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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
Arashi2001 commited on
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add 5 episodes (c4_p016_e029 .. c8_p017_e023); total 4663 {'v1': 1088, 'v2': 3575}

Browse files
Files changed (31) hide show
  1. episodes/c4_p016_e029/data.npz +3 -0
  2. episodes/c4_p016_e029/device_events.jsonl +35 -0
  3. episodes/c4_p016_e029/env.mp4 +3 -0
  4. episodes/c4_p016_e029/meta.json +32 -0
  5. episodes/c4_p016_e029/scene_snapshot.json +1558 -0
  6. episodes/c4_p016_e029/wrist.mp4 +3 -0
  7. episodes/c4_p016_e030/data.npz +3 -0
  8. episodes/c4_p016_e030/device_events.jsonl +35 -0
  9. episodes/c4_p016_e030/env.mp4 +3 -0
  10. episodes/c4_p016_e030/meta.json +32 -0
  11. episodes/c4_p016_e030/scene_snapshot.json +1558 -0
  12. episodes/c4_p016_e030/wrist.mp4 +3 -0
  13. episodes/c4_p016_e031/data.npz +3 -0
  14. episodes/c4_p016_e031/device_events.jsonl +35 -0
  15. episodes/c4_p016_e031/env.mp4 +3 -0
  16. episodes/c4_p016_e031/meta.json +32 -0
  17. episodes/c4_p016_e031/scene_snapshot.json +1558 -0
  18. episodes/c4_p016_e031/wrist.mp4 +3 -0
  19. episodes/c8_p017_e022/data.npz +3 -0
  20. episodes/c8_p017_e022/device_events.jsonl +36 -0
  21. episodes/c8_p017_e022/env.mp4 +3 -0
  22. episodes/c8_p017_e022/meta.json +32 -0
  23. episodes/c8_p017_e022/scene_snapshot.json +1558 -0
  24. episodes/c8_p017_e022/wrist.mp4 +3 -0
  25. episodes/c8_p017_e023/data.npz +3 -0
  26. episodes/c8_p017_e023/device_events.jsonl +36 -0
  27. episodes/c8_p017_e023/env.mp4 +3 -0
  28. episodes/c8_p017_e023/meta.json +32 -0
  29. episodes/c8_p017_e023/scene_snapshot.json +1558 -0
  30. episodes/c8_p017_e023/wrist.mp4 +3 -0
  31. index/episodes.csv +5 -0
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index/episodes.csv CHANGED
@@ -4657,3 +4657,8 @@ c2_p019_e019,1,True,-0.022072792053222656,0.4500007629394531,-0.0118836949263890
4657
  c4_p016_e028,2,True,0.02499675750732422,0.45000362396240234,0.006279351361320765,0.006829807964540364,10.564981425114865,plate_24_clear,0.515411376953125,0.0921182632446289,-86.90927809631044,0.1834003858587629,402.38506868478254,rect,0.7827436164446505,-0.17783601918669528,2.8039872337487948,10728.024583059374,6426.4608641460145,disk,-0.46340888870365915,0.7091301994314907,2.090885681022379,10809.903558920189,6144.467009245975,0.0523635596036911,-0.0026686324272304773,-0.02965846098959446,-0.2626917362213135,0.6642325520515442,0.6421606540679932,-0.2782406210899353,0.05952316150069237,0.5821677446365356,1.9433883428573608,0.05690828710794449,0.016986845061182976,0.28774717450141907,0.9558631777763367,1227,1,,2.0630440711975098,0.2690298904087676,0.0,0.007337738759815693,0.5281173594132029,12,release,0.04227091372013092,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4658
  c6_p016_e007,0,True,-0.0008096694946289062,0.45000362396240234,0.013439718744977005,-0.005628249531154537,1.7929862131694563,plate_6_clear,0.5198965072631836,0.10860538482666016,-86.17251372599831,0.29541918062084094,1249.721867634533,rect,-0.06121290856908801,0.1648558630244379,2.6264916969543695,7276.778276473851,7130.7760153647205,disk,1.7661676707957072,1.2753515564151627,2.269821340472128,2527.036923886122,5405.623863315804,0.04951642453670502,0.003020409494638443,-0.027544045820832253,-0.28504225611686707,0.6490817666053772,0.6465354561805725,-0.2818433940410614,0.02743181586265564,0.5583795309066772,1.9267550706863403,0.021126091480255127,0.0018376235384494066,0.2592429220676422,0.9655793309211731,1269,1,,2.0789215564727783,0.31796322764708396,0.0,0.007341161370277405,0.5571315996847912,12,release,0.04234182834625244,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4659
  c8_p017_e021,2,True,0.05186939239501953,0.4474449157714844,-0.006712167192509337,0.0021120463934960246,3.784991017352098,plate_24_clear,0.4881591796875,0.12302112579345703,-86.54485987223711,0.2783535546787099,1477.6587393451427,rect,-0.25230318945698865,-0.0734133889472518,2.709478077426758,11095.943664547796,4303.118469247365,sphere,-0.3785652007676239,0.8117554145004344,2.5980269231129425,2069.9412716005854,4831.424805891347,0.05132367089390755,-0.0019794560503214598,-0.03380121290683746,-0.2801192104816437,0.6409626603126526,0.6573026776313782,-0.28045201301574707,0.07428143173456192,0.5836138129234314,1.9354139566421509,0.058890145272016525,0.021199284121394157,0.287343293428421,0.9557805061340332,1209,1,,2.1245791912078857,0.3233210038019209,0.0,0.007335346192121506,0.5310173697270472,12,release,0.042165398597717285,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
 
 
 
 
 
 
4657
  c4_p016_e028,2,True,0.02499675750732422,0.45000362396240234,0.006279351361320765,0.006829807964540364,10.564981425114865,plate_24_clear,0.515411376953125,0.0921182632446289,-86.90927809631044,0.1834003858587629,402.38506868478254,rect,0.7827436164446505,-0.17783601918669528,2.8039872337487948,10728.024583059374,6426.4608641460145,disk,-0.46340888870365915,0.7091301994314907,2.090885681022379,10809.903558920189,6144.467009245975,0.0523635596036911,-0.0026686324272304773,-0.02965846098959446,-0.2626917362213135,0.6642325520515442,0.6421606540679932,-0.2782406210899353,0.05952316150069237,0.5821677446365356,1.9433883428573608,0.05690828710794449,0.016986845061182976,0.28774717450141907,0.9558631777763367,1227,1,,2.0630440711975098,0.2690298904087676,0.0,0.007337738759815693,0.5281173594132029,12,release,0.04227091372013092,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4658
  c6_p016_e007,0,True,-0.0008096694946289062,0.45000362396240234,0.013439718744977005,-0.005628249531154537,1.7929862131694563,plate_6_clear,0.5198965072631836,0.10860538482666016,-86.17251372599831,0.29541918062084094,1249.721867634533,rect,-0.06121290856908801,0.1648558630244379,2.6264916969543695,7276.778276473851,7130.7760153647205,disk,1.7661676707957072,1.2753515564151627,2.269821340472128,2527.036923886122,5405.623863315804,0.04951642453670502,0.003020409494638443,-0.027544045820832253,-0.28504225611686707,0.6490817666053772,0.6465354561805725,-0.2818433940410614,0.02743181586265564,0.5583795309066772,1.9267550706863403,0.021126091480255127,0.0018376235384494066,0.2592429220676422,0.9655793309211731,1269,1,,2.0789215564727783,0.31796322764708396,0.0,0.007341161370277405,0.5571315996847912,12,release,0.04234182834625244,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4659
  c8_p017_e021,2,True,0.05186939239501953,0.4474449157714844,-0.006712167192509337,0.0021120463934960246,3.784991017352098,plate_24_clear,0.4881591796875,0.12302112579345703,-86.54485987223711,0.2783535546787099,1477.6587393451427,rect,-0.25230318945698865,-0.0734133889472518,2.709478077426758,11095.943664547796,4303.118469247365,sphere,-0.3785652007676239,0.8117554145004344,2.5980269231129425,2069.9412716005854,4831.424805891347,0.05132367089390755,-0.0019794560503214598,-0.03380121290683746,-0.2801192104816437,0.6409626603126526,0.6573026776313782,-0.28045201301574707,0.07428143173456192,0.5836138129234314,1.9354139566421509,0.058890145272016525,0.021199284121394157,0.287343293428421,0.9557805061340332,1209,1,,2.1245791912078857,0.3233210038019209,0.0,0.007335346192121506,0.5310173697270472,12,release,0.042165398597717285,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4660
+ c4_p016_e029,1,True,-0.1458606719970703,0.447265625,-0.009121503144781473,-0.011968792951046974,-5.628877337927264,plate_12_clear,0.4776611328125,0.0931386947631836,-85.46218884951735,0.17313437168253804,1244.9965092950458,rect,0.4994604615036381,-0.05080644152569036,2.769576052969359,4206.860551078615,5311.635722674355,sphere,-1.4253010148711587,1.0929695544121423,1.6309609800917126,9387.84198852293,5639.767695485272,0.052513472735881805,0.0018350736936554313,-0.03221080079674721,-0.2832876741886139,0.6529641151428223,0.6469516754150391,-0.2735680043697357,0.02603265643119812,0.5625102519989014,1.9510576725006104,0.03533736243844032,-0.002279701642692089,0.27720382809638977,0.9601583480834961,1211,1,,2.107304096221924,0.28192459785725565,0.0,0.007352340500801802,0.5227085053674649,12,release,0.04239761829376221,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4661
+ c4_p016_e030,0,True,0.11897659301757812,0.45000457763671875,0.005045599359185503,-0.007621958078683684,4.67845515162557,plate_96_black,0.4817361831665039,0.11155509948730469,-85.32433135693418,0.16322229307893077,1244.9965092950458,rect,0.18744321038847522,0.4213811439872208,2.8148262705307507,4396.048262018804,7145.787702476828,sphere,-1.1938801549295859,0.4650386853204298,2.4700896503078105,7588.655901615741,7149.588680769346,0.04957094416022301,0.001643480733036995,-0.030886685475707054,-0.274562269449234,0.657026469707489,0.6409246921539307,-0.2866135239601135,0.06226925179362297,0.5681966543197632,1.967147707939148,0.059438981115818024,0.021192239597439766,0.282633900642395,0.9571499228477478,1216,1,,2.0586113929748535,0.25227047577016,0.0,0.007256421260535717,0.5296052631578947,12,release,0.04216361045837402,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4662
+ c4_p016_e031,3,True,-0.025333404541015625,0.4500007629394531,-0.00260450318898574,0.0002582579183023315,-1.3914886542976035,reservoir_12ch,0.47423839569091797,0.06496906280517578,-87.8337007184409,0.2145177248583695,1244.9965092950458,rect,-0.45890543393792416,0.10824748586435518,2.9332847945674434,10983.760403179745,6412.799137045933,sphere,-1.205792934866614,-0.45543404589682457,1.7966243214907656,2978.852604631602,4359.445509983101,0.04755520820617676,1.5725796401966363e-05,-0.02820836566388607,-0.27381572127342224,0.6571113467216492,0.6489341259002686,-0.2685408294200897,0.07015500217676163,0.5838311314582825,1.9713211059570312,0.04041829705238342,0.00925806351006031,0.2701537311077118,0.9619238972663879,1267,1,,2.0674965381622314,0.24069109935015762,0.0,0.007384690921753645,0.5540647198105761,12,release,0.04232382774353027,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4663
+ c8_p017_e022,3,True,-0.0034360885620117188,0.4473438262939453,0.011581779159794919,-0.009739237798027583,2.3127034381545,plate_96_clear,0.4771852493286133,0.10801124572753906,-91.2521859777786,0.24990818344868332,1477.6587393451427,rect,-0.3226683632809802,-0.277650144926166,3.0637585644796492,11070.063715821088,4553.535947635981,sphere,-1.1078593821079785,1.1773975565962067,2.3668087775045867,3480.819988558843,5992.505696662671,0.0499667152762413,-0.0007963235839270055,-0.028781509026885033,-0.27884572744369507,0.6562721729278564,0.642734944820404,-0.2800780236721039,0.06717010587453842,0.598181426525116,1.935976505279541,0.03482809662818909,0.0023116308730095625,0.27178531885147095,0.9617246985435486,1352,1,,2.093528985977173,0.3148795790697008,0.0,0.007257670629769564,0.522189349112426,12,release,0.04296863079071045,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4664
+ c8_p017_e023,0,True,-0.07446575164794922,0.4471092224121094,-0.010239744095720257,-0.006063761957115364,-0.26625781004935334,pcr_96_blue,0.5213470458984375,0.08469390869140625,-93.88218841504512,0.16932254861750326,785.5038025535082,rect,-0.07637590388535842,-0.23010053047205492,2.6988471444557365,13140.327523896005,6745.4894400593885,disk,0.937345185971215,1.4376319464186722,2.5586579697221863,7417.075066787778,4666.099826578004,0.05166815221309662,0.0019883497152477503,-0.029623936861753464,-0.2876223027706146,0.6542912125587463,0.6454939246177673,-0.26928427815437317,0.047497618943452835,0.5943179130554199,1.9562829732894897,0.04477616026997566,0.004854298662394285,0.26400625705718994,0.9634688496589661,1211,1,,2.0887155532836914,0.3266910304317586,0.0,0.006886417046189308,0.5284888521882741,12,release,0.04216207563877106,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False