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Datasets:
Arashi2001
/
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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1 Parent(s): f5fcba9

add 8 episodes (c5_p010_e021 .. c8_p012_e010); total 3442 {'v1': 1088, 'v2': 2354}

Browse files
Files changed (49) hide show
  1. episodes/c5_p010_e021/data.npz +3 -0
  2. episodes/c5_p010_e021/device_events.jsonl +35 -0
  3. episodes/c5_p010_e021/env.mp4 +3 -0
  4. episodes/c5_p010_e021/meta.json +32 -0
  5. episodes/c5_p010_e021/scene_snapshot.json +1558 -0
  6. episodes/c5_p010_e021/wrist.mp4 +3 -0
  7. episodes/c5_p010_e022/data.npz +3 -0
  8. episodes/c5_p010_e022/device_events.jsonl +36 -0
  9. episodes/c5_p010_e022/env.mp4 +3 -0
  10. episodes/c5_p010_e022/meta.json +32 -0
  11. episodes/c5_p010_e022/scene_snapshot.json +1558 -0
  12. episodes/c5_p010_e022/wrist.mp4 +3 -0
  13. episodes/c5_p010_e023/data.npz +3 -0
  14. episodes/c5_p010_e023/device_events.jsonl +37 -0
  15. episodes/c5_p010_e023/env.mp4 +3 -0
  16. episodes/c5_p010_e023/meta.json +32 -0
  17. episodes/c5_p010_e023/scene_snapshot.json +1558 -0
  18. episodes/c5_p010_e023/wrist.mp4 +3 -0
  19. episodes/c7_p011_e036/data.npz +3 -0
  20. episodes/c7_p011_e036/device_events.jsonl +37 -0
  21. episodes/c7_p011_e036/env.mp4 +3 -0
  22. episodes/c7_p011_e036/meta.json +32 -0
  23. episodes/c7_p011_e036/scene_snapshot.json +1558 -0
  24. episodes/c7_p011_e036/wrist.mp4 +3 -0
  25. episodes/c7_p011_e037/data.npz +3 -0
  26. episodes/c7_p011_e037/device_events.jsonl +35 -0
  27. episodes/c7_p011_e037/env.mp4 +3 -0
  28. episodes/c7_p011_e037/meta.json +32 -0
  29. episodes/c7_p011_e037/scene_snapshot.json +1558 -0
  30. episodes/c7_p011_e037/wrist.mp4 +3 -0
  31. episodes/c7_p011_e038/data.npz +3 -0
  32. episodes/c7_p011_e038/device_events.jsonl +36 -0
  33. episodes/c7_p011_e038/env.mp4 +3 -0
  34. episodes/c7_p011_e038/meta.json +32 -0
  35. episodes/c7_p011_e038/scene_snapshot.json +1558 -0
  36. episodes/c7_p011_e038/wrist.mp4 +3 -0
  37. episodes/c8_p012_e008/data.npz +3 -0
  38. episodes/c8_p012_e008/device_events.jsonl +35 -0
  39. episodes/c8_p012_e008/env.mp4 +3 -0
  40. episodes/c8_p012_e008/meta.json +32 -0
  41. episodes/c8_p012_e008/scene_snapshot.json +1558 -0
  42. episodes/c8_p012_e008/wrist.mp4 +3 -0
  43. episodes/c8_p012_e010/data.npz +3 -0
  44. episodes/c8_p012_e010/device_events.jsonl +36 -0
  45. episodes/c8_p012_e010/env.mp4 +3 -0
  46. episodes/c8_p012_e010/meta.json +32 -0
  47. episodes/c8_p012_e010/scene_snapshot.json +1558 -0
  48. episodes/c8_p012_e010/wrist.mp4 +3 -0
  49. index/episodes.csv +8 -0
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index/episodes.csv CHANGED
@@ -3433,3 +3433,11 @@ c9_p016_e016,3,True,0.03546905517578125,0.4472188949584961,0.001232680615322211,
3433
  c9_p016_e017,2,True,0.11748886108398438,0.45000171661376953,0.006651312561057075,0.0071893918425466755,-2.1831472940284584,deep_well_24_10ml,0.4793062210083008,0.06306743621826172,-86.66536905306221,0.18634509752710973,537.923215545736,rect,-0.3544186820325395,0.3838963164364769,2.907966192047201,12565.742726498165,5244.070599318396,sphere,0.11564715752486099,-0.6628734022891982,2.6769410194553727,2196.289245084975,5633.4797980144685,0.05120211839675903,0.0019240719266235828,-0.03182833641767502,-0.2951522171497345,0.6450044512748718,0.645903468132019,-0.28224658966064453,0.028571993112564087,0.5910118222236633,1.9629963636398315,0.05266955867409706,0.008606590330600739,0.2835160791873932,0.957481324672699,1211,1,,2.064253568649292,0.26850795212420964,0.0,0.007514378055930138,0.5210569777043765,12,release,0.042075395584106445,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3434
  c9_p016_e018,1,True,0.096466064453125,0.4499959945678711,-0.009722187313179026,0.006435696410706326,3.7574793973532508,deep_well_96_1ml,0.46932029724121094,0.11342144012451172,-92.7353368630375,0.16659357749148396,537.923215545736,rect,0.4860074971850613,0.4898383525464176,2.71779391402871,5783.76568039955,3846.2771334159015,sphere,-1.4112712557005058,-0.5576069203480671,1.812629728742252,6233.741764693682,3796.994124140397,0.04870740324258804,0.0025493521243333817,-0.029078347608447075,-0.2783880829811096,0.6498252749443054,0.6478912234306335,-0.28366199135780334,0.04437939450144768,0.5671079754829407,1.9456548690795898,0.03967011719942093,0.005997221916913986,0.2629878520965576,0.963964581489563,1215,1,,2.1037018299102783,0.3341605254388459,0.0,0.007470937445759773,0.5193415637860083,12,release,0.04230976104736328,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3435
  c9_p016_e019,0,True,0.05387592315673828,0.4499988555908203,-0.004781616380625188,-0.00838285807104734,-8.101543352851763,pcr_96_blue,0.47104358673095703,0.06777477264404297,-89.11705891501327,0.21750538449384088,537.923215545736,rect,0.5211826388457498,0.12245126428618258,3.1276320419807377,13193.989441693384,3437.002710786145,disk,1.6721512211765104,-0.31594485050152077,2.008734048725951,2676.585618286642,2866.4522243421284,0.05123181641101837,0.002919335849583149,-0.031783170998096466,-0.2886110544204712,0.6456930637359619,0.6513911485671997,-0.2747248411178589,0.035379789769649506,0.6017014384269714,1.9747875928878784,0.043857116252183914,0.01143558043986559,0.27866777777671814,0.9593175053596497,1217,1,,2.0899341106414795,0.3085844764464236,0.0,0.0068725948221981525,0.5283483976992605,12,release,0.04250478744506836,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
 
 
 
 
 
 
 
 
 
3433
  c9_p016_e017,2,True,0.11748886108398438,0.45000171661376953,0.006651312561057075,0.0071893918425466755,-2.1831472940284584,deep_well_24_10ml,0.4793062210083008,0.06306743621826172,-86.66536905306221,0.18634509752710973,537.923215545736,rect,-0.3544186820325395,0.3838963164364769,2.907966192047201,12565.742726498165,5244.070599318396,sphere,0.11564715752486099,-0.6628734022891982,2.6769410194553727,2196.289245084975,5633.4797980144685,0.05120211839675903,0.0019240719266235828,-0.03182833641767502,-0.2951522171497345,0.6450044512748718,0.645903468132019,-0.28224658966064453,0.028571993112564087,0.5910118222236633,1.9629963636398315,0.05266955867409706,0.008606590330600739,0.2835160791873932,0.957481324672699,1211,1,,2.064253568649292,0.26850795212420964,0.0,0.007514378055930138,0.5210569777043765,12,release,0.042075395584106445,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3434
  c9_p016_e018,1,True,0.096466064453125,0.4499959945678711,-0.009722187313179026,0.006435696410706326,3.7574793973532508,deep_well_96_1ml,0.46932029724121094,0.11342144012451172,-92.7353368630375,0.16659357749148396,537.923215545736,rect,0.4860074971850613,0.4898383525464176,2.71779391402871,5783.76568039955,3846.2771334159015,sphere,-1.4112712557005058,-0.5576069203480671,1.812629728742252,6233.741764693682,3796.994124140397,0.04870740324258804,0.0025493521243333817,-0.029078347608447075,-0.2783880829811096,0.6498252749443054,0.6478912234306335,-0.28366199135780334,0.04437939450144768,0.5671079754829407,1.9456548690795898,0.03967011719942093,0.005997221916913986,0.2629878520965576,0.963964581489563,1215,1,,2.1037018299102783,0.3341605254388459,0.0,0.007470937445759773,0.5193415637860083,12,release,0.04230976104736328,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3435
  c9_p016_e019,0,True,0.05387592315673828,0.4499988555908203,-0.004781616380625188,-0.00838285807104734,-8.101543352851763,pcr_96_blue,0.47104358673095703,0.06777477264404297,-89.11705891501327,0.21750538449384088,537.923215545736,rect,0.5211826388457498,0.12245126428618258,3.1276320419807377,13193.989441693384,3437.002710786145,disk,1.6721512211765104,-0.31594485050152077,2.008734048725951,2676.585618286642,2866.4522243421284,0.05123181641101837,0.002919335849583149,-0.031783170998096466,-0.2886110544204712,0.6456930637359619,0.6513911485671997,-0.2747248411178589,0.035379789769649506,0.6017014384269714,1.9747875928878784,0.043857116252183914,0.01143558043986559,0.27866777777671814,0.9593175053596497,1217,1,,2.0899341106414795,0.3085844764464236,0.0,0.0068725948221981525,0.5283483976992605,12,release,0.04250478744506836,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3436
+ c5_p010_e021,0,True,-0.1260986328125,0.4474678039550781,-0.010991574642809044,-0.005345263732249566,-8.516677272320152,pcr_96_blue,0.5075807571411133,0.07066726684570312,-87.07827879819806,0.2563058135092764,1063.867105713729,rect,-0.5031186343968023,0.3187681931619383,2.9713729731267655,7489.295140846446,6248.197733460236,disk,0.14857612416939614,0.9042085426193773,1.8088668945271094,5099.646308987503,7281.742246385967,0.052211593836545944,1.7516955267637968e-05,-0.03235297277569771,-0.29218193888664246,0.6474302411079407,0.6440437436103821,-0.28402718901634216,0.057315677404403687,0.5904144048690796,1.9565626382827759,0.051906902343034744,-0.002326907590031624,0.28047463297843933,0.9584540724754333,1314,1,,2.0499427318573,0.3133201514864955,0.0,0.006828022189438343,0.5273972602739726,12,release,0.04221236705780029,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3437
+ c5_p010_e022,3,True,-0.12636089324951172,0.44767189025878906,0.0009728061424085785,0.011956811543076517,2.73673746279448,plate_96_clear,0.5245914459228516,0.1290273666381836,-93.62455683547671,0.22550194037823987,1063.867105713729,rect,0.4828049655794592,-0.24333343637524435,2.63575158929026,5992.865515766948,4471.8387920529385,sphere,1.6349572760613427,-1.1829535691032882,2.7647679707885295,8122.605346105447,5354.232089758139,0.05266626924276352,0.0011100620031356812,-0.03027266636490822,-0.27755871415138245,0.6475011706352234,0.6503044962882996,-0.28426650166511536,0.039333608001470566,0.5938448309898376,1.9464235305786133,0.05291968211531639,0.010284935124218464,0.2773570120334625,0.9592532515525818,1278,1,,2.0418810844421387,0.2778728582785541,0.0,0.00725867785513401,0.4953051643192488,12,release,0.042351722717285156,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3438
+ c5_p010_e023,2,True,0.11185741424560547,0.4499998092651367,-0.008078569244657482,0.00027959679914286875,3.1932698322562487,plate_24_clear,0.4884967803955078,0.07336044311523438,-92.15793116524267,0.25389429904841687,1063.867105713729,rect,0.6867687165431705,0.5768778440099485,2.95381660680267,13743.833520031381,5712.985368162343,sphere,-1.0036748364098287,-1.1662630809826553,2.391022343975572,7336.697748719261,4524.368810475798,0.04765518382191658,0.002163007389754057,-0.027187742292881012,-0.28250017762184143,0.6489716172218323,0.647477924823761,-0.282492071390152,0.0552629716694355,0.5575522184371948,1.960060477256775,0.055432673543691635,0.012864748947322369,0.2606160342693329,0.963763952255249,1208,1,,2.076097249984741,0.26032231494181346,0.0,0.007289758883416653,0.5314569536423841,12,release,0.04237699508666992,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3439
+ c7_p011_e036,0,True,0.004921913146972656,0.4474210739135742,0.006696009558448626,-0.007867265365214118,-2.3027149620930345,plate_6_clear,0.4943122863769531,0.12484455108642578,-92.88386472532007,0.2008908461236212,1041.1024173185413,rect,0.29489513256766053,-0.16471920542807356,2.789959003498048,11231.376443644249,7073.0549925607065,disk,-1.539536192294138,0.08088847427565704,1.9416759713297063,8109.28589708021,2925.199681017297,0.05071643739938736,0.0027104627806693316,-0.02848789654672146,-0.28905171155929565,0.6499893069267273,0.6447815299034119,-0.2796780467033386,0.06880711764097214,0.5698450803756714,1.968146562576294,0.0613795630633831,0.02109832875430584,0.26675665378570557,0.9615759253501892,1220,1,,2.0874664783477783,0.2659308851559712,0.0,0.00737892696633935,0.5295081967213114,12,release,0.04230082035064697,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3440
+ c7_p011_e037,3,True,0.07977676391601562,0.45000267028808594,0.014297025468476108,-0.004226922091689904,3.265930702469632,plate_48_clear,0.5255861282348633,0.11473560333251953,-86.36290489679435,0.2592290213836555,1041.1024173185413,rect,-0.1948782008969548,0.40688862703150075,2.921698413442284,14965.505800445617,5807.744369046701,sphere,1.1589415575642201,0.3769407888105656,2.1538734869873317,7220.251790228869,6927.365618753802,0.04889635741710663,0.001731318305246532,-0.028707800433039665,-0.28807497024536133,0.6361064314842224,0.6551390290260315,-0.2883995771408081,0.055019181221723557,0.5959707498550415,1.9531370401382446,0.027225514873862267,0.00871727429330349,0.2559414505958557,0.9662694931030273,1157,1,,2.079552173614502,0.3180696468413995,0.0,0.007335919886827469,0.550561797752809,12,release,0.04205799102783203,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3441
+ c7_p011_e038,2,True,0.05245780944824219,0.45000171661376953,0.011385760678246124,0.0010288460036995443,3.192974297229455,plate_384_black,0.5084505081176758,0.052756309509277344,-93.12400749015953,0.19594124334429486,1041.1024173185413,rect,-0.4323707147749478,0.3196423484537365,2.7262095157764668,15077.911836207806,5513.802429756221,sphere,-1.043928959570227,-0.40479970865434856,2.305517190605167,4188.639062391498,4628.921160570253,0.04884553328156471,0.0014561059651896358,-0.02666548080742359,-0.27673763036727905,0.6520602107048035,0.6441987752914429,-0.2885163128376007,0.06496858596801758,0.5862407088279724,1.9582750797271729,0.035544171929359436,0.0309956856071949,0.2616579234600067,0.9640077948570251,1221,1,,2.167764663696289,0.2977687666813882,0.0,0.0074091507121920586,0.5307125307125307,12,release,0.04224061965942383,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3442
+ c8_p012_e008,2,True,-0.13812637329101562,0.4499979019165039,0.011949892361677523,0.006075164417879384,7.032621047426858,plate_1536_black,0.4725770950317383,0.07769966125488281,-85.62539226203064,0.2844977340520112,638.8805902026678,rect,0.6580684285118917,0.21848494560825338,3.119822765667543,15380.44635599025,6331.6587578924555,disk,-1.4946970906303625,0.05441985027002283,2.492714822341398,2982.744102388963,7392.736687089939,0.04946253448724747,-0.0010848891688510776,-0.027997823432087898,-0.2552170753479004,0.6613669395446777,0.6445795893669128,-0.2863129675388336,0.028726302087306976,0.5858212113380432,1.973596453666687,0.048694852739572525,0.022183703258633614,0.2644404172897339,0.962916374206543,1192,1,,2.1122970581054688,0.345074179896647,0.0,0.007343538571149111,0.5327181208053692,12,release,0.04237440228462219,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3443
+ c8_p012_e010,3,True,-0.0899038314819336,0.45000267028808594,-0.011331610673106226,-0.0007478400830747828,-0.07794511748997479,reservoir_12ch,0.4705057144165039,0.12225914001464844,-93.49630103581289,0.24899012540107512,638.8805902026678,rect,0.24518283530631613,0.3983976462043627,2.7206228461075654,4176.5657348393,6977.858322647089,disk,1.3506936644991239,-1.1050712060192518,2.0929537424964235,3514.1947652932404,5834.090067531717,0.05349278822541237,-0.003619832918047905,-0.027769332751631737,-0.27006515860557556,0.6641525030136108,0.6365861296653748,-0.2841204106807709,0.025915030390024185,0.5560986995697021,1.9299187660217285,0.03861178830265999,0.01103139203041792,0.2680104970932007,0.9625787138938904,1181,1,,2.13373064994812,0.32221577137177965,0.0,0.0073988959193229675,0.5376799322607959,12,release,0.04218190908432007,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False