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Datasets:
Arashi2001
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MagicBioLab

Tasks:
Robotics
Tags:
simulation
isaac-sim
lab-automation
microplate
imitation-learning
License:
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 Community
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add 5 episodes (c8_p016_e004 .. c9_p020_e012); total 4336 {'v1': 1088, 'v2': 3248}

Browse files
Files changed (31) hide show
  1. episodes/c8_p016_e004/data.npz +3 -0
  2. episodes/c8_p016_e004/device_events.jsonl +36 -0
  3. episodes/c8_p016_e004/env.mp4 +3 -0
  4. episodes/c8_p016_e004/meta.json +32 -0
  5. episodes/c8_p016_e004/scene_snapshot.json +1558 -0
  6. episodes/c8_p016_e004/wrist.mp4 +3 -0
  7. episodes/c8_p016_e005/data.npz +3 -0
  8. episodes/c8_p016_e005/device_events.jsonl +36 -0
  9. episodes/c8_p016_e005/env.mp4 +3 -0
  10. episodes/c8_p016_e005/meta.json +32 -0
  11. episodes/c8_p016_e005/scene_snapshot.json +1558 -0
  12. episodes/c8_p016_e005/wrist.mp4 +3 -0
  13. episodes/c8_p016_e006/data.npz +3 -0
  14. episodes/c8_p016_e006/device_events.jsonl +35 -0
  15. episodes/c8_p016_e006/env.mp4 +3 -0
  16. episodes/c8_p016_e006/meta.json +32 -0
  17. episodes/c8_p016_e006/scene_snapshot.json +1558 -0
  18. episodes/c8_p016_e006/wrist.mp4 +3 -0
  19. episodes/c8_p016_e007/data.npz +3 -0
  20. episodes/c8_p016_e007/device_events.jsonl +36 -0
  21. episodes/c8_p016_e007/env.mp4 +3 -0
  22. episodes/c8_p016_e007/meta.json +32 -0
  23. episodes/c8_p016_e007/scene_snapshot.json +1558 -0
  24. episodes/c8_p016_e007/wrist.mp4 +3 -0
  25. episodes/c9_p020_e012/data.npz +3 -0
  26. episodes/c9_p020_e012/device_events.jsonl +35 -0
  27. episodes/c9_p020_e012/env.mp4 +3 -0
  28. episodes/c9_p020_e012/meta.json +32 -0
  29. episodes/c9_p020_e012/scene_snapshot.json +1558 -0
  30. episodes/c9_p020_e012/wrist.mp4 +3 -0
  31. index/episodes.csv +5 -0
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@@ -4330,3 +4330,8 @@ c9_p020_e009,0,True,0.06774139404296875,0.44730567932128906,0.007860842797259994
4330
  c9_p020_e011,2,True,0.043427467346191406,0.45000171661376953,0.011944876458592477,-0.001580393734847271,-2.78077264504509,plate_24_clear,0.4907093048095703,0.12754058837890625,-87.03385172275225,0.1978919052952422,1202.757910083697,rect,-0.3811550000947325,0.06432049911797189,2.854549975657394,12340.678628980528,3996.221899471383,disk,1.169084636560442,-0.4470299504023064,2.5724452898892136,10507.563367072818,3281.261836681907,0.05131420120596886,-0.0024814405478537083,-0.026105131953954697,-0.28448253870010376,0.6484065055847168,0.6426496505737305,-0.29264333844184875,0.05982520803809166,0.5934017300605774,1.9578654766082764,0.04567788168787956,0.026775579899549484,0.2754680812358856,0.9598510265350342,1210,1,,2.1185944080352783,0.33856208375261326,0.0,0.007334991358220577,0.5355371900826447,12,release,0.042467355728149414,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4331
  c2_p017_e022,3,True,0.009945869445800781,0.4499998092651367,0.00396679107286474,-0.008852752757443693,2.384543488347873,plate_96_clear,0.5008344650268555,0.05531501770019531,-90.924806798238,0.21022203857433214,1410.7935629124527,rect,0.8086946029731349,0.33591332500729165,3.030010766563866,7786.119351767295,4769.007922961559,sphere,1.7370328522325909,-0.13999520602124194,2.282101782364288,1729.10911155367,5623.3541073168835,0.04985411837697029,-0.00046916812425479293,-0.028234364464879036,-0.27142369747161865,0.6473570466041565,0.6506706476211548,-0.28963032364845276,0.07459301501512527,0.5642104148864746,1.9696165323257446,0.03738342598080635,0.007402786519378424,0.2782036066055298,0.9597657918930054,1226,1,,2.0920486450195312,0.31023366170749866,0.0,0.007285485975444317,0.5766721044045677,12,release,0.04221010208129883,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4332
  c2_p017_e023,0,True,-0.12625598907470703,0.45000362396240234,-0.006887274267537483,-0.002967256020659426,11.817890130606116,pcr_96_blue,0.4701118469238281,0.05037117004394531,-86.43240791037327,0.27974622538763794,1410.7935629124527,rect,0.3864015039739497,0.20885587192775001,3.1034615474911034,9774.347702243169,4770.351155185779,disk,1.131662939831957,1.305308182106004,2.551636287555778,4852.366546967793,5384.976183887515,0.04827704653143883,-0.0015073150862008333,-0.03014879673719406,-0.2776886224746704,0.6479295492172241,0.6528568267822266,-0.27722612023353577,0.05135691538453102,0.5942935347557068,1.958053469657898,0.05364818498492241,-0.004733427427709103,0.2770703434944153,0.9593390822410583,1230,1,,2.0641777515411377,0.2627670687185212,0.0,0.006827380508184433,0.5178861788617887,12,release,0.04222559928894043,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
 
 
 
 
 
 
4330
  c9_p020_e011,2,True,0.043427467346191406,0.45000171661376953,0.011944876458592477,-0.001580393734847271,-2.78077264504509,plate_24_clear,0.4907093048095703,0.12754058837890625,-87.03385172275225,0.1978919052952422,1202.757910083697,rect,-0.3811550000947325,0.06432049911797189,2.854549975657394,12340.678628980528,3996.221899471383,disk,1.169084636560442,-0.4470299504023064,2.5724452898892136,10507.563367072818,3281.261836681907,0.05131420120596886,-0.0024814405478537083,-0.026105131953954697,-0.28448253870010376,0.6484065055847168,0.6426496505737305,-0.29264333844184875,0.05982520803809166,0.5934017300605774,1.9578654766082764,0.04567788168787956,0.026775579899549484,0.2754680812358856,0.9598510265350342,1210,1,,2.1185944080352783,0.33856208375261326,0.0,0.007334991358220577,0.5355371900826447,12,release,0.042467355728149414,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4331
  c2_p017_e022,3,True,0.009945869445800781,0.4499998092651367,0.00396679107286474,-0.008852752757443693,2.384543488347873,plate_96_clear,0.5008344650268555,0.05531501770019531,-90.924806798238,0.21022203857433214,1410.7935629124527,rect,0.8086946029731349,0.33591332500729165,3.030010766563866,7786.119351767295,4769.007922961559,sphere,1.7370328522325909,-0.13999520602124194,2.282101782364288,1729.10911155367,5623.3541073168835,0.04985411837697029,-0.00046916812425479293,-0.028234364464879036,-0.27142369747161865,0.6473570466041565,0.6506706476211548,-0.28963032364845276,0.07459301501512527,0.5642104148864746,1.9696165323257446,0.03738342598080635,0.007402786519378424,0.2782036066055298,0.9597657918930054,1226,1,,2.0920486450195312,0.31023366170749866,0.0,0.007285485975444317,0.5766721044045677,12,release,0.04221010208129883,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4332
  c2_p017_e023,0,True,-0.12625598907470703,0.45000362396240234,-0.006887274267537483,-0.002967256020659426,11.817890130606116,pcr_96_blue,0.4701118469238281,0.05037117004394531,-86.43240791037327,0.27974622538763794,1410.7935629124527,rect,0.3864015039739497,0.20885587192775001,3.1034615474911034,9774.347702243169,4770.351155185779,disk,1.131662939831957,1.305308182106004,2.551636287555778,4852.366546967793,5384.976183887515,0.04827704653143883,-0.0015073150862008333,-0.03014879673719406,-0.2776886224746704,0.6479295492172241,0.6528568267822266,-0.27722612023353577,0.05135691538453102,0.5942935347557068,1.958053469657898,0.05364818498492241,-0.004733427427709103,0.2770703434944153,0.9593390822410583,1230,1,,2.0641777515411377,0.2627670687185212,0.0,0.006827380508184433,0.5178861788617887,12,release,0.04222559928894043,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4333
+ c8_p016_e004,2,True,-0.02740955352783203,0.45000171661376953,0.010373232800910962,0.010988124775364419,4.081178814995951,plate_384_black,0.46161746978759766,0.08483600616455078,-93.4553000116265,0.1942470223102479,491.9084846079861,rect,-0.023447822367974158,0.0511050468744344,2.607211242924387,14060.994248056084,5337.053232961574,disk,-1.0926829469228676,0.09572052454819624,2.6953433602220165,2202.008665952374,4696.89644309302,0.04748563468456268,0.00027095331461168826,-0.029561219736933708,-0.2891204059123993,0.6509343981742859,0.6452093124389648,-0.27640318870544434,0.030126305297017097,0.5995969772338867,1.974614143371582,0.048750750720500946,0.0076597887091338634,0.2642578184604645,0.9631887078285217,1243,1,,2.1193323135375977,0.3144840364770546,0.0,0.007378135807812214,0.5639581657280772,12,release,0.042683959007263184,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4334
+ c8_p016_e005,3,True,-0.12012386322021484,0.44740772247314453,-0.005407393373164659,-0.0009483760308455025,-0.7747297426932676,plate_384_white,0.4881591796875,0.12302112579345703,-86.54485987223711,0.2148612413971402,491.9084846079861,rect,-0.02573013906050836,0.5978331133242727,3.0418577281448287,13788.86845317314,4740.129549313901,sphere,1.7155795306180064,1.070077477701566,1.910992544240445,2791.416627282421,3047.5946994920855,0.04949203133583069,0.0007456122548319399,-0.028277495875954628,-0.2832499146461487,0.6438498497009277,0.6592341661453247,-0.26577651500701904,0.03910348564386368,0.5672928690910339,1.93814218044281,0.03328699991106987,-0.0023468465078622103,0.2618080973625183,0.9645428657531738,1197,1,,2.074333667755127,0.3252663852871736,0.0,0.007416507229208946,0.5279866332497911,12,release,0.04210782051086426,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4335
+ c8_p016_e006,1,True,0.14730167388916016,0.45000267028808594,-0.012962433351355265,-0.0037047026847394048,-1.2399706324226827,plate_96_white,0.5213470458984375,0.08469390869140625,-93.88218841504512,0.17058485081264765,491.9084846079861,rect,-0.5953044398621554,-0.10655991510581814,3.0103232713861594,8064.091979616251,5321.7090375599855,disk,0.42579673767577786,-0.33953924167351024,2.3694021619358754,2011.2119428471997,5600.399784063231,0.04798804223537445,0.0001978278305614367,-0.03101906180381775,-0.2902787923812866,0.6423893570899963,0.6549802422523499,-0.27216729521751404,0.045211609452962875,0.5649139285087585,1.949489951133728,0.031858716160058975,0.025359123945236206,0.26693785190582275,0.9628531336784363,1239,1,,2.0978455543518066,0.25394976882755615,0.0,0.007257040590047836,0.5157384987893463,12,release,0.042598724365234375,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4336
+ c8_p016_e007,0,True,-0.12016487121582031,0.4499988555908203,0.00020313455625775413,-0.00047874368925792255,11.600811958324215,pcr_96_blue,0.4758901596069336,0.08242988586425781,-91.07517813999307,0.27408688124727343,491.9084846079861,rect,0.3993215048070765,0.5891687759217623,3.0133584472213357,6643.695780804675,5569.653749295203,disk,1.6151545981747257,0.06375687194629354,2.6206452927294897,7017.441969860249,4442.741052765821,0.05289195850491524,-0.00045559555292129517,-0.032180655747652054,-0.2784276604652405,0.6431337594985962,0.6608596444129944,-0.2685546576976776,0.028694521635770798,0.5699654817581177,1.932338833808899,0.05452011525630951,0.019043631851673126,0.2747211158275604,0.9597880840301514,1238,1,,2.062992572784424,0.2951368198427137,0.0,0.006877759471535683,0.5137318255250404,12,release,0.0421907901763916,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4337
+ c9_p020_e012,0,True,0.14778709411621094,0.45000171661376953,-0.0032263505398304306,0.0008351470585127525,7.37315933273419,plate_96_black,0.46865272521972656,0.1265573501586914,-88.40855080820758,0.2789653675876429,1185.9425624107407,rect,0.3051125555842009,0.2367644561593053,2.8895170830391472,11192.222957815698,3489.4194677332616,sphere,0.5486629861593908,1.2764967802025324,1.6327231566594758,3791.0028438411778,5337.998615980579,0.046264976263046265,0.0035818235483020544,-0.029104938730597496,-0.2809983789920807,0.6478210687637329,0.6556544899940491,-0.2673666775226593,0.040381189435720444,0.5619525909423828,1.9328519105911255,0.03214106336236,0.028801126405596733,0.2622293531894684,0.9640400409698486,1154,1,,2.0919270515441895,0.3228179801596243,0.0,0.0072573269717395306,0.5589254766031195,12,release,0.043402671813964844,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False