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Datasets:
Arashi2001
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MagicBioLab

Tasks:
Robotics
Tags:
simulation
isaac-sim
lab-automation
microplate
imitation-learning
License:
Dataset card Files
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 Community
Arashi2001 commited on
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add 5 episodes (c6_p018_e000 .. c9_p023_e023); total 4786 {'v1': 1088, 'v2': 3698}

Browse files
Files changed (31) hide show
  1. episodes/c6_p018_e000/data.npz +3 -0
  2. episodes/c6_p018_e000/device_events.jsonl +37 -0
  3. episodes/c6_p018_e000/env.mp4 +3 -0
  4. episodes/c6_p018_e000/meta.json +32 -0
  5. episodes/c6_p018_e000/scene_snapshot.json +1558 -0
  6. episodes/c6_p018_e000/wrist.mp4 +3 -0
  7. episodes/c6_p018_e001/data.npz +3 -0
  8. episodes/c6_p018_e001/device_events.jsonl +36 -0
  9. episodes/c6_p018_e001/env.mp4 +3 -0
  10. episodes/c6_p018_e001/meta.json +32 -0
  11. episodes/c6_p018_e001/scene_snapshot.json +1558 -0
  12. episodes/c6_p018_e001/wrist.mp4 +3 -0
  13. episodes/c9_p023_e021/data.npz +3 -0
  14. episodes/c9_p023_e021/device_events.jsonl +39 -0
  15. episodes/c9_p023_e021/env.mp4 +3 -0
  16. episodes/c9_p023_e021/meta.json +32 -0
  17. episodes/c9_p023_e021/scene_snapshot.json +1558 -0
  18. episodes/c9_p023_e021/wrist.mp4 +3 -0
  19. episodes/c9_p023_e022/data.npz +3 -0
  20. episodes/c9_p023_e022/device_events.jsonl +37 -0
  21. episodes/c9_p023_e022/env.mp4 +3 -0
  22. episodes/c9_p023_e022/meta.json +32 -0
  23. episodes/c9_p023_e022/scene_snapshot.json +1558 -0
  24. episodes/c9_p023_e022/wrist.mp4 +3 -0
  25. episodes/c9_p023_e023/data.npz +3 -0
  26. episodes/c9_p023_e023/device_events.jsonl +36 -0
  27. episodes/c9_p023_e023/env.mp4 +3 -0
  28. episodes/c9_p023_e023/meta.json +32 -0
  29. episodes/c9_p023_e023/scene_snapshot.json +1558 -0
  30. episodes/c9_p023_e023/wrist.mp4 +3 -0
  31. index/episodes.csv +5 -0
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+ 0.2627261281013489,
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+ 0.9638366103172302
1544
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1545
+ [
1546
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+ 0.050851091742515564,
1550
+ 0.025770902633666992,
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+ 0.2774801254272461,
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+ 0.959038496017456
1553
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1554
+ ]
1555
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1556
+ }
1557
+ }
1558
+ }
episodes/c9_p023_e023/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b8252f627a88b8989101c94415a3171f664bfc7a59a0ac3a4ab3f672ac496867
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+ size 6898086
index/episodes.csv CHANGED
@@ -4780,3 +4780,8 @@ c9_p023_e017,0,True,0.03970527648925781,0.4468975067138672,0.009764670827109584,
4780
  c9_p023_e018,2,True,-0.024463653564453125,0.44847869873046875,-0.0029426126489425324,0.008952462588828265,2.7778117475668296,plate_1536_black,0.46871280670166016,0.10303306579589844,-93.30503348958119,0.18583927002083808,991.0748225776792,rect,-0.3258247740852721,-0.3858416065234789,3.0041538784714112,10876.763701970847,7104.290315163498,sphere,1.1178516578536986,0.3135769718414432,1.8732018390351228,2494.8111158305082,7210.104156063498,0.05275316536426544,0.0011762919602915645,-0.028818095102906227,-0.28644636273384094,0.6377691030502319,0.6545193195343018,-0.2877560555934906,0.07494181394577026,0.5905900597572327,1.9310383796691895,0.032079268246889114,-0.00254537770524621,0.2727562487125397,0.9615448117256165,1254,1,,2.077589511871338,0.3261795999516415,0.0,0.00738300196826458,0.5614035087719298,12,release,0.04218125343322754,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4781
  c9_p023_e019,3,True,0.09528827667236328,0.45000171661376953,-0.004481356932497338,0.00024051093818338546,10.838619392089186,plate_384_white,0.5175085067749023,0.06086158752441406,-93.89862631039945,0.20998626011492566,1100.5294478273554,rect,-0.11002531915312791,0.18286536237891793,2.7170850499561827,6571.788987192962,5838.103338161227,disk,-0.2056227258333274,0.9269871541873222,1.783226163196403,7786.514566422249,3103.3656902914067,0.05089748650789261,0.0011264125350862741,-0.02562771923840046,-0.2754911184310913,0.6472623944282532,0.6605573296546936,-0.2623358368873596,0.06922692060470581,0.5854637622833252,1.9446038007736206,0.04029840603470802,0.0013794619590044022,0.2710159718990326,0.9617299437522888,1297,1,,2.0734736919403076,0.28401971499489725,0.0,0.007416250184178352,0.4973014649190439,12,release,0.04222661256790161,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4782
  c9_p023_e020,1,True,0.030221939086914062,0.45000362396240234,0.0039495692553425206,-0.010219417881459738,5.082020332808526,pcr_384_red,0.5247726440429688,0.0938873291015625,-93.80799500765366,0.22957592271792665,1100.5294478273554,rect,-0.16246897842752822,0.42488921336518914,2.7353594111421047,13271.586758393289,3452.395539967942,disk,0.13175403070411051,0.08922751220343583,2.2423652565510235,9930.626713014277,6579.178165062476,0.05325146019458771,0.001732637407258153,-0.032488010823726654,-0.27191582322120667,0.6488850712776184,0.6552648544311523,-0.27502360939979553,0.054352279752492905,0.6008183360099792,1.964343547821045,0.030567985028028488,0.024501219391822815,0.2828940749168396,0.9583507776260376,1251,1,,2.1086645126342773,0.27235442691642864,0.0,0.006790533661842346,0.5195843325339728,12,release,0.04210066795349121,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
 
 
 
 
 
 
4780
  c9_p023_e018,2,True,-0.024463653564453125,0.44847869873046875,-0.0029426126489425324,0.008952462588828265,2.7778117475668296,plate_1536_black,0.46871280670166016,0.10303306579589844,-93.30503348958119,0.18583927002083808,991.0748225776792,rect,-0.3258247740852721,-0.3858416065234789,3.0041538784714112,10876.763701970847,7104.290315163498,sphere,1.1178516578536986,0.3135769718414432,1.8732018390351228,2494.8111158305082,7210.104156063498,0.05275316536426544,0.0011762919602915645,-0.028818095102906227,-0.28644636273384094,0.6377691030502319,0.6545193195343018,-0.2877560555934906,0.07494181394577026,0.5905900597572327,1.9310383796691895,0.032079268246889114,-0.00254537770524621,0.2727562487125397,0.9615448117256165,1254,1,,2.077589511871338,0.3261795999516415,0.0,0.00738300196826458,0.5614035087719298,12,release,0.04218125343322754,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4781
  c9_p023_e019,3,True,0.09528827667236328,0.45000171661376953,-0.004481356932497338,0.00024051093818338546,10.838619392089186,plate_384_white,0.5175085067749023,0.06086158752441406,-93.89862631039945,0.20998626011492566,1100.5294478273554,rect,-0.11002531915312791,0.18286536237891793,2.7170850499561827,6571.788987192962,5838.103338161227,disk,-0.2056227258333274,0.9269871541873222,1.783226163196403,7786.514566422249,3103.3656902914067,0.05089748650789261,0.0011264125350862741,-0.02562771923840046,-0.2754911184310913,0.6472623944282532,0.6605573296546936,-0.2623358368873596,0.06922692060470581,0.5854637622833252,1.9446038007736206,0.04029840603470802,0.0013794619590044022,0.2710159718990326,0.9617299437522888,1297,1,,2.0734736919403076,0.28401971499489725,0.0,0.007416250184178352,0.4973014649190439,12,release,0.04222661256790161,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4782
  c9_p023_e020,1,True,0.030221939086914062,0.45000362396240234,0.0039495692553425206,-0.010219417881459738,5.082020332808526,pcr_384_red,0.5247726440429688,0.0938873291015625,-93.80799500765366,0.22957592271792665,1100.5294478273554,rect,-0.16246897842752822,0.42488921336518914,2.7353594111421047,13271.586758393289,3452.395539967942,disk,0.13175403070411051,0.08922751220343583,2.2423652565510235,9930.626713014277,6579.178165062476,0.05325146019458771,0.001732637407258153,-0.032488010823726654,-0.27191582322120667,0.6488850712776184,0.6552648544311523,-0.27502360939979553,0.054352279752492905,0.6008183360099792,1.964343547821045,0.030567985028028488,0.024501219391822815,0.2828940749168396,0.9583507776260376,1251,1,,2.1086645126342773,0.27235442691642864,0.0,0.006790533661842346,0.5195843325339728,12,release,0.04210066795349121,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4783
+ c6_p018_e000,2,True,0.09870433807373047,0.4472198486328125,-0.0040060127968633156,0.01060805688810155,10.376927432428687,deep_well_24_10ml,0.4978609085083008,0.0513916015625,-85.55150535356483,0.271395261146081,709.2933936514509,rect,0.601744220313131,-0.068731514857364,2.617611318016332,14454.68654986228,3273.3823674272653,sphere,0.6592986558992666,1.3473010980659559,2.2230381558336694,6337.494535853024,6321.0445371749975,0.04849027842283249,0.0033777840435504913,-0.029904257506132126,-0.2963743805885315,0.6407557129859924,0.650293231010437,-0.28055840730667114,0.053406912833452225,0.5882936716079712,1.9727041721343994,0.0476127490401268,0.001925771008245647,0.27860933542251587,0.9592216610908508,1162,1,,2.096973419189453,0.24815810673502503,0.0,0.0075262063182890415,0.5438898450946644,12,release,0.04246783256530762,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4784
+ c6_p018_e001,1,True,-0.14031410217285156,0.45000171661376953,0.0008983816250171555,-0.005951878326671503,-7.065503063884364,plate_96_white,0.46005821228027344,0.07340621948242188,-91.66042404353601,0.16240738374365557,709.2933936514509,rect,-0.16417358037993818,0.17446070216100495,2.748536374807253,4860.896298637237,5410.826654461404,sphere,1.6732781853565077,1.0239601886185434,1.6959206381815237,5383.057532077881,6635.431573529154,0.04901699721813202,-0.0013289378257468343,-0.026603911072015762,-0.2935660183429718,0.635497510433197,0.6584264039993286,-0.2764716148376465,0.06654719263315201,0.5886908769607544,1.969944953918457,0.04608026146888733,-0.005671725608408451,0.2855912148952484,0.9572262763977051,1214,1,,2.1650307178497314,0.2713380349505616,0.0,0.007308922708034515,0.5189456342668863,12,release,0.04210853576660156,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4785
+ c9_p023_e021,2,True,-0.04076194763183594,0.4499998092651367,-0.011065860343311253,-0.007528198747509864,-10.268937023493322,deep_well_24_10ml,0.46871280670166016,0.10303306579589844,-93.30503348958119,0.26354194428338895,1173.3486170379692,rect,-0.008839545129919135,-0.0927913712072756,2.776923902534883,8816.257406030869,4500.178144350532,sphere,-0.12933117370512104,-0.669941652027823,2.5902892084126243,7675.730033424922,6527.621341674222,0.053021788597106934,0.002551006618887186,-0.032881900668144226,-0.2888222634792328,0.6485145688056946,0.6486688256263733,-0.27429792284965515,0.04283003881573677,0.5925074219703674,1.963260293006897,0.030850285664200783,0.032282765954732895,0.2627261281013489,0.9638366103172302,1297,1,,2.116715431213379,0.2579065307304092,0.0,0.007478239946067333,0.5404780262143408,12,release,0.0442352294921875,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4786
+ c9_p023_e022,3,True,-0.052512168884277344,0.44737720489501953,-0.008401365495593746,-0.007428773664829784,3.695302572808089,plate_48_clear,0.5175085067749023,0.06086158752441406,-93.89862631039945,0.2337778109729764,1173.3486170379692,rect,0.8334232308166728,0.5641167041028177,2.6430142736860955,10093.612344768237,3224.1308955931718,disk,1.372661756261886,0.001249283524099809,2.547255273423649,7050.980065841008,6467.035763445207,0.04950809106230736,-0.0012070058146491647,-0.02907971851527691,-0.2748139798641205,0.6494356989860535,0.6478826999664307,-0.28802525997161865,0.06674350798130035,0.59273761510849,1.9696401357650757,0.050851091742515564,0.025770902633666992,0.2774801254272461,0.959038496017456,1224,1,,2.066601037979126,0.30597597918018593,0.0,0.00732702249661088,0.5228758169934641,12,release,0.04266476631164551,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4787
+ c9_p023_e023,0,True,-0.05847740173339844,0.4499950408935547,-0.0033761773066846843,-0.008403709689899577,8.242088694835445,deep_well_96_2ml,0.4649391174316406,0.10002994537353516,-90.10800180179169,0.23675684390213095,1173.3486170379692,rect,0.1365171773955779,-0.29905073649443425,3.029672483886692,7570.684218190375,5442.731111942117,disk,1.1684526506784767,0.8275472934279409,2.548274062664444,6776.458322266292,6013.3851441160405,0.04677877202630043,0.00047007232205942273,-0.03228647634387016,-0.27555593848228455,0.6556341648101807,0.6461548805236816,-0.27694156765937805,0.04136262834072113,0.5817871689796448,1.9464714527130127,0.05228116363286972,-0.00654200604185462,0.2788328230381012,0.9588931798934937,1273,1,,2.0901570320129395,0.28138618431998497,0.0,0.007501211017370224,0.5498821681068342,12,release,0.043030738830566406,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False