [[0.3805677341185846, -0.9237617131996033, -0.042807674246335935], [-0.5051837063665018, -0.16890454110243375, -0.8463218529713034], [0.774569314244794, 0.3437085294570247, -0.5309489845633375]], \"image\": null}]}",
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0.4999852776527405,
-0.000001868254685177817,
0.6007927060127258,
3.141547918319702,
-0.0000407559891755227,
0.00002161831253033597,
1
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}
| 0
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{
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{
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"height": 720,
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"instruction": "Can you put it in the center of the box?",
"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 [1.162, 0.016, -0.421, 0.0, 0.0, 0.0]. \n Dimension width 0.1 meters, length 0.025 meters, and height 0.18 meters. \n 3d bounding box x1: 1.903, y1: 0.108, z1: 0.229, x2: 2.003, y2: 0.133, z2: 0.048.\n \n \nObject - a downy scent booster beads (with pink cap and pink body)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.269, -0.118, -0.323, 0.0, 0.0, 0.0]. \n Dimension width 0.068 meters, length 0.044 meters, and height 0.278 meters. \n 3d bounding box x1: 1.026, y1: 0.008, z1: 0.267, x2: 1.094, y2: -0.035, z2: -0.01.\n \n \nObject - a large white cardboard box\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.105, 0.493, 0.175, 0.0, 0.0, 0.0]. \n Dimension width 0.616 meters, length 0.332 meters, and height 0.776 meters. \n 3d bounding box x1: 0.588, y1: 0.764, z1: 0.578, x2: 1.204, y2: 0.432, z2: -0.197.\n \n\nTask: Can you put it in the center of the box?"
}
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{
"pose": {
"x": 0,
"y": 0,
"z": -0.3700000047683716,
"roll": 0,
"pitch": 0,
"yaw": 0
},
"grasp": 0,
"gripper_force": 0
}
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"instruction": "Okay, can you pick it up again? I don't like that position.",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - blue pen\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [-0.178, -0.089, -0.342, 0.0, 0.0, 0.0]. \n Dimension width 0.101 meters, length 0.004 meters, and height 0.258 meters. \n 3d bounding box x1: 0.668, y1: 0.511, z1: 0.301, x2: 0.769, y2: 0.507, z2: 0.042.\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 [0.161, -0.617, -0.334, 0.0, 0.0, 0.0]. \n Dimension width 0.068 meters, length 0.04 meters, and height 0.266 meters. \n 3d bounding box x1: 1.023, y1: 0.002, z1: 0.257, x2: 1.091, y2: -0.039, z2: -0.008.\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 [-0.003, -0.004, 0.176, 0.0, 0.0, 0.0]. \n Dimension width 0.62 meters, length 0.335 meters, and height 0.776 meters. \n 3d bounding box x1: 0.583, y1: 0.761, z1: 0.569, x2: 1.203, y2: 0.426, z2: -0.208.\n \n\nTask: Okay, can you pick it up again? I don't like that position."
}
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"instruction": "Okay, can you place it down a little bit to the right?",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - clear jar\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [1.054, -0.481, -0.423, 0.0, 0.0, 0.0]. \n Dimension width 0.101 meters, length 0.023 meters, and height 0.178 meters. \n 3d bounding box x1: 1.9, y1: 0.106, z1: 0.228, x2: 2.001, y2: 0.129, z2: 0.051.\n \n \nObject - water bottle\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [1.134, -0.574, -0.308, 0.0, 0.0, 0.0]. \n Dimension width 0.079 meters, length 0.026 meters, and height 0.293 meters. \n 3d bounding box x1: 1.99, y1: 0.037, z1: 0.346, x2: 2.069, y2: 0.011, z2: 0.054.\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 [0.161, -0.616, -0.334, 0.0, 0.0, 0.0]. \n Dimension width 0.068 meters, length 0.042 meters, and height 0.267 meters. \n 3d bounding box x1: 1.023, y1: 0.003, z1: 0.259, x2: 1.091, y2: -0.039, 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 [-0.03, -0.002, 0.135, 0.0, 0.0, 0.0]. \n Dimension width 0.58 meters, length 0.28 meters, and height 0.736 meters. \n 3d bounding box x1: 0.576, y1: 0.736, z1: 0.534, x2: 1.156, y2: 0.456, z2: -0.202.\n \n\nTask: Okay, can you place it down a little bit to the right?"
}
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"instruction": "Okay, great. Actually, can you pick it up again?",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - unknown\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [1.05, -0.027, -0.417, 0.0, 0.0, 0.0]. \n Dimension width 0.068 meters, length 0.016 meters, and height 0.184 meters. \n 3d bounding box x1: 1.912, y1: 0.429, z1: 0.2, x2: 1.98, y2: 0.412, 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 [0.159, -0.476, -0.332, 0.0, 0.0, 0.0]. \n Dimension width 0.054 meters, length 0.053 meters, and height 0.269 meters. \n 3d bounding box x1: 1.028, y1: -0.002, z1: 0.255, x2: 1.082, y2: -0.054, z2: -0.014.\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 [-0.18, 0.14, -0.416, 0.0, 0.0, 0.0]. \n Dimension width 0.078 meters, length 0.034 meters, and height 0.185 meters. \n 3d bounding box x1: 0.677, y1: 0.605, z1: 0.263, x2: 0.755, y2: 0.571, z2: 0.078.\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, 0.148, 0.161, 0.0, 0.0, 0.0]. \n Dimension width 0.613 meters, length 0.239 meters, and height 0.762 meters. \n 3d bounding box x1: 0.661, y1: 0.716, z1: 0.5, x2: 1.275, y2: 0.477, z2: -0.262.\n \n\nTask: Okay, great. Actually, can you pick it up again?"
}
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README.md exists but content is empty.
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