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Arashi2001
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MagicBioLab

Tasks:
Robotics
Tags:
simulation
isaac-sim
lab-automation
microplate
imitation-learning
License:
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add 7 episodes (c7_p013_e001 .. c9_p017_e028); total 3751 {'v1': 1088, 'v2': 2663}

Browse files
Files changed (43) hide show
  1. episodes/c7_p013_e001/data.npz +3 -0
  2. episodes/c7_p013_e001/device_events.jsonl +51 -0
  3. episodes/c7_p013_e001/env.mp4 +3 -0
  4. episodes/c7_p013_e001/meta.json +32 -0
  5. episodes/c7_p013_e001/scene_snapshot.json +1558 -0
  6. episodes/c7_p013_e001/wrist.mp4 +3 -0
  7. episodes/c7_p013_e002/data.npz +3 -0
  8. episodes/c7_p013_e002/device_events.jsonl +39 -0
  9. episodes/c7_p013_e002/env.mp4 +3 -0
  10. episodes/c7_p013_e002/meta.json +32 -0
  11. episodes/c7_p013_e002/scene_snapshot.json +1558 -0
  12. episodes/c7_p013_e002/wrist.mp4 +3 -0
  13. episodes/c7_p013_e003/data.npz +3 -0
  14. episodes/c7_p013_e003/device_events.jsonl +35 -0
  15. episodes/c7_p013_e003/env.mp4 +3 -0
  16. episodes/c7_p013_e003/meta.json +32 -0
  17. episodes/c7_p013_e003/scene_snapshot.json +1558 -0
  18. episodes/c7_p013_e003/wrist.mp4 +3 -0
  19. episodes/c8_p013_e025/data.npz +3 -0
  20. episodes/c8_p013_e025/device_events.jsonl +35 -0
  21. episodes/c8_p013_e025/env.mp4 +3 -0
  22. episodes/c8_p013_e025/meta.json +32 -0
  23. episodes/c8_p013_e025/scene_snapshot.json +1558 -0
  24. episodes/c8_p013_e025/wrist.mp4 +3 -0
  25. episodes/c8_p013_e026/data.npz +3 -0
  26. episodes/c8_p013_e026/device_events.jsonl +37 -0
  27. episodes/c8_p013_e026/env.mp4 +3 -0
  28. episodes/c8_p013_e026/meta.json +32 -0
  29. episodes/c8_p013_e026/scene_snapshot.json +1558 -0
  30. episodes/c8_p013_e026/wrist.mp4 +3 -0
  31. episodes/c8_p013_e027/data.npz +3 -0
  32. episodes/c8_p013_e027/device_events.jsonl +35 -0
  33. episodes/c8_p013_e027/env.mp4 +3 -0
  34. episodes/c8_p013_e027/meta.json +32 -0
  35. episodes/c8_p013_e027/scene_snapshot.json +1558 -0
  36. episodes/c8_p013_e027/wrist.mp4 +3 -0
  37. episodes/c9_p017_e028/data.npz +3 -0
  38. episodes/c9_p017_e028/device_events.jsonl +35 -0
  39. episodes/c9_p017_e028/env.mp4 +3 -0
  40. episodes/c9_p017_e028/meta.json +32 -0
  41. episodes/c9_p017_e028/scene_snapshot.json +1558 -0
  42. episodes/c9_p017_e028/wrist.mp4 +3 -0
  43. index/episodes.csv +7 -0
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+ "video_frames": {
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+ "curobo_joints": [
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+ "wrist_2_joint",
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+ "wrist_3_joint"
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+ "joint_order": [
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+ "wrist_3",
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+ "finger_left",
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+ "finger_right"
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+ "dr_version": "v2"
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+ }
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3744
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3743
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3744
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3745
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3746
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3747
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3748
+ c7_p013_e003,3,True,0.0598297119140625,0.45000553131103516,-0.01275250086449212,-0.006529870723701977,0.16286044081968498,plate_48_clear,0.4789695739746094,0.08251476287841797,-93.08367378637153,0.16502645083392523,1578.5576647589312,rect,0.8695724905214398,-0.04496545700554089,3.1737599560715104,4174.239973387166,4996.892637915435,sphere,0.5066230767383906,1.1260500839981755,1.7428664198517614,8092.761537805909,5452.169029845395,0.05248810350894928,-0.0029902567621320486,-0.030121449381113052,-0.28409114480018616,0.6511129140853882,0.6467291712760925,-0.2776428163051605,0.06483064591884613,0.5886526703834534,1.9508416652679443,0.05189504101872444,0.021194009110331535,0.2729783058166504,0.9603856205940247,1211,1,,2.120424747467041,0.25135763987957926,0.0,0.0073403408750891685,0.5218827415359207,12,release,0.04215085506439209,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3749
+ c8_p013_e025,2,True,0.05198383331298828,0.4499998092651367,-0.008876279459668719,-0.005993202427471921,-4.813838506464521,plate_24_clear,0.4705057144165039,0.12225914001464844,-93.49630103581289,0.153678295594321,467.5718084372196,rect,0.22618671369672516,0.28422692331893573,2.6740312362496175,14294.118758258812,6334.80889739488,disk,-0.6027695114761457,-0.1852463944905658,2.382354120944115,6570.490271141541,5726.841765418627,0.05339476093649864,0.00017754759755916893,-0.029653826728463173,-0.2865334451198578,0.6471107006072998,0.6548081636428833,-0.2652783691883087,0.04574115574359894,0.6035691499710083,1.932252287864685,0.024751881137490273,0.011591286398470402,0.26902875304222107,0.9627442359924316,1242,1,,2.128143787384033,0.3235210996819217,0.0,0.007333766669034958,0.5152979066022544,12,release,0.04211139678955078,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3750
+ c8_p013_e026,1,True,0.14862823486328125,0.4499998092651367,-0.011360173263590052,0.0012921864428804982,-1.6416624881147186,plate_96_white,0.4725770950317383,0.07769966125488281,-85.62539226203064,0.18955559666385555,467.5718084372196,rect,0.6257292982103914,-0.3459218130798283,2.8475487042247813,8061.111036650122,6476.007233927501,disk,0.3083484950295847,-0.6170505704402707,2.2695958998441728,7598.993558301873,5465.294264862473,0.05053996294736862,-0.0007310544606298208,-0.02740672416985035,-0.2767261564731598,0.6489343047142029,0.6553701758384705,-0.2698090076446533,0.0561908558011055,0.5609557628631592,1.9500263929367065,0.029346192255616188,0.019337672740221024,0.2768588066101074,0.9602677226066589,1219,1,,2.022296190261841,0.24234136465016315,0.0,0.007313800975680351,0.5250205086136177,12,release,0.042343705892562866,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3751
+ c8_p013_e027,0,True,-0.121368408203125,0.45000457763671875,-0.004306793363881931,0.007625994912534771,3.4965974828733124,plate_96_black,0.470947265625,0.11478233337402344,-86.6555380947792,0.21663834125842985,1287.0284709135942,rect,-0.35329416033249095,0.05596366905380268,3.1464729260375495,7497.969741732704,7180.160915807477,disk,-1.3306174587436674,0.31202607087174905,1.7548092536204232,9418.770408269034,3099.181534793833,0.04777749627828598,-0.0010269304038956761,-0.028306256979703903,-0.290025532245636,0.6476019620895386,0.6452045440673828,-0.2832101583480835,0.034228481352329254,0.5599167346954346,1.9619535207748413,0.04681360721588135,-0.00043263248517178,0.2674734890460968,0.9624272584915161,1176,1,,2.0777134895324707,0.2820559660819297,0.0,0.0072576128877699375,0.5382653061224489,12,release,0.04232072830200195,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3752
+ c9_p017_e028,2,True,0.012189865112304688,0.4500007629394531,0.005969578418308298,0.0104119118337409,8.556622461141814,plate_24_clear,0.5144157409667969,0.09686946868896484,-89.41839473485591,0.2918908279587996,945.0097605438992,rect,0.8106366430459812,0.46532595402750365,2.7511596342613176,15616.699247903904,5680.638643669277,sphere,-0.10867847207865444,-0.29429254928107995,2.644940177143027,2456.1977408842545,6666.928259280014,0.045547958463430405,0.0010281929280608892,-0.03163549304008484,-0.285604327917099,0.6446242928504944,0.6543534994125366,-0.2733334004878998,0.03248057886958122,0.6009349822998047,1.946521520614624,0.04621513560414314,0.02512993849813938,0.28034281730651855,0.9584574103355408,1229,1,,2.058399200439453,0.30313537880850316,0.0,0.007322203367948532,0.5231895850284785,12,release,0.04245615005493164,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False