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Datasets:
Arashi2001
/
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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8a42fcd
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verified ·
1 Parent(s): 0693afc

add 8 episodes (c2_p017_e024 .. c6_p014_e019); total 4350 {'v1': 1088, 'v2': 3262}

Browse files
Files changed (49) hide show
  1. episodes/c2_p017_e024/data.npz +3 -0
  2. episodes/c2_p017_e024/device_events.jsonl +38 -0
  3. episodes/c2_p017_e024/env.mp4 +3 -0
  4. episodes/c2_p017_e024/meta.json +32 -0
  5. episodes/c2_p017_e024/scene_snapshot.json +1558 -0
  6. episodes/c2_p017_e024/wrist.mp4 +3 -0
  7. episodes/c2_p017_e025/data.npz +3 -0
  8. episodes/c2_p017_e025/device_events.jsonl +35 -0
  9. episodes/c2_p017_e025/env.mp4 +3 -0
  10. episodes/c2_p017_e025/meta.json +32 -0
  11. episodes/c2_p017_e025/scene_snapshot.json +1558 -0
  12. episodes/c2_p017_e025/wrist.mp4 +3 -0
  13. episodes/c2_p017_e026/data.npz +3 -0
  14. episodes/c2_p017_e026/device_events.jsonl +36 -0
  15. episodes/c2_p017_e026/env.mp4 +3 -0
  16. episodes/c2_p017_e026/meta.json +32 -0
  17. episodes/c2_p017_e026/scene_snapshot.json +1558 -0
  18. episodes/c2_p017_e026/wrist.mp4 +3 -0
  19. episodes/c5_p014_e000/data.npz +3 -0
  20. episodes/c5_p014_e000/device_events.jsonl +35 -0
  21. episodes/c5_p014_e000/env.mp4 +3 -0
  22. episodes/c5_p014_e000/meta.json +32 -0
  23. episodes/c5_p014_e000/scene_snapshot.json +1558 -0
  24. episodes/c5_p014_e000/wrist.mp4 +3 -0
  25. episodes/c5_p014_e001/data.npz +3 -0
  26. episodes/c5_p014_e001/device_events.jsonl +37 -0
  27. episodes/c5_p014_e001/env.mp4 +3 -0
  28. episodes/c5_p014_e001/meta.json +32 -0
  29. episodes/c5_p014_e001/scene_snapshot.json +1558 -0
  30. episodes/c5_p014_e001/wrist.mp4 +3 -0
  31. episodes/c5_p014_e002/data.npz +3 -0
  32. episodes/c5_p014_e002/device_events.jsonl +39 -0
  33. episodes/c5_p014_e002/env.mp4 +3 -0
  34. episodes/c5_p014_e002/meta.json +32 -0
  35. episodes/c5_p014_e002/scene_snapshot.json +1558 -0
  36. episodes/c5_p014_e002/wrist.mp4 +3 -0
  37. episodes/c5_p014_e003/data.npz +3 -0
  38. episodes/c5_p014_e003/device_events.jsonl +35 -0
  39. episodes/c5_p014_e003/env.mp4 +3 -0
  40. episodes/c5_p014_e003/meta.json +32 -0
  41. episodes/c5_p014_e003/scene_snapshot.json +1558 -0
  42. episodes/c5_p014_e003/wrist.mp4 +3 -0
  43. episodes/c6_p014_e019/data.npz +3 -0
  44. episodes/c6_p014_e019/device_events.jsonl +35 -0
  45. episodes/c6_p014_e019/env.mp4 +3 -0
  46. episodes/c6_p014_e019/meta.json +32 -0
  47. episodes/c6_p014_e019/scene_snapshot.json +1558 -0
  48. episodes/c6_p014_e019/wrist.mp4 +3 -0
  49. index/episodes.csv +8 -0
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1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c6_p014_e019/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0fd09053da9e7c7cb2ddb306c21c4c2a82488b1ba24812c2c92fdbf1e168ffa4
3
+ size 7098817
index/episodes.csv CHANGED
@@ -4341,3 +4341,11 @@ c6_p014_e018,1,True,-0.04001808166503906,0.4499969482421875,-0.00270032638474396
4341
  c9_p020_e013,3,True,-0.1033620834350586,0.45002079010009766,-0.009091666114707292,0.0004712975566190381,-11.72746738669315,plate_384_white,0.4649391174316406,0.10002994537353516,-90.10800180179169,0.2030784985006982,1185.9425624107407,rect,0.30896079449635805,0.20314635164411132,2.8044698751864816,5268.56909179915,6834.916834401027,disk,1.1208450742882037,-0.6407560363172854,1.8096400776811272,3149.180811624925,7100.848206269014,0.04757268354296684,-0.0016566298436373472,-0.02835644781589508,-0.27658164501190186,0.6520245671272278,0.6521774530410767,-0.27024269104003906,0.036414735019207,0.5693233609199524,1.934037446975708,0.04929754137992859,0.018957260996103287,0.255960077047348,0.965243399143219,1192,1,,2.071425199508667,0.32861746317256085,0.0,0.007410585880279541,0.5318791946308725,12,release,0.04217863082885742,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4342
  c9_p020_e014,2,True,0.06449699401855469,0.4472055435180664,-0.008141133947027212,0.0017969461944374195,-10.54200559510673,plate_24_clear,0.4907093048095703,0.12754058837890625,-87.03385172275225,0.26864657864182806,1185.9425624107407,rect,0.48843251478454175,-0.1406882990429692,2.900351287894968,8379.94588641887,6578.411506979584,disk,0.2761369512069827,1.2298821906078572,1.678706042907106,3456.4962446377303,4449.775773101999,0.04873127117753029,0.0008969808113761246,-0.03181355446577072,-0.29258066415786743,0.6385554075241089,0.6557023525238037,-0.27694395184516907,0.07318585366010666,0.5574179291725159,1.9358190298080444,0.028367146849632263,0.024042164906859398,0.2717881500720978,0.9616384506225586,1202,1,,2.157615900039673,0.268270305012273,0.0,0.007325663231313229,0.5324459234608985,12,release,0.042226314544677734,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4343
  c9_p020_e015,1,True,-0.06803035736083984,0.45000171661376953,0.001875589779879476,0.009724488560500072,1.7477830793833675,deep_well_96_1ml,0.526087760925293,0.08208084106445312,-87.08310295375541,0.2525626173678534,1185.9425624107407,rect,0.8708689422064358,0.5808626102253454,2.605000998537138,8326.004708470473,5396.512803609183,sphere,1.5921417918884093,-0.7554039743671133,1.7870500882637195,4445.172427790261,2962.040658310179,0.05193416774272919,0.002429619897156954,-0.03145337104797363,-0.28005725145339966,0.6519738435745239,0.6498736143112183,-0.272327721118927,0.04510701820254326,0.5889001488685608,1.9262914657592773,0.054988253861665726,0.024313287809491158,0.25889259576797485,0.9640330672264099,1248,1,,2.097275972366333,0.2849151437608654,0.0,0.007432414684444666,0.5104166666666666,12,release,0.04218214750289917,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
 
 
 
 
 
 
 
 
 
4341
  c9_p020_e013,3,True,-0.1033620834350586,0.45002079010009766,-0.009091666114707292,0.0004712975566190381,-11.72746738669315,plate_384_white,0.4649391174316406,0.10002994537353516,-90.10800180179169,0.2030784985006982,1185.9425624107407,rect,0.30896079449635805,0.20314635164411132,2.8044698751864816,5268.56909179915,6834.916834401027,disk,1.1208450742882037,-0.6407560363172854,1.8096400776811272,3149.180811624925,7100.848206269014,0.04757268354296684,-0.0016566298436373472,-0.02835644781589508,-0.27658164501190186,0.6520245671272278,0.6521774530410767,-0.27024269104003906,0.036414735019207,0.5693233609199524,1.934037446975708,0.04929754137992859,0.018957260996103287,0.255960077047348,0.965243399143219,1192,1,,2.071425199508667,0.32861746317256085,0.0,0.007410585880279541,0.5318791946308725,12,release,0.04217863082885742,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4342
  c9_p020_e014,2,True,0.06449699401855469,0.4472055435180664,-0.008141133947027212,0.0017969461944374195,-10.54200559510673,plate_24_clear,0.4907093048095703,0.12754058837890625,-87.03385172275225,0.26864657864182806,1185.9425624107407,rect,0.48843251478454175,-0.1406882990429692,2.900351287894968,8379.94588641887,6578.411506979584,disk,0.2761369512069827,1.2298821906078572,1.678706042907106,3456.4962446377303,4449.775773101999,0.04873127117753029,0.0008969808113761246,-0.03181355446577072,-0.29258066415786743,0.6385554075241089,0.6557023525238037,-0.27694395184516907,0.07318585366010666,0.5574179291725159,1.9358190298080444,0.028367146849632263,0.024042164906859398,0.2717881500720978,0.9616384506225586,1202,1,,2.157615900039673,0.268270305012273,0.0,0.007325663231313229,0.5324459234608985,12,release,0.042226314544677734,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4343
  c9_p020_e015,1,True,-0.06803035736083984,0.45000171661376953,0.001875589779879476,0.009724488560500072,1.7477830793833675,deep_well_96_1ml,0.526087760925293,0.08208084106445312,-87.08310295375541,0.2525626173678534,1185.9425624107407,rect,0.8708689422064358,0.5808626102253454,2.605000998537138,8326.004708470473,5396.512803609183,sphere,1.5921417918884093,-0.7554039743671133,1.7870500882637195,4445.172427790261,2962.040658310179,0.05193416774272919,0.002429619897156954,-0.03145337104797363,-0.28005725145339966,0.6519738435745239,0.6498736143112183,-0.272327721118927,0.04510701820254326,0.5889001488685608,1.9262914657592773,0.054988253861665726,0.024313287809491158,0.25889259576797485,0.9640330672264099,1248,1,,2.097275972366333,0.2849151437608654,0.0,0.007432414684444666,0.5104166666666666,12,release,0.04218214750289917,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4344
+ c2_p017_e024,2,True,-0.09357166290283203,0.44731807708740234,-0.011088374782201652,0.005858994660900777,-2.1175632977903547,plate_384_black,0.4639453887939453,0.05517768859863281,-87.3430696074474,0.1627505730920275,1410.7935629124527,rect,0.6288399355558817,0.5481697623853488,2.6967359914718463,15831.83751473761,6919.762197939852,disk,-1.4669859508076128,-0.9225846871408774,1.9679492257440199,6229.40481101973,7058.467645920247,0.05183969438076019,0.0033565836492925882,-0.027078207582235336,-0.2779286503791809,0.652888298034668,0.64900803565979,-0.27437400817871094,0.060152824968099594,0.5681736469268799,1.9643558263778687,0.031501445919275284,0.0033089839853346348,0.28750187158584595,0.9572561979293823,1230,1,,2.10957932472229,0.266296022924325,0.0,0.0073784515261650085,0.5178861788617887,12,release,0.042098045349121094,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4345
+ c2_p017_e025,1,True,0.0641927719116211,0.4474449157714844,0.009734851310371705,-0.0017600704004536298,4.558170716246622,plate_12_clear,0.5080299377441406,0.10838794708251953,-94.807448785957,0.20792415566015454,1410.7935629124527,rect,-0.2153507696401673,-0.14877790299663407,2.721210197547356,15060.251040987983,4993.365244344786,disk,0.529495525924844,-0.9075331766637809,2.739317336753232,3332.6864050573204,6858.477541555951,0.05280255153775215,0.00017094459326472133,-0.031186219304800034,-0.27815625071525574,0.6412861943244934,0.653359591960907,-0.29069286584854126,0.06115063652396202,0.564190149307251,1.965323567390442,0.05247778818011284,0.004319620318710804,0.2684183120727539,0.9618622660636902,1150,1,,2.056380271911621,0.32495129382059235,0.0,0.007350449450314045,0.5460869565217391,12,release,0.04235541820526123,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4346
+ c2_p017_e026,0,True,0.14416122436523438,0.45000267028808594,0.011832643740781761,-0.003483345411438359,-5.370125407618673,deep_well_96_2ml,0.4701118469238281,0.05037117004394531,-86.43240791037327,0.26190716222019667,923.0304078652454,rect,0.5294727727312415,-0.06732836827363098,2.734229427500751,15803.841257472239,7060.121451412464,disk,-0.7445782597291094,0.18260999205867146,2.1280527313559423,5128.803192866124,7310.887271723745,0.04747563973069191,-0.0007918229093775153,-0.028525851666927338,-0.2838364243507385,0.6445600986480713,0.6502285599708557,-0.2849244773387909,0.06153901293873787,0.5888142585754395,1.9322865009307861,0.04202638939023018,0.012042325921356678,0.28131771087646484,0.9586183428764343,1157,1,,2.1302475929260254,0.2680599722363415,0.0,0.007494917139410973,0.547104580812446,12,release,0.04226410388946533,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4347
+ c5_p014_e000,3,True,0.1244344711303711,0.4499969482421875,-0.005224091959975498,-0.002388297873379394,-4.009966871680888,plate_96_clear,0.5038881301879883,0.10721111297607422,-86.67659088760311,0.2569389801747902,547.4881089878747,rect,0.07517906173776245,0.38598368560178486,2.8417911051960503,14165.038296159544,3586.044693769005,disk,1.7006750627854408,0.9142009821734061,1.6029678786570567,10079.190693966384,6493.102082957589,0.051606159657239914,0.000347169756423682,-0.029782826080918312,-0.2808331549167633,0.6468245387077332,0.6448647975921631,-0.29478833079338074,0.06198107451200485,0.598408579826355,1.9382320642471313,0.05276582017540932,0.0005577239790000021,0.26125597953796387,0.9638261198997498,1181,1,,2.0622007846832275,0.33767981543289854,0.0,0.00730707636103034,0.5410668924640135,12,release,0.04224187135696411,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4348
+ c5_p014_e001,1,True,-0.0976400375366211,0.4500007629394531,-0.007797301111250931,-0.00728219294322631,0.3282042605892741,plate_96_white,0.47850608825683594,0.09352397918701172,-88.33844598692299,0.2925719018040468,547.4881089878747,rect,0.5909455326796255,-0.25779580040156286,3.1594020047737112,13952.574312247363,7022.18820116489,sphere,0.27937417254334096,-0.6740170441271135,1.6347271674513473,5136.5289792638705,6569.8335578674705,0.04618964344263077,0.0012447074986994267,-0.030897369608283043,-0.2696231007575989,0.6477817296981812,0.6558981537818909,-0.27835190296173096,0.052788227796554565,0.6006907224655151,1.955009937286377,0.05672396346926689,0.007471831515431404,0.25592729449272156,0.9650014638900757,1216,1,,2.0592288970947266,0.30725043456248746,0.0,0.007289573084563017,0.522203947368421,12,release,0.042293161153793335,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4349
+ c5_p014_e002,2,True,-0.11782550811767578,0.45000267028808594,0.012778321877234513,-0.010049769452900573,7.845523921771331,plate_24_clear,0.5078878402709961,0.12023067474365234,-88.80530587959586,0.2610933217014848,547.4881089878747,rect,0.02723211526999736,-0.13251512726766218,2.7785008041930714,4547.338104436681,5314.600308451197,sphere,-0.014246071194931709,0.4745281888710602,2.375251450066026,6756.55317917855,5367.285726809365,0.047713857144117355,0.001245932187885046,-0.029178239405155182,-0.2687385678291321,0.6542367935180664,0.6483491659164429,-0.2817750573158264,0.06809855252504349,0.5772126913070679,1.962312936782837,0.04070259630680084,-0.005817987024784088,0.27142810821533203,0.9615800976753235,1212,1,,2.1299548149108887,0.27501055242682726,0.0,0.007289913482964039,0.523102310231023,12,release,0.042195796966552734,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4350
+ c5_p014_e003,0,True,0.016218185424804688,0.4500007629394531,-0.005494075169154833,0.004095134624485031,-6.863830775263466,pcr_96_blue,0.5151042938232422,0.09217453002929688,-87.25871703894035,0.2537850320139536,547.4881089878747,rect,0.520057779532371,-0.395715371130878,2.926600648228406,5059.724155928287,6560.137448421269,disk,0.16479870460543466,1.2570842477050974,1.862286276650128,10083.423911734084,6021.963163036347,0.05083822086453438,0.0015416441019624472,-0.02873978391289711,-0.2908739745616913,0.6505380272865295,0.6442622542381287,-0.27770254015922546,0.02790239453315735,0.5946293473243713,1.9525864124298096,0.030958915129303932,0.025311684235930443,0.2562650144100189,0.9657790064811707,1240,1,,2.1156961917877197,0.3243218967723635,0.0,0.006839174311608076,0.510483870967742,12,release,0.04226064682006836,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4351
+ c6_p014_e019,2,True,0.007015228271484375,0.4474306106567383,-0.0016894630376597028,0.009743833912432382,10.00054996102898,plate_24_clear,0.5198965072631836,0.10860538482666016,-86.17251372599831,0.24910244761889339,1407.1517769702548,rect,0.5719314570897157,0.28036130961027206,3.1875971398859844,10200.9405758401,3983.221698807304,disk,-0.7409726229088182,-0.35183241599130766,2.5234074824265695,3615.0465615798694,3427.099543611374,0.05222158133983612,0.003229947993531823,-0.031697727739810944,-0.2747043967247009,0.6518632173538208,0.6504381895065308,-0.2766621708869934,0.05597766488790512,0.5958079695701599,1.9701244831085205,0.036896344274282455,0.025010451674461365,0.2866762578487396,0.9569900035858154,1209,1,,2.044772148132324,0.32011540523219284,0.0,0.007336625829339027,0.5351530190239868,12,release,0.04250526428222656,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False