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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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verified ·
1 Parent(s): 2d76045

add 8 episodes (c4_p016_e022 .. c9_p021_e039); total 4630 {'v1': 1088, 'v2': 3542}

Browse files
Files changed (49) hide show
  1. episodes/c4_p016_e022/data.npz +3 -0
  2. episodes/c4_p016_e022/device_events.jsonl +38 -0
  3. episodes/c4_p016_e022/env.mp4 +3 -0
  4. episodes/c4_p016_e022/meta.json +32 -0
  5. episodes/c4_p016_e022/scene_snapshot.json +1558 -0
  6. episodes/c4_p016_e022/wrist.mp4 +3 -0
  7. episodes/c4_p016_e023/data.npz +3 -0
  8. episodes/c4_p016_e023/device_events.jsonl +35 -0
  9. episodes/c4_p016_e023/env.mp4 +3 -0
  10. episodes/c4_p016_e023/meta.json +32 -0
  11. episodes/c4_p016_e023/scene_snapshot.json +1558 -0
  12. episodes/c4_p016_e023/wrist.mp4 +3 -0
  13. episodes/c8_p017_e017/data.npz +3 -0
  14. episodes/c8_p017_e017/device_events.jsonl +36 -0
  15. episodes/c8_p017_e017/env.mp4 +3 -0
  16. episodes/c8_p017_e017/meta.json +32 -0
  17. episodes/c8_p017_e017/scene_snapshot.json +1558 -0
  18. episodes/c8_p017_e017/wrist.mp4 +3 -0
  19. episodes/c8_p017_e018/data.npz +3 -0
  20. episodes/c8_p017_e018/device_events.jsonl +35 -0
  21. episodes/c8_p017_e018/env.mp4 +3 -0
  22. episodes/c8_p017_e018/meta.json +32 -0
  23. episodes/c8_p017_e018/scene_snapshot.json +1558 -0
  24. episodes/c8_p017_e018/wrist.mp4 +3 -0
  25. episodes/c9_p021_e036/data.npz +3 -0
  26. episodes/c9_p021_e036/device_events.jsonl +39 -0
  27. episodes/c9_p021_e036/env.mp4 +3 -0
  28. episodes/c9_p021_e036/meta.json +32 -0
  29. episodes/c9_p021_e036/scene_snapshot.json +1558 -0
  30. episodes/c9_p021_e036/wrist.mp4 +3 -0
  31. episodes/c9_p021_e037/data.npz +3 -0
  32. episodes/c9_p021_e037/device_events.jsonl +37 -0
  33. episodes/c9_p021_e037/env.mp4 +3 -0
  34. episodes/c9_p021_e037/meta.json +32 -0
  35. episodes/c9_p021_e037/scene_snapshot.json +1558 -0
  36. episodes/c9_p021_e037/wrist.mp4 +3 -0
  37. episodes/c9_p021_e038/data.npz +3 -0
  38. episodes/c9_p021_e038/device_events.jsonl +37 -0
  39. episodes/c9_p021_e038/env.mp4 +3 -0
  40. episodes/c9_p021_e038/meta.json +32 -0
  41. episodes/c9_p021_e038/scene_snapshot.json +1558 -0
  42. episodes/c9_p021_e038/wrist.mp4 +3 -0
  43. episodes/c9_p021_e039/data.npz +3 -0
  44. episodes/c9_p021_e039/device_events.jsonl +35 -0
  45. episodes/c9_p021_e039/env.mp4 +3 -0
  46. episodes/c9_p021_e039/meta.json +32 -0
  47. episodes/c9_p021_e039/scene_snapshot.json +1558 -0
  48. episodes/c9_p021_e039/wrist.mp4 +3 -0
  49. index/episodes.csv +8 -0
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episodes/c9_p021_e039/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bdedb7b33ed5761871bcb0aca7c5d3ccc8d824cff460d2828186eead8bda5684
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+ size 5981314
index/episodes.csv CHANGED
@@ -4621,3 +4621,11 @@ c6_p016_e002,1,True,-0.007256507873535156,0.4470939636230469,-0.0092081627611746
4621
  c6_p016_e003,2,True,-0.0041599273681640625,0.4499969482421875,-0.010790841337998333,0.0011366236438154855,4.438070099923067,plate_384_black,0.5134105682373047,0.059731483459472656,-92.1737064442935,0.26632889624365097,1079.7864665321576,rect,0.29612607179704875,0.38211374436493095,2.9236525268025413,8967.651516638747,4223.699293429079,sphere,0.7143445008798373,-0.20561774318655024,2.499889499357143,9230.148253264711,3693.505288491051,0.05225823074579239,0.0001360925380140543,-0.02949172630906105,-0.287431001663208,0.6342813372612,0.6623134613037109,-0.2764263153076172,0.06565772742033005,0.5731703639030457,1.9716722965240479,0.030307285487651825,0.030627286061644554,0.2571205496788025,0.96541827917099,1272,1,,2.142329216003418,0.3485358246832727,0.0,0.007417944259941578,0.5534591194968553,12,release,0.04227399826049805,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4622
  c8_p017_e016,1,True,0.14727497100830078,0.4500007629394531,-0.015282599504589892,0.006223755731815737,1.6834854723429942,plate_96_white,0.46161746978759766,0.08483600616455078,-93.4553000116265,0.28721880464799726,1262.9241071689562,rect,-0.2535195795295049,0.15936314957020148,2.9384270830633166,12137.115932219956,4749.203849369858,disk,-1.0735490261593246,-0.9444621577844288,1.9713601776371925,6067.196719574778,6748.1906447503525,0.04631659761071205,-0.0010719518177211285,-0.03036079742014408,-0.26753565669059753,0.6634755730628967,0.6351895928382874,-0.2911340892314911,0.05164581909775734,0.5976689457893372,1.949390172958374,0.021221838891506195,0.004088920541107655,0.2777296304702759,0.9604161381721497,1203,1,,2.1413145065307617,0.29160758047816643,0.0,0.007307060062885284,0.5236907730673317,12,release,0.0421716570854187,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4623
  c9_p021_e035,0,True,-0.09456920623779297,0.4499998092651367,-0.0073814685756343505,-0.008287403653220294,-4.692830644673137,deep_well_96_2ml,0.526087760925293,0.08208084106445312,-87.08310295375541,0.1522714130567747,1202.3082792229486,rect,0.37780376974798113,0.14691319909807887,2.892457314303679,11578.885528745663,6892.933725116376,sphere,1.2678448042902475,0.9065027844209788,1.6701805322366121,2144.683413330443,6414.475586833796,0.04871385544538498,-0.0018557030707597733,-0.028216823935508728,-0.2851349115371704,0.6568430066108704,0.6444711089134216,-0.268164724111557,0.033135417848825455,0.5582828521728516,1.9570965766906738,0.03691459447145462,0.021691566333174706,0.2631729543209076,0.9637981057167053,1234,1,,2.1278676986694336,0.34133853582319,0.0,0.007505794055759907,0.513776337115073,12,release,0.04254913330078125,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
 
 
 
 
 
 
 
 
 
4621
  c6_p016_e003,2,True,-0.0041599273681640625,0.4499969482421875,-0.010790841337998333,0.0011366236438154855,4.438070099923067,plate_384_black,0.5134105682373047,0.059731483459472656,-92.1737064442935,0.26632889624365097,1079.7864665321576,rect,0.29612607179704875,0.38211374436493095,2.9236525268025413,8967.651516638747,4223.699293429079,sphere,0.7143445008798373,-0.20561774318655024,2.499889499357143,9230.148253264711,3693.505288491051,0.05225823074579239,0.0001360925380140543,-0.02949172630906105,-0.287431001663208,0.6342813372612,0.6623134613037109,-0.2764263153076172,0.06565772742033005,0.5731703639030457,1.9716722965240479,0.030307285487651825,0.030627286061644554,0.2571205496788025,0.96541827917099,1272,1,,2.142329216003418,0.3485358246832727,0.0,0.007417944259941578,0.5534591194968553,12,release,0.04227399826049805,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4622
  c8_p017_e016,1,True,0.14727497100830078,0.4500007629394531,-0.015282599504589892,0.006223755731815737,1.6834854723429942,plate_96_white,0.46161746978759766,0.08483600616455078,-93.4553000116265,0.28721880464799726,1262.9241071689562,rect,-0.2535195795295049,0.15936314957020148,2.9384270830633166,12137.115932219956,4749.203849369858,disk,-1.0735490261593246,-0.9444621577844288,1.9713601776371925,6067.196719574778,6748.1906447503525,0.04631659761071205,-0.0010719518177211285,-0.03036079742014408,-0.26753565669059753,0.6634755730628967,0.6351895928382874,-0.2911340892314911,0.05164581909775734,0.5976689457893372,1.949390172958374,0.021221838891506195,0.004088920541107655,0.2777296304702759,0.9604161381721497,1203,1,,2.1413145065307617,0.29160758047816643,0.0,0.007307060062885284,0.5236907730673317,12,release,0.0421716570854187,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4623
  c9_p021_e035,0,True,-0.09456920623779297,0.4499998092651367,-0.0073814685756343505,-0.008287403653220294,-4.692830644673137,deep_well_96_2ml,0.526087760925293,0.08208084106445312,-87.08310295375541,0.1522714130567747,1202.3082792229486,rect,0.37780376974798113,0.14691319909807887,2.892457314303679,11578.885528745663,6892.933725116376,sphere,1.2678448042902475,0.9065027844209788,1.6701805322366121,2144.683413330443,6414.475586833796,0.04871385544538498,-0.0018557030707597733,-0.028216823935508728,-0.2851349115371704,0.6568430066108704,0.6444711089134216,-0.268164724111557,0.033135417848825455,0.5582828521728516,1.9570965766906738,0.03691459447145462,0.021691566333174706,0.2631729543209076,0.9637981057167053,1234,1,,2.1278676986694336,0.34133853582319,0.0,0.007505794055759907,0.513776337115073,12,release,0.04254913330078125,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4624
+ c4_p016_e022,1,True,0.006836891174316406,0.45000362396240234,-0.014800655861634544,-0.004718032553014568,-5.314024199551227,deep_well_96_1ml,0.4776611328125,0.0931386947631836,-85.46218884951735,0.22428376374747255,1256.1885073186795,rect,-0.403028400662832,0.23301699060468783,2.9888929152989623,12829.827214198654,3948.26832104401,sphere,1.4549219803535296,0.6622069660498824,2.2476543450132738,9077.343840871647,4506.385488657635,0.052632369101047516,0.001497552148066461,-0.03049907460808754,-0.2796204090118408,0.6501642465591431,0.6494162082672119,-0.2781321108341217,0.04607711359858513,0.5806310176849365,1.9559942483901978,0.051957499235868454,0.007193142548203468,0.287343829870224,0.9563902020454407,1265,1,,2.1002540588378906,0.2756220928972059,0.0,0.007435512263327837,0.5565217391304348,12,release,0.04243314266204834,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4625
+ c4_p016_e023,3,True,0.07383251190185547,0.4499979019165039,-0.004786418849714064,-0.0013087065121911157,-9.316532311998287,reservoir_12ch,0.47423839569091797,0.06496906280517578,-87.8337007184409,0.23048907449821204,1256.1885073186795,rect,0.3169262065359265,0.5338265316354065,2.6724126177502376,5372.531700643889,4481.116265212488,sphere,0.7641912311171635,0.865117057706078,2.510184388740042,2081.45509496868,6045.213074690754,0.049788881093263626,-0.002418622374534607,-0.03404202312231064,-0.2869950830936432,0.6526367664337158,0.6451433897018433,-0.27475279569625854,0.07208102196455002,0.5723315477371216,1.9436384439468384,0.024162713438272476,0.0004654034273698926,0.27370601892471313,0.9615097045898438,1205,1,,2.077354669570923,0.29225052946793717,0.0,0.007397321052849293,0.5253112033195021,12,release,0.042279064655303955,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4626
+ c8_p017_e017,2,True,0.09405040740966797,0.4499979019165039,0.00943918067134225,0.01084269725604839,-7.770143301412418,deep_well_24_10ml,0.4881591796875,0.12302112579345703,-86.54485987223711,0.2904950810162459,1262.9241071689562,rect,-0.1272978989550096,-0.20529506438412354,3.031791983880172,10220.881963745527,6837.426302494923,sphere,0.7009332370094228,0.785705967135613,1.7180932392855874,5230.057511555007,6675.671794795215,0.0470154769718647,-0.0018859620904549956,-0.03010435216128826,-0.28690657019615173,0.6471776962280273,0.6531621813774109,-0.26874682307243347,0.06917277723550797,0.5642606616020203,1.9504125118255615,0.04407789930701256,-0.0032572501804679632,0.28622081875801086,0.9571437835693359,1192,1,,2.05142879486084,0.33002344277996754,0.0,0.007516177371144295,0.5293624161073825,12,release,0.04227936267852783,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4627
+ c8_p017_e018,3,True,0.1416492462158203,0.4500007629394531,0.00923730654134764,-0.0022086381469185656,6.63232024146393,plate_96_clear,0.4771852493286133,0.10801124572753906,-91.2521859777786,0.18239229544971097,1477.6587393451427,rect,0.6561048895751328,0.3260803323036465,2.806655218196519,6478.453443682811,4261.508687249787,sphere,-1.2861506514340535,-0.033413852115372844,1.8301644993639405,2601.798640262168,7388.113488390578,0.04774317517876625,0.002273151185363531,-0.026899928227066994,-0.2733429968357086,0.6567756533622742,0.6501141786575317,-0.26698482036590576,0.07207834720611572,0.571736752986908,1.9541312456130981,0.05871180072426796,0.021305706351995468,0.2832002639770508,0.957024872303009,1269,1,,2.1547353267669678,0.32551753997014166,0.0,0.0072563826106488705,0.5059101654846335,12,release,0.042194753885269165,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4628
+ c9_p021_e036,3,True,-0.036464691162109375,0.4499998092651367,-0.015291152001628226,-0.0016008577101796792,5.072349480587491,reservoir_12ch,0.5247726440429688,0.0938873291015625,-93.80799500765366,0.197652221366104,1202.3082792229486,rect,0.7231506464877978,0.18760416202231545,3.0548226433655343,5272.892181657897,6706.341360539796,disk,1.7128589184303538,0.2957987396498265,2.4741674581507134,4766.888066585068,4885.732411866801,0.053465329110622406,0.0029311904218047857,-0.029052799567580223,-0.2783300280570984,0.6428666710853577,0.6606205701828003,-0.2698800265789032,0.056956708431243896,0.5934599041938782,1.9276127815246582,0.02779468707740307,0.025705624371767044,0.28565219044685364,0.9575852751731873,1273,1,,2.0586588382720947,0.2626270016611059,0.0,0.007440914399921894,0.5498821681068342,12,release,0.042406320571899414,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4629
+ c9_p021_e037,1,True,-0.11603736877441406,0.44815731048583984,-0.0014845604226556926,-0.010282790792960761,5.392883421310984,plate_96_white,0.4907093048095703,0.12754058837890625,-87.03385172275225,0.18122071298646644,1202.3082792229486,rect,0.1133668518673604,0.1705241082375748,3.176537930019026,5945.499585781497,4078.0316258739804,disk,0.3473007746691681,0.6193523164276615,2.5099845547652975,5263.462728788956,7443.181679213092,0.04948730021715164,-0.0018887324258685112,-0.029855139553546906,-0.2836851179599762,0.6429805159568787,0.6558194756507874,-0.275680273771286,0.04162251576781273,0.596682608127594,1.957112193107605,0.03494243696331978,0.018785668537020683,0.28748735785484314,0.9569624662399292,1167,1,,2.1073355674743652,0.32057714393278225,0.0,0.0072910478338599205,0.5458440445586975,12,release,0.04242205619812012,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4630
+ c9_p021_e038,2,True,0.09603404998779297,0.4499969482421875,0.003304237740287928,-0.005524781112817804,7.867413597212163,plate_24_clear,0.4649391174316406,0.10002994537353516,-90.10800180179169,0.24797534707159974,1202.3082792229486,rect,0.2517056474206476,0.09988078918410759,2.8253339136270306,11690.225440533184,5617.369684627714,disk,-0.2563501066632825,-0.5277194604873371,1.7403786316299952,6201.556371271934,6091.577387868827,0.04704636335372925,0.003947997931391001,-0.030915288254618645,-0.2713850140571594,0.6540912985801697,0.6511635780334473,-0.27294811606407166,0.06462083756923676,0.582040548324585,1.9462255239486694,0.036181360483169556,0.009410056285560131,0.2561984658241272,0.9659009575843811,1260,1,,2.0697858333587646,0.25018452093023463,0.0,0.007289320230484009,0.5158730158730159,12,release,0.04221487045288086,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4631
+ c9_p021_e039,0,True,0.013059616088867188,0.45000553131103516,0.006412435903496409,0.004434261915496978,-9.775563534085478,deep_well_96_2ml,0.526087760925293,0.08208084106445312,-87.08310295375541,0.18301433324010755,845.8440242094287,rect,0.2824886332564879,0.4206528726251286,2.9748062056662024,6945.094373805327,5435.808786968499,sphere,-0.10980839622501826,-0.8476820790311896,2.6447241709541016,5874.763230052669,7487.5319533784605,0.051166798919439316,-0.0011301386402919888,-0.030814502388238907,-0.28475549817085266,0.6429218053817749,0.6571864485740662,-0.2714255452156067,0.06460636109113693,0.5857863426208496,1.9326680898666382,0.05315442010760307,-0.007449910510331392,0.26781585812568665,0.9619739055633545,1144,1,,2.0836760997772217,0.2796982314345801,0.0,0.007466503884643316,0.5498251748251748,12,release,0.042167842388153076,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False