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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
xet
 Community
Arashi2001 commited on
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1 Parent(s): bad2edc

add 8 episodes (c5_p013_e011 .. c9_p019_e031); total 4231 {'v1': 1088, 'v2': 3143}

Browse files
Files changed (49) hide show
  1. episodes/c5_p013_e011/data.npz +3 -0
  2. episodes/c5_p013_e011/device_events.jsonl +35 -0
  3. episodes/c5_p013_e011/env.mp4 +3 -0
  4. episodes/c5_p013_e011/meta.json +32 -0
  5. episodes/c5_p013_e011/scene_snapshot.json +1558 -0
  6. episodes/c5_p013_e011/wrist.mp4 +3 -0
  7. episodes/c6_p014_e002/data.npz +3 -0
  8. episodes/c6_p014_e002/device_events.jsonl +35 -0
  9. episodes/c6_p014_e002/env.mp4 +3 -0
  10. episodes/c6_p014_e002/meta.json +32 -0
  11. episodes/c6_p014_e002/scene_snapshot.json +1558 -0
  12. episodes/c6_p014_e002/wrist.mp4 +3 -0
  13. episodes/c6_p014_e003/data.npz +3 -0
  14. episodes/c6_p014_e003/device_events.jsonl +37 -0
  15. episodes/c6_p014_e003/env.mp4 +3 -0
  16. episodes/c6_p014_e003/meta.json +32 -0
  17. episodes/c6_p014_e003/scene_snapshot.json +1558 -0
  18. episodes/c6_p014_e003/wrist.mp4 +3 -0
  19. episodes/c8_p015_e020/data.npz +3 -0
  20. episodes/c8_p015_e020/device_events.jsonl +35 -0
  21. episodes/c8_p015_e020/env.mp4 +3 -0
  22. episodes/c8_p015_e020/meta.json +32 -0
  23. episodes/c8_p015_e020/scene_snapshot.json +1558 -0
  24. episodes/c8_p015_e020/wrist.mp4 +3 -0
  25. episodes/c8_p015_e021/data.npz +3 -0
  26. episodes/c8_p015_e021/device_events.jsonl +37 -0
  27. episodes/c8_p015_e021/env.mp4 +3 -0
  28. episodes/c8_p015_e021/meta.json +32 -0
  29. episodes/c8_p015_e021/scene_snapshot.json +1558 -0
  30. episodes/c8_p015_e021/wrist.mp4 +3 -0
  31. episodes/c8_p015_e022/data.npz +3 -0
  32. episodes/c8_p015_e022/device_events.jsonl +38 -0
  33. episodes/c8_p015_e022/env.mp4 +3 -0
  34. episodes/c8_p015_e022/meta.json +32 -0
  35. episodes/c8_p015_e022/scene_snapshot.json +1558 -0
  36. episodes/c8_p015_e022/wrist.mp4 +3 -0
  37. episodes/c9_p019_e030/data.npz +3 -0
  38. episodes/c9_p019_e030/device_events.jsonl +36 -0
  39. episodes/c9_p019_e030/env.mp4 +3 -0
  40. episodes/c9_p019_e030/meta.json +32 -0
  41. episodes/c9_p019_e030/scene_snapshot.json +1558 -0
  42. episodes/c9_p019_e030/wrist.mp4 +3 -0
  43. episodes/c9_p019_e031/data.npz +3 -0
  44. episodes/c9_p019_e031/device_events.jsonl +35 -0
  45. episodes/c9_p019_e031/env.mp4 +3 -0
  46. episodes/c9_p019_e031/meta.json +32 -0
  47. episodes/c9_p019_e031/scene_snapshot.json +1558 -0
  48. episodes/c9_p019_e031/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:dab2f06d1818e136c9417d3c1f6912bf5a09cb5976ae4a4a3734ab6638049143
3
+ size 8034632
index/episodes.csv CHANGED
@@ -4222,3 +4222,11 @@ c6_p014_e000,1,True,-0.11116313934326172,0.4499988555908203,-0.00249093798920342
4222
  c6_p014_e001,3,True,-0.006667137145996094,0.4500007629394531,0.006896276063795977,0.0056759571917430985,-3.562726189187998,reservoir_12ch,0.4876832962036133,0.11441612243652344,-90.21287538132911,0.2605470112595413,1049.881203486043,rect,-0.22229006686476377,0.14589831083359928,3.162609814892051,6860.799806692192,5262.231211398723,disk,1.7873810587166634,0.9458709200484641,2.3783172924613796,10234.815871279612,6964.691597337129,0.04657558351755142,0.0008456212817691267,-0.02600097842514515,-0.2874377369880676,0.6434387564659119,0.6572557687759399,-0.26717203855514526,0.04153207689523697,0.6039298176765442,1.9667813777923584,0.05259532481431961,0.002101211342960596,0.263209730386734,0.9633015990257263,1264,1,,2.1097874641418457,0.27150074228744,0.0,0.007443186827003956,0.5569620253164557,12,release,0.04232907295227051,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4223
  c9_p019_e028,1,True,0.0867462158203125,0.4493875503540039,-0.005398156574815369,0.006368043286187281,-3.9186580050086093,deep_well_96_1ml,0.46865272521972656,0.1265573501586914,-88.40855080820758,0.29231676807869184,426.9812902898151,rect,0.010816856571651212,-0.25185234549479824,2.7427791622691204,6146.33198404553,3991.9606540611803,sphere,0.12759934669036066,-0.31203977125650284,1.8926212269667364,5545.042124803477,5124.562121068355,0.049808159470558167,0.00027686674729920924,-0.027837838977575302,-0.2774631083011627,0.6500939130783081,0.6512247323989868,-0.2762218713760376,0.06413727253675461,0.5553086400032043,1.9521645307540894,0.050346650183200836,-0.006838818546384573,0.27356067299842834,0.9605118632316589,1223,1,,2.120171070098877,0.30967975454239155,0.0,0.007430877536535263,0.517579721995094,12,release,0.04224538803100586,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4224
  c9_p019_e029,0,True,0.0124969482421875,0.45000267028808594,-0.007672403487431777,-0.008149956785623306,1.9226351271861404,deep_well_96_2ml,0.5144157409667969,0.09686946868896484,-89.41839473485591,0.2918908279587996,777.0201042075564,rect,0.8106366430459812,0.46532595402750365,2.7511596342613176,15616.699247903904,5680.638643669277,sphere,-0.10867847207865444,-0.29429254928107995,2.644940177143027,2456.1977408842545,6666.928259280014,0.04659280553460121,0.0032360751647502184,-0.0297805555164814,-0.2831522524356842,0.6497448086738586,0.6474255919456482,-0.2801724374294281,0.03661493584513664,0.5863467454910278,1.9301408529281616,0.03721524029970169,0.01772383227944374,0.27484068274497986,0.960605800151825,1228,1,,2.0834522247314453,0.31541978363208073,0.0,0.007506669498980045,0.5211726384364821,12,release,0.04347848892211914,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
 
 
 
 
 
 
 
 
 
4222
  c6_p014_e001,3,True,-0.006667137145996094,0.4500007629394531,0.006896276063795977,0.0056759571917430985,-3.562726189187998,reservoir_12ch,0.4876832962036133,0.11441612243652344,-90.21287538132911,0.2605470112595413,1049.881203486043,rect,-0.22229006686476377,0.14589831083359928,3.162609814892051,6860.799806692192,5262.231211398723,disk,1.7873810587166634,0.9458709200484641,2.3783172924613796,10234.815871279612,6964.691597337129,0.04657558351755142,0.0008456212817691267,-0.02600097842514515,-0.2874377369880676,0.6434387564659119,0.6572557687759399,-0.26717203855514526,0.04153207689523697,0.6039298176765442,1.9667813777923584,0.05259532481431961,0.002101211342960596,0.263209730386734,0.9633015990257263,1264,1,,2.1097874641418457,0.27150074228744,0.0,0.007443186827003956,0.5569620253164557,12,release,0.04232907295227051,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4223
  c9_p019_e028,1,True,0.0867462158203125,0.4493875503540039,-0.005398156574815369,0.006368043286187281,-3.9186580050086093,deep_well_96_1ml,0.46865272521972656,0.1265573501586914,-88.40855080820758,0.29231676807869184,426.9812902898151,rect,0.010816856571651212,-0.25185234549479824,2.7427791622691204,6146.33198404553,3991.9606540611803,sphere,0.12759934669036066,-0.31203977125650284,1.8926212269667364,5545.042124803477,5124.562121068355,0.049808159470558167,0.00027686674729920924,-0.027837838977575302,-0.2774631083011627,0.6500939130783081,0.6512247323989868,-0.2762218713760376,0.06413727253675461,0.5553086400032043,1.9521645307540894,0.050346650183200836,-0.006838818546384573,0.27356067299842834,0.9605118632316589,1223,1,,2.120171070098877,0.30967975454239155,0.0,0.007430877536535263,0.517579721995094,12,release,0.04224538803100586,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4224
  c9_p019_e029,0,True,0.0124969482421875,0.45000267028808594,-0.007672403487431777,-0.008149956785623306,1.9226351271861404,deep_well_96_2ml,0.5144157409667969,0.09686946868896484,-89.41839473485591,0.2918908279587996,777.0201042075564,rect,0.8106366430459812,0.46532595402750365,2.7511596342613176,15616.699247903904,5680.638643669277,sphere,-0.10867847207865444,-0.29429254928107995,2.644940177143027,2456.1977408842545,6666.928259280014,0.04659280553460121,0.0032360751647502184,-0.0297805555164814,-0.2831522524356842,0.6497448086738586,0.6474255919456482,-0.2801724374294281,0.03661493584513664,0.5863467454910278,1.9301408529281616,0.03721524029970169,0.01772383227944374,0.27484068274497986,0.960605800151825,1228,1,,2.0834522247314453,0.31541978363208073,0.0,0.007506669498980045,0.5211726384364821,12,release,0.04347848892211914,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4225
+ c5_p013_e011,3,True,0.10540294647216797,0.4499988555908203,-0.011514680192606593,0.0005251129417407611,8.742898422679218,reservoir_12ch,0.5078878402709961,0.12023067474365234,-88.80530587959586,0.18716615910114248,1061.8788303880817,rect,-0.2819979762076873,0.3733520186290974,2.895006562314674,11211.762904207908,6147.241448136754,sphere,1.3467661663115988,-1.0796809755810206,2.072088923715306,7136.052255282586,3291.8718271925673,0.050314947962760925,0.002100748009979725,-0.027685191482305527,-0.2979812026023865,0.6351011991500854,0.6600309014320374,-0.2687245011329651,0.06807010620832443,0.5871213674545288,1.929824709892273,0.05597394332289696,-0.0009979974711313844,0.2766317129135132,0.9593439698219299,1216,1,,2.1124706268310547,0.32642564906806515,0.0,0.00747300498187542,0.5254934210526315,12,release,0.04341697692871094,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4226
+ c6_p014_e002,0,True,0.025089263916015625,0.4474830627441406,0.010426562319238773,-0.011417702628952963,-6.233888861629964,plate_96_black,0.4634876251220703,0.05016803741455078,-85.64322380730157,0.1938699139415946,1049.881203486043,rect,-0.027807188129231886,0.4780935416811668,2.9202201905728375,6397.394475936368,5541.753478220743,sphere,1.0556907041583679,-0.9462888023580023,2.123023245473561,9166.13001288872,3341.135775508668,0.04796303063631058,-0.0015471556689590216,-0.0268552266061306,-0.26427796483039856,0.6614200472831726,0.6407479643821716,-0.28657066822052,0.0742926374077797,0.5569846034049988,1.9433420896530151,0.038164764642715454,-0.001926740980707109,0.2682052254676819,0.9626036286354065,1241,1,,2.121065139770508,0.25983221929694744,0.0,0.007304913364350796,0.5189363416599516,12,release,0.04219818115234375,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4227
+ c6_p014_e003,2,True,0.1288013458251953,0.4500007629394531,-0.011583113755316687,-0.006077221580469178,-11.348560833048708,plate_1536_black,0.5198965072631836,0.10860538482666016,-86.17251372599831,0.2589368604748372,1049.881203486043,rect,0.6982535079748083,0.5432162919990347,3.023371203973489,5311.100764550283,5586.586048144996,disk,0.8244777393474512,-0.7207930798729747,1.6973371639208705,6471.306599594341,5427.690382845119,0.048316873610019684,0.00470192264765501,-0.03199104592204094,-0.27330052852630615,0.6544256210327148,0.6447248458862305,-0.28524333238601685,0.03872883692383766,0.5571075081825256,1.9276763200759888,0.04634580761194229,0.004363419488072395,0.2804125249385834,0.9587501287460327,1271,1,,2.0655856132507324,0.313287712535194,0.0,0.0073761469684541225,0.5051140833988985,12,release,0.04257702827453613,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4228
+ c8_p015_e020,3,True,-0.13020610809326172,0.44722461700439453,-0.013109792485095983,0.009104377719438048,1.6397001955987207,plate_384_white,0.46161746978759766,0.08483600616455078,-93.4553000116265,0.15209786087563607,849.3040903553714,rect,-0.1224020042007643,-0.13724937889540895,2.678329549088479,12345.673704725972,4577.964034870933,disk,1.3689964392860468,-0.42259389242759204,2.4648455729754803,7740.756278462593,4523.860620097827,0.0509972870349884,2.608652903290931e-05,-0.030253347009420395,-0.27259528636932373,0.6510664224624634,0.6490028500556946,-0.2839006781578064,0.07066834717988968,0.5572279691696167,1.9425195455551147,0.058605726808309555,0.009911206550896168,0.2812681198120117,0.9577867388725281,1196,1,,2.088554859161377,0.24969124670078127,0.0,0.007378391921520233,0.5292642140468228,12,release,0.042366743087768555,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4229
+ c8_p015_e021,0,True,-0.04834461212158203,0.4499998092651367,-0.007673371961874954,-0.005113439002072177,10.806923528113884,plate_96_black,0.4705057144165039,0.12225914001464844,-93.49630103581289,0.20507333185636115,849.3040903553714,rect,0.6397381850157403,0.20607712267683942,2.897501037747473,15343.283989865164,6159.709119924744,disk,0.6855352204734166,-0.4664149714185526,1.9206808867735703,10357.7841389281,6600.997590441131,0.051081180572509766,-0.003927219193428755,-0.030867353081703186,-0.26951268315315247,0.6536070108413696,0.6531746983528137,-0.27115240693092346,0.035210128873586655,0.5621252655982971,1.954675555229187,0.05628325417637825,0.023698223754763603,0.2782634198665619,0.9585614800453186,1261,1,,2.0338785648345947,0.30477216415552394,0.0,0.007315350696444511,0.5567010309278351,12,release,0.0424656867980957,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4230
+ c8_p015_e022,2,True,-0.07384204864501953,0.44719982147216797,-0.0077257899632557645,-0.010278601143635794,1.183039701222782,plate_1536_black,0.5213470458984375,0.08469390869140625,-93.88218841504512,0.16932254861750326,849.3040903553714,rect,-0.07637590388535842,-0.23010053047205492,2.6988471444557365,13140.327523896005,6745.4894400593885,disk,0.937345185971215,1.4376319464186722,2.5586579697221863,7417.075066787778,4666.099826578004,0.04901254177093506,-0.0011051935143768787,-0.03232352435588837,-0.2822440266609192,0.6563488245010376,0.6389035582542419,-0.28521355986595154,0.0399736687541008,0.5763558149337769,1.963751196861267,0.05809858813881874,0.02385302074253559,0.28324466943740845,0.956989049911499,1216,1,,2.1522810459136963,0.3200058986581565,0.0,0.007379734888672829,0.5279605263157895,12,release,0.04226124286651611,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4231
+ c9_p019_e030,3,True,-0.1083831787109375,0.4499998092651367,0.005600858730113027,-0.005205230310826888,2.790778641515004,plate_384_white,0.4907093048095703,0.12754058837890625,-87.03385172275225,0.20412243575807726,777.0201042075564,rect,-0.08358301731529416,0.26593666182343123,3.007583198345716,7373.505176888576,5481.470249063963,disk,-1.0023873765833458,0.2710741222139448,2.1637583817908164,6487.738212983545,4432.7249295240235,0.04892989993095398,-0.002428840845823288,-0.027916841208934784,-0.2991965115070343,0.636166512966156,0.6559293866157532,-0.2748277187347412,0.03081532195210457,0.5816507339477539,1.9675244092941284,0.0545833483338356,0.020328769460320473,0.27225375175476074,0.9604609608650208,1194,1,,2.0755927562713623,0.26011426888986167,0.0,0.0074106017127633095,0.5326633165829145,12,release,0.04218626022338867,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4232
+ c9_p019_e031,2,True,-0.12439155578613281,0.44770240783691406,-0.014854205914285438,0.0072287344608165825,0.8413115462934115,plate_24_clear,0.526087760925293,0.08208084106445312,-87.08310295375541,0.1542087323452543,777.0201042075564,rect,0.8114238936173935,-0.4847970186999271,3.119373632868511,11895.625159777255,3498.8126869997577,sphere,0.558565787590398,1.5216866457716007,1.9950472312447327,3675.0766269822725,3141.849127463665,0.04741118103265762,-0.0032009941060096025,-0.03183474391698837,-0.268147349357605,0.6563308835029602,0.6437237858772278,-0.28800418972969055,0.07294227927923203,0.604015588760376,1.9483314752578735,0.031686242669820786,0.026054998859763145,0.2676965594291687,0.9626295566558838,1239,1,,2.1441516876220703,0.3190394983555703,0.0,0.007346514146775007,0.510088781275222,12,release,0.04311728477478027,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False