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Datasets:
Arashi2001
/
MagicBioLab

Tasks:
Robotics
Tags:
simulation
isaac-sim
lab-automation
microplate
imitation-learning
License:
Dataset card Files
xet
 Community
Arashi2001 commited on
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16a6af1
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verified ·
1 Parent(s): 6851143

add 8 episodes (c2_p016_e036 .. c9_p019_e021); total 4179 {'v1': 1088, 'v2': 3091}

Browse files
Files changed (49) hide show
  1. episodes/c2_p016_e036/data.npz +3 -0
  2. episodes/c2_p016_e036/device_events.jsonl +35 -0
  3. episodes/c2_p016_e036/env.mp4 +3 -0
  4. episodes/c2_p016_e036/meta.json +32 -0
  5. episodes/c2_p016_e036/scene_snapshot.json +1558 -0
  6. episodes/c2_p016_e036/wrist.mp4 +3 -0
  7. episodes/c5_p013_e004/data.npz +3 -0
  8. episodes/c5_p013_e004/device_events.jsonl +38 -0
  9. episodes/c5_p013_e004/env.mp4 +3 -0
  10. episodes/c5_p013_e004/meta.json +32 -0
  11. episodes/c5_p013_e004/scene_snapshot.json +1558 -0
  12. episodes/c5_p013_e004/wrist.mp4 +3 -0
  13. episodes/c5_p013_e005/data.npz +3 -0
  14. episodes/c5_p013_e005/device_events.jsonl +36 -0
  15. episodes/c5_p013_e005/env.mp4 +3 -0
  16. episodes/c5_p013_e005/meta.json +32 -0
  17. episodes/c5_p013_e005/scene_snapshot.json +1558 -0
  18. episodes/c5_p013_e005/wrist.mp4 +3 -0
  19. episodes/c5_p013_e006/data.npz +3 -0
  20. episodes/c5_p013_e006/device_events.jsonl +36 -0
  21. episodes/c5_p013_e006/env.mp4 +3 -0
  22. episodes/c5_p013_e006/meta.json +32 -0
  23. episodes/c5_p013_e006/scene_snapshot.json +1558 -0
  24. episodes/c5_p013_e006/wrist.mp4 +3 -0
  25. episodes/c6_p013_e034/data.npz +3 -0
  26. episodes/c6_p013_e034/device_events.jsonl +36 -0
  27. episodes/c6_p013_e034/env.mp4 +3 -0
  28. episodes/c6_p013_e034/meta.json +32 -0
  29. episodes/c6_p013_e034/scene_snapshot.json +1558 -0
  30. episodes/c6_p013_e034/wrist.mp4 +3 -0
  31. episodes/c7_p015_e032/data.npz +3 -0
  32. episodes/c7_p015_e032/device_events.jsonl +35 -0
  33. episodes/c7_p015_e032/env.mp4 +3 -0
  34. episodes/c7_p015_e032/meta.json +32 -0
  35. episodes/c7_p015_e032/scene_snapshot.json +1558 -0
  36. episodes/c7_p015_e032/wrist.mp4 +3 -0
  37. episodes/c9_p019_e020/data.npz +3 -0
  38. episodes/c9_p019_e020/device_events.jsonl +37 -0
  39. episodes/c9_p019_e020/env.mp4 +3 -0
  40. episodes/c9_p019_e020/meta.json +32 -0
  41. episodes/c9_p019_e020/scene_snapshot.json +1558 -0
  42. episodes/c9_p019_e020/wrist.mp4 +3 -0
  43. episodes/c9_p019_e021/data.npz +3 -0
  44. episodes/c9_p019_e021/device_events.jsonl +36 -0
  45. episodes/c9_p019_e021/env.mp4 +3 -0
  46. episodes/c9_p019_e021/meta.json +32 -0
  47. episodes/c9_p019_e021/scene_snapshot.json +1558 -0
  48. episodes/c9_p019_e021/wrist.mp4 +3 -0
  49. index/episodes.csv +8 -0
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+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5b215dc18ab15458161565f4fcf10261b2734447156c053ae89b9565f9c40c0b
3
+ size 8585958
index/episodes.csv CHANGED
@@ -4170,3 +4170,11 @@ c8_p015_e008,2,True,-0.13443565368652344,0.44730377197265625,-0.0156267619941621
4170
  c8_p015_e009,3,True,-0.05803203582763672,0.4482765197753906,-0.009913515775546656,0.005693192980825196,0.11530125994897844,plate_384_white,0.46161746978759766,0.08483600616455078,-93.4553000116265,0.21582451076085668,987.4224757128476,rect,0.6206370704404912,-0.16191894297567522,2.8847152143105275,10578.26102334294,3869.5344182642857,disk,0.27303699413760896,1.5218378542758055,1.7172610967911628,10344.387104400765,7052.444392061326,0.04828012362122536,-0.0007795754936523736,-0.03258486092090607,-0.28719955682754517,0.6429445743560791,0.6551752686500549,-0.2736494541168213,0.06506343185901642,0.5886746644973755,1.9638477563858032,0.036941029131412506,0.020935140550136566,0.2869429588317871,0.9570061564445496,1221,1,,2.1298317909240723,0.2554770673066749,0.0,0.007417567539960146,0.5217035217035217,12,release,0.04253101348876953,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4171
  c8_p015_e010,0,True,-0.09009647369384766,0.4500007629394531,-0.015399970097078825,-0.006917870600773724,10.567847398482712,plate_6_clear,0.4705057144165039,0.12225914001464844,-93.49630103581289,0.24899012540107512,987.4224757128476,rect,0.24518283530631613,0.3983976462043627,2.7206228461075654,4176.5657348393,6977.858322647089,disk,1.3506936644991239,-1.1050712060192518,2.0929537424964235,3514.1947652932404,5834.090067531717,0.0480605848133564,-0.0019921145867556334,-0.0328478142619133,-0.29320934414863586,0.6423673629760742,0.6483637094497681,-0.2846347689628601,0.06512761116027832,0.5865347981452942,1.925641655921936,0.05718500539660454,0.011201449669897556,0.2636622488498688,0.9628533720970154,1252,1,,2.0659799575805664,0.29711936162465424,0.0,0.00738329254090786,0.5559105431309904,12,release,0.042397916316986084,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4172
  c8_p015_e011,1,True,0.030251502990722656,0.45000362396240234,0.008655414878297714,0.005700313672983785,-10.699961949384061,deep_well_96_1ml,0.4758901596069336,0.08242988586425781,-91.07517813999307,0.16062427052438244,987.4224757128476,rect,0.022070630890030585,0.5550121831548913,2.963143563088425,6256.958799896849,4095.1321800284454,disk,-0.34784512366780485,0.23092624401798956,1.9055842000853576,6690.183643851499,4043.1094267062194,0.05399277061223984,-0.0005887418519705534,-0.02867860719561577,-0.2746231257915497,0.6571364998817444,0.6451997756958008,-0.27653396129608154,0.053814925253391266,0.562920868396759,1.9356260299682617,0.053168609738349915,0.019567308947443962,0.2745648920536041,0.9598981142044067,1205,1,,2.0974488258361816,0.2786361482850948,0.0,0.0074706412851810455,0.5261410788381743,12,release,0.04224288463592529,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
 
 
 
 
 
 
 
 
 
4170
  c8_p015_e009,3,True,-0.05803203582763672,0.4482765197753906,-0.009913515775546656,0.005693192980825196,0.11530125994897844,plate_384_white,0.46161746978759766,0.08483600616455078,-93.4553000116265,0.21582451076085668,987.4224757128476,rect,0.6206370704404912,-0.16191894297567522,2.8847152143105275,10578.26102334294,3869.5344182642857,disk,0.27303699413760896,1.5218378542758055,1.7172610967911628,10344.387104400765,7052.444392061326,0.04828012362122536,-0.0007795754936523736,-0.03258486092090607,-0.28719955682754517,0.6429445743560791,0.6551752686500549,-0.2736494541168213,0.06506343185901642,0.5886746644973755,1.9638477563858032,0.036941029131412506,0.020935140550136566,0.2869429588317871,0.9570061564445496,1221,1,,2.1298317909240723,0.2554770673066749,0.0,0.007417567539960146,0.5217035217035217,12,release,0.04253101348876953,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4171
  c8_p015_e010,0,True,-0.09009647369384766,0.4500007629394531,-0.015399970097078825,-0.006917870600773724,10.567847398482712,plate_6_clear,0.4705057144165039,0.12225914001464844,-93.49630103581289,0.24899012540107512,987.4224757128476,rect,0.24518283530631613,0.3983976462043627,2.7206228461075654,4176.5657348393,6977.858322647089,disk,1.3506936644991239,-1.1050712060192518,2.0929537424964235,3514.1947652932404,5834.090067531717,0.0480605848133564,-0.0019921145867556334,-0.0328478142619133,-0.29320934414863586,0.6423673629760742,0.6483637094497681,-0.2846347689628601,0.06512761116027832,0.5865347981452942,1.925641655921936,0.05718500539660454,0.011201449669897556,0.2636622488498688,0.9628533720970154,1252,1,,2.0659799575805664,0.29711936162465424,0.0,0.00738329254090786,0.5559105431309904,12,release,0.042397916316986084,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4172
  c8_p015_e011,1,True,0.030251502990722656,0.45000362396240234,0.008655414878297714,0.005700313672983785,-10.699961949384061,deep_well_96_1ml,0.4758901596069336,0.08242988586425781,-91.07517813999307,0.16062427052438244,987.4224757128476,rect,0.022070630890030585,0.5550121831548913,2.963143563088425,6256.958799896849,4095.1321800284454,disk,-0.34784512366780485,0.23092624401798956,1.9055842000853576,6690.183643851499,4043.1094267062194,0.05399277061223984,-0.0005887418519705534,-0.02867860719561577,-0.2746231257915497,0.6571364998817444,0.6451997756958008,-0.27653396129608154,0.053814925253391266,0.562920868396759,1.9356260299682617,0.053168609738349915,0.019567308947443962,0.2745648920536041,0.9598981142044067,1205,1,,2.0974488258361816,0.2786361482850948,0.0,0.0074706412851810455,0.5261410788381743,12,release,0.04224288463592529,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4173
+ c2_p016_e036,1,True,-0.08588886260986328,0.44670581817626953,0.014235589649821192,-0.005813369335653794,6.18280816491162,plate_96_white,0.4701118469238281,0.05037117004394531,-86.43240791037327,0.15791364875114997,720.8736330945138,rect,-0.3779762165869548,-0.41409350350056423,3.1389252123843896,5416.14636082089,5262.952400937348,disk,1.715636777529769,0.8214884329779968,1.7348435529094348,4512.718648144928,3222.665552554243,0.04742533713579178,0.003942839335650206,-0.03204825147986412,-0.27428871393203735,0.651861310005188,0.6507955193519592,-0.27623850107192993,0.0749441459774971,0.5590028166770935,1.9442710876464844,0.03406927362084389,-0.003023556899279356,0.2864217162132263,0.9574929475784302,1239,1,,2.090496778488159,0.28266618437788205,0.0,0.007316574454307556,0.5149313962873285,12,release,0.042160749435424805,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4174
+ c5_p013_e004,1,True,-0.0032176971435546875,0.4472618103027344,0.005473476228147614,-0.010359792670377446,-4.90343376615715,deep_well_96_1ml,0.5151042938232422,0.09217453002929688,-87.25871703894035,0.28064815997246095,1333.371962262925,rect,0.8968620238673847,-0.05372793772698786,2.888883371836044,9738.46893340943,6999.004953931422,disk,-1.510497945690671,1.3368106750658189,2.5882334355956838,2733.179572406004,6158.861058160073,0.052331212908029556,-0.0035814798902720213,-0.029602697119116783,-0.28339117765426636,0.6404663920402527,0.6632717847824097,-0.26374760270118713,0.04693607613444328,0.5934943556785583,1.9276349544525146,0.04074960947036743,0.010407453402876854,0.2569357454776764,0.9655129313468933,1225,1,,2.075160503387451,0.24442798212604475,0.0,0.007479059975594282,0.5771428571428572,12,release,0.04237103462219238,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4175
+ c5_p013_e005,2,True,-0.14522552490234375,0.4499998092651367,-0.006643081048885679,-0.004167898251268643,3.789084094736836,plate_24_clear,0.47850608825683594,0.09352397918701172,-88.33844598692299,0.19931424420220747,1333.371962262925,rect,-0.2591178199511206,0.5809986604274238,2.7854618075616475,15219.545314799087,5633.488074462603,sphere,0.36242090671777927,1.3713471360282299,1.7782697365963276,7646.607840518463,3689.752959263471,0.05091600492596626,0.0023829839192330837,-0.031769443303346634,-0.27877116203308105,0.6498467922210693,0.6492162346839905,-0.2801856994628906,0.06721507012844086,0.5940394997596741,1.9684629440307617,0.039853207767009735,0.011531464755535126,0.25442925095558167,0.9662010669708252,1215,1,,2.1001241207122803,0.32933396725695757,0.0,0.007325352635234594,0.5176954732510288,12,release,0.04230546951293945,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4176
+ c5_p013_e006,0,True,-0.0827627182006836,0.4468088150024414,0.00750095224603095,0.009839246855514771,-3.582623851472249,plate_6_clear,0.5245914459228516,0.1290273666381836,-93.62455683547671,0.19971547581100924,1333.371962262925,rect,0.6566108960681222,-0.03413873023709757,2.7121529018811756,5530.635565967025,4225.352647333195,sphere,1.603638254828029,0.18912933549068733,1.9437473091749253,9056.327274088773,6622.16056099587,0.0554063618183136,-0.0021558068692684174,-0.02886803261935711,-0.2870584726333618,0.6404404044151306,0.655545175075531,-0.27873656153678894,0.06938135623931885,0.5769213438034058,1.9376554489135742,0.048871446400880814,0.018689313903450966,0.26705408096313477,0.9622600674629211,1238,1,,2.1367347240448,0.3331261668194482,0.0,0.007341931574046612,0.5153473344103393,12,release,0.042192935943603516,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4177
+ c6_p013_e034,2,True,0.00409698486328125,0.44748401641845703,0.0021791126403972877,-0.001103938046131927,1.4253090555038455,plate_24_clear,0.478240966796875,0.061928749084472656,-94.39775395472809,0.2523416203260535,1273.999429749963,rect,0.40864193816205374,-0.47023370257157454,2.711022232236043,7174.570836850733,6464.093097571437,disk,-1.4070709377285737,-0.505765299714911,2.5604083686297154,7617.455660145076,7477.096616649465,0.05018790438771248,0.0021891314536333084,-0.031888723373413086,-0.2937741279602051,0.6390823125839233,0.6523482799530029,-0.2823336124420166,0.0331665575504303,0.5567675232887268,1.9288389682769775,0.05436353012919426,0.0236350167542696,0.26036444306373596,0.9636889100074768,1260,1,,2.0753040313720703,0.3013360054708755,0.0,0.007342433091253042,0.503968253968254,12,release,0.042223453521728516,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4178
+ c7_p015_e032,1,True,-0.03279685974121094,0.45000171661376953,-0.0037445379258390825,-0.00744846846811891,-2.1850097828445882,plate_96_white,0.4789695739746094,0.08251476287841797,-93.08367378637153,0.25901306180990785,770.0056294721514,rect,0.7830634403034508,-0.2792482030683543,2.904179016151386,15563.607230596817,5080.657361257989,sphere,0.1202242886771887,-1.1304943074609686,2.039066892500077,3442.078163924722,4964.628890857065,0.04874252900481224,-0.002483178861439228,-0.02649233117699623,-0.29672056436538696,0.6435344815254211,0.6474168300628662,-0.2804848551750183,0.049721039831638336,0.5874480605125427,1.9653823375701904,0.05559558793902397,0.012013704515993595,0.2570066452026367,0.9647343754768372,1264,1,,2.1424951553344727,0.2803240151731492,0.0,0.007305230014026165,0.553006329113924,12,release,0.04226982593536377,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4179
+ c9_p019_e020,1,True,0.03654193878173828,0.45000267028808594,0.003116741735546563,-0.0007280334588572223,6.085343190415671,deep_well_96_1ml,0.46865272521972656,0.1265573501586914,-88.40855080820758,0.21177222653905664,617.6483828996325,rect,0.46618448520975486,-0.10558202303123854,3.141272426005173,8802.501246544834,4941.016471604825,sphere,-0.06555060068842367,0.4557374138092902,1.9000327061853854,1507.3917447974925,5748.031641623955,0.05165282264351845,-0.0035588566679507494,-0.029867831617593765,-0.270853728055954,0.6487747430801392,0.6549036502838135,-0.2771836817264557,0.05264535918831825,0.5861887335777283,1.926099181175232,0.04384395852684975,0.017306065186858177,0.2595670223236084,0.9645740985870361,1212,1,,2.08144211769104,0.27259512346061976,0.0,0.007469662465155125,0.5264026402640264,12,release,0.04241180419921875,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4180
+ c9_p019_e021,0,True,0.1303558349609375,0.45000267028808594,0.005169880736603071,0.010420320074124665,2.7228442283750383,pcr_96_blue,0.5144157409667969,0.09686946868896484,-89.41839473485591,0.22432964784900955,860.7946104362627,rect,0.43826434765733924,0.47696712615723547,2.60683444136354,8139.298811963794,3648.1722036388405,sphere,0.7866631062234943,1.1479931577166653,2.049934723834441,5615.0688600661815,4280.17222769214,0.049105577170848846,-0.0009049362852238119,-0.02788977138698101,-0.29032835364341736,0.6438117027282715,0.6583881378173828,-0.2602709233760834,0.025107191875576973,0.5843656659126282,1.9547287225723267,0.04391947761178017,0.013158091343939304,0.28742554783821106,0.9567050337791443,1166,1,,2.134345531463623,0.34807679973607897,0.0,0.006876242347061634,0.5428816466552315,12,release,0.042153239250183105,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False