observation
dict | action
dict | state
dict | reward
float32 0
0
| metadata
dict |
|---|---|---|---|---|
{
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"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?"
}
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{
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"z": 0,
"roll": 0,
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"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\": 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, 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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], 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"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?"
}
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"instruction": "Can you pick it up again?",
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\"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, 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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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"instruction": "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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"instruction": "Yeah, place it a bit in front.",
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"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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"instruction": "Yeah, can you pick it out again and then plays it a bit to the behind. I'm wrong.",
"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 [0.032, 0.013, -0.463, 0.0, -0.002, -0.001]. \n Dimension width 0.128 meters, length 0.072 meters, and height 0.146 meters. \n 3d bounding box x1: 1.062, y1: 0.692, z1: 0.107, x2: 1.189, y2: 0.621, z2: -0.039.\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 [-0.064, 0.043, -0.36, 0.0, -0.002, -0.001]. \n Dimension width 0.066 meters, length 0.047 meters, and height 0.249 meters. \n 3d bounding box x1: 0.996, y1: 0.709, z1: 0.191, x2: 1.062, y2: 0.662, z2: -0.058.\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 [0.852, -0.211, -0.438, 0.0, -0.002, -0.001]. \n Dimension width 0.073 meters, length 0.007 meters, and height 0.171 meters. \n 3d bounding box x1: 1.908, y1: 0.435, z1: 0.187, x2: 1.981, y2: 0.429, z2: 0.016.\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 [0.848, -0.334, -0.404, 0.0, -0.002, -0.001]. \n Dimension width 0.116 meters, length 0.033 meters, and height 0.205 meters. \n 3d bounding box x1: 1.883, y1: 0.292, z1: 0.206, x2: 1.999, y2: 0.325, z2: 0.001.\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 [-0.011, 0.013, -0.354, 0.0, -0.002, -0.001]. \n Dimension width 0.168 meters, length 0.102 meters, and height 0.255 meters. \n 3d bounding box x1: 0.998, y1: 0.707, z1: 0.183, x2: 1.166, y2: 0.605, z2: -0.072.\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 [-0.126, -0.016, 0.07, 0.0, -0.002, -0.001]. \n Dimension width 0.482 meters, length 0.379 meters, and height 0.679 meters. \n 3d bounding box x1: 0.726, y1: 0.817, z1: 0.487, x2: 1.208, y2: 0.437, z2: -0.192.\n \n\nTask: Yeah, can you pick it out again and then plays it a bit to the behind. I'm wrong."
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"instruction": "Yeah, do it even further back.",
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"instruction": "Okay, okay. Can you, uh, go home, go home?",
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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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