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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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c5aff51
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1 Parent(s): 37eff65

add 8 episodes (c5_p011_e000 .. c9_p016_e030); total 3490 {'v1': 1088, 'v2': 2402}

Browse files
Files changed (49) hide show
  1. episodes/c5_p011_e000/data.npz +3 -0
  2. episodes/c5_p011_e000/device_events.jsonl +35 -0
  3. episodes/c5_p011_e000/env.mp4 +3 -0
  4. episodes/c5_p011_e000/meta.json +32 -0
  5. episodes/c5_p011_e000/scene_snapshot.json +1558 -0
  6. episodes/c5_p011_e000/wrist.mp4 +3 -0
  7. episodes/c5_p011_e001/data.npz +3 -0
  8. episodes/c5_p011_e001/device_events.jsonl +38 -0
  9. episodes/c5_p011_e001/env.mp4 +3 -0
  10. episodes/c5_p011_e001/meta.json +32 -0
  11. episodes/c5_p011_e001/scene_snapshot.json +1558 -0
  12. episodes/c5_p011_e001/wrist.mp4 +3 -0
  13. episodes/c5_p011_e002/data.npz +3 -0
  14. episodes/c5_p011_e002/device_events.jsonl +35 -0
  15. episodes/c5_p011_e002/env.mp4 +3 -0
  16. episodes/c5_p011_e002/meta.json +32 -0
  17. episodes/c5_p011_e002/scene_snapshot.json +1558 -0
  18. episodes/c5_p011_e002/wrist.mp4 +3 -0
  19. episodes/c6_p011_e020/data.npz +3 -0
  20. episodes/c6_p011_e020/device_events.jsonl +36 -0
  21. episodes/c6_p011_e020/env.mp4 +3 -0
  22. episodes/c6_p011_e020/meta.json +32 -0
  23. episodes/c6_p011_e020/scene_snapshot.json +1558 -0
  24. episodes/c6_p011_e020/wrist.mp4 +3 -0
  25. episodes/c6_p011_e021/data.npz +3 -0
  26. episodes/c6_p011_e021/device_events.jsonl +35 -0
  27. episodes/c6_p011_e021/env.mp4 +3 -0
  28. episodes/c6_p011_e021/meta.json +32 -0
  29. episodes/c6_p011_e021/scene_snapshot.json +1558 -0
  30. episodes/c6_p011_e021/wrist.mp4 +3 -0
  31. episodes/c9_p016_e028/data.npz +3 -0
  32. episodes/c9_p016_e028/device_events.jsonl +35 -0
  33. episodes/c9_p016_e028/env.mp4 +3 -0
  34. episodes/c9_p016_e028/meta.json +32 -0
  35. episodes/c9_p016_e028/scene_snapshot.json +1558 -0
  36. episodes/c9_p016_e028/wrist.mp4 +3 -0
  37. episodes/c9_p016_e029/data.npz +3 -0
  38. episodes/c9_p016_e029/device_events.jsonl +36 -0
  39. episodes/c9_p016_e029/env.mp4 +3 -0
  40. episodes/c9_p016_e029/meta.json +32 -0
  41. episodes/c9_p016_e029/scene_snapshot.json +1558 -0
  42. episodes/c9_p016_e029/wrist.mp4 +3 -0
  43. episodes/c9_p016_e030/data.npz +3 -0
  44. episodes/c9_p016_e030/device_events.jsonl +37 -0
  45. episodes/c9_p016_e030/env.mp4 +3 -0
  46. episodes/c9_p016_e030/meta.json +32 -0
  47. episodes/c9_p016_e030/scene_snapshot.json +1558 -0
  48. episodes/c9_p016_e030/wrist.mp4 +3 -0
  49. index/episodes.csv +8 -0
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@@ -3481,3 +3481,11 @@ c8_p012_e016,0,True,0.019713401794433594,0.45000553131103516,0.00453362263291913
3481
  c8_p012_e017,3,True,0.008916854858398438,0.44733428955078125,-0.003494466549094639,0.006659653098762319,-11.249801691598037,plate_384_white,0.4705057144165039,0.12225914001464844,-93.49630103581289,0.16719544828281274,1539.7740707741168,rect,0.5749963585025412,-0.2097598077081469,3.0818820030303367,5918.832880581571,6615.866568920566,disk,-1.561270715674727,-0.4333963592733491,2.444486523924971,2679.7543506819734,4389.095197172563,0.047442320734262466,-0.0019609476439654827,-0.032186053693294525,-0.2702711820602417,0.6489561200141907,0.64935302734375,-0.2900863587856293,0.029721660539507866,0.584061861038208,1.9671884775161743,0.04017116129398346,-0.002086898311972618,0.26206493377685547,0.9642115235328674,1255,1,,2.012073278427124,0.3272583739867036,0.0,0.007416955195367336,0.5083665338645418,12,release,0.04222029447555542,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3482
  c8_p012_e018,2,True,0.08907794952392578,0.4470176696777344,0.007723758708092052,-0.011990679050678512,-3.330488508864107,plate_24_clear,0.4725770950317383,0.07769966125488281,-85.62539226203064,0.25946459658873483,1539.7740707741168,rect,0.14502160073646164,0.18723049052676632,3.0949603556689684,13828.199279196953,3336.501992461243,disk,-1.317060391403063,-0.6911924708256129,1.6269570576582386,8373.846654794597,3098.785604936659,0.049363721162080765,0.002473972737789154,-0.02685956284403801,-0.28595519065856934,0.6403528451919556,0.6563341617584229,-0.27821460366249084,0.02884032018482685,0.5771781206130981,1.9511703252792358,0.03022872656583786,0.003837273921817541,0.2794400751590729,0.9596794843673706,1207,1,,2.131878137588501,0.2834987416610397,0.0,0.007290633395314217,0.5211267605633803,12,release,0.04218780994415283,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3483
  c8_p012_e019,1,True,0.1460742950439453,0.4477214813232422,-0.008812672178255505,-0.008773530641314642,-0.39093066749018135,plate_96_white,0.470947265625,0.11478233337402344,-86.6555380947792,0.15290057342091093,1539.7740707741168,rect,-0.1589766599526376,-0.2986911884824097,3.077681092363222,7247.339711147139,6858.695834082377,disk,-0.6092352416620094,-0.04458182088506679,2.5255498834058887,7806.94926292812,5268.509430494814,0.0476684644818306,-0.0031931204721331596,-0.027649536728858948,-0.28711554408073425,0.6506524085998535,0.6414502263069153,-0.2876764237880707,0.03479210287332535,0.561251163482666,1.9390789270401,0.043300703167915344,0.019929064437747,0.2835150361061096,0.9577823877334595,1183,1,,2.1115686893463135,0.3417571613031665,0.0,0.007257239893078804,0.5300084530853761,12,release,0.04210180044174194,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
 
 
 
 
 
 
 
 
 
3481
  c8_p012_e017,3,True,0.008916854858398438,0.44733428955078125,-0.003494466549094639,0.006659653098762319,-11.249801691598037,plate_384_white,0.4705057144165039,0.12225914001464844,-93.49630103581289,0.16719544828281274,1539.7740707741168,rect,0.5749963585025412,-0.2097598077081469,3.0818820030303367,5918.832880581571,6615.866568920566,disk,-1.561270715674727,-0.4333963592733491,2.444486523924971,2679.7543506819734,4389.095197172563,0.047442320734262466,-0.0019609476439654827,-0.032186053693294525,-0.2702711820602417,0.6489561200141907,0.64935302734375,-0.2900863587856293,0.029721660539507866,0.584061861038208,1.9671884775161743,0.04017116129398346,-0.002086898311972618,0.26206493377685547,0.9642115235328674,1255,1,,2.012073278427124,0.3272583739867036,0.0,0.007416955195367336,0.5083665338645418,12,release,0.04222029447555542,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3482
  c8_p012_e018,2,True,0.08907794952392578,0.4470176696777344,0.007723758708092052,-0.011990679050678512,-3.330488508864107,plate_24_clear,0.4725770950317383,0.07769966125488281,-85.62539226203064,0.25946459658873483,1539.7740707741168,rect,0.14502160073646164,0.18723049052676632,3.0949603556689684,13828.199279196953,3336.501992461243,disk,-1.317060391403063,-0.6911924708256129,1.6269570576582386,8373.846654794597,3098.785604936659,0.049363721162080765,0.002473972737789154,-0.02685956284403801,-0.28595519065856934,0.6403528451919556,0.6563341617584229,-0.27821460366249084,0.02884032018482685,0.5771781206130981,1.9511703252792358,0.03022872656583786,0.003837273921817541,0.2794400751590729,0.9596794843673706,1207,1,,2.131878137588501,0.2834987416610397,0.0,0.007290633395314217,0.5211267605633803,12,release,0.04218780994415283,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3483
  c8_p012_e019,1,True,0.1460742950439453,0.4477214813232422,-0.008812672178255505,-0.008773530641314642,-0.39093066749018135,plate_96_white,0.470947265625,0.11478233337402344,-86.6555380947792,0.15290057342091093,1539.7740707741168,rect,-0.1589766599526376,-0.2986911884824097,3.077681092363222,7247.339711147139,6858.695834082377,disk,-0.6092352416620094,-0.04458182088506679,2.5255498834058887,7806.94926292812,5268.509430494814,0.0476684644818306,-0.0031931204721331596,-0.027649536728858948,-0.28711554408073425,0.6506524085998535,0.6414502263069153,-0.2876764237880707,0.03479210287332535,0.561251163482666,1.9390789270401,0.043300703167915344,0.019929064437747,0.2835150361061096,0.9577823877334595,1183,1,,2.1115686893463135,0.3417571613031665,0.0,0.007257239893078804,0.5300084530853761,12,release,0.04210180044174194,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3484
+ c5_p011_e000,3,True,0.015929222106933594,0.4500007629394531,0.012112747629459937,-0.006150943075610133,-10.638823525983241,plate_96_clear,0.5151042938232422,0.09217453002929688,-87.25871703894035,0.2537850320139536,1194.4870840972,rect,0.520057779532371,-0.395715371130878,2.926600648228406,5059.724155928287,6560.137448421269,disk,0.16479870460543466,1.2570842477050974,1.862286276650128,10083.423911734084,6021.963163036347,0.04910749942064285,0.0007741980953142047,-0.029527444392442703,-0.2756330668926239,0.645703911781311,0.6523149609565735,-0.28561875224113464,0.05437159538269043,0.5753729939460754,1.9630273580551147,0.04449186101555824,0.004755150526762009,0.2789655923843384,0.9592580795288086,1151,1,,2.1328318119049072,0.2560661640376041,0.0,0.007290890906006098,0.5516941789748045,12,release,0.042226970195770264,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3485
+ c5_p011_e001,0,True,-0.11361503601074219,0.45000362396240234,0.00571308341034129,-0.005905549555870633,-10.397948082058662,plate_6_clear,0.498779296875,0.07395744323730469,-91.47340417708187,0.290404764361559,1194.4870840972,rect,0.666431488241516,0.19483712542241172,2.803854655176331,8156.553065659489,5410.3731654543935,sphere,1.794474845297258,0.009344164921907927,2.418673114874098,8114.953194943566,5634.638955378993,0.04899317026138306,0.002591508673503995,-0.0294957272708416,-0.2813602089881897,0.6540667414665222,0.643255889415741,-0.28152257204055786,0.04562262073159218,0.5708463788032532,1.9531821012496948,0.05429936945438385,0.00027219776529818773,0.2847091853618622,0.9570748209953308,1208,1,,2.102369546890259,0.2606173823377731,0.0,0.007369461469352245,0.5256622516556292,12,release,0.042163848876953125,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3486
+ c5_p011_e002,1,True,-0.14122581481933594,0.4500007629394531,0.008396212438687838,0.0017239326719612562,6.120699194261533,deep_well_96_1ml,0.4884967803955078,0.07336044311523438,-92.15793116524267,0.15978820550725975,1194.4870840972,rect,0.6848066579875071,-0.08894490287315443,2.885475110064763,5401.883143240031,5414.268344571134,sphere,1.6677475521865914,0.9743577669742185,2.0797652134394555,6882.954658289204,3659.8735607793283,0.051082856953144073,0.00013452295388560742,-0.03118915669620037,-0.2637154757976532,0.6569865345954895,0.6436744332313538,-0.2906992733478546,0.036612413823604584,0.6004122495651245,1.9495185613632202,0.046817440539598465,0.02107424847781658,0.26271340250968933,0.9635069370269775,1230,1,,2.0979387760162354,0.30904044007974685,0.0,0.007474676705896854,0.516260162601626,12,release,0.042456626892089844,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3487
+ c6_p011_e020,3,True,0.031577110290527344,0.4474000930786133,0.014183004212562573,-0.003547561736925638,-11.25185805435757,plate_48_clear,0.4634876251220703,0.05016803741455078,-85.64322380730157,0.2044216065083122,1360.538049542345,rect,0.8266998976139258,0.0010304140758431446,3.1074179338001784,11350.538966756676,6544.354778999083,sphere,0.5313373148877871,1.2156025591485677,2.687539089030611,4998.691150981168,4251.529348635468,0.047473303973674774,0.0013845503563061357,-0.0268106646835804,-0.2692042291164398,0.6589667797088623,0.6438509821891785,-0.2806203067302704,0.06439009308815002,0.5813423991203308,1.9534237384796143,0.03158741071820259,0.009702548384666443,0.2625901401042938,0.9643415212631226,1218,1,,2.148118495941162,0.25094522585245266,0.0,0.0073345014825463295,0.5254515599343186,12,release,0.042121052742004395,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3488
+ c6_p011_e021,1,True,0.024106979370117188,0.4499979019165039,-0.007846224444623497,0.011770971564397405,-2.167415130733275,pcr_384_red,0.5262136459350586,0.07812881469726562,-87.10510678931891,0.1618034955630772,1360.538049542345,rect,0.7223657160858769,-0.05548974131162038,2.7575680063396892,7860.13842142119,4835.183677220842,disk,0.2709776307547236,1.0606667786709265,2.0469980913542387,3266.2495862897667,7017.636544599664,0.051455676555633545,0.0007276049582287669,-0.028623567894101143,-0.2813872992992401,0.6428725123405457,0.6575360298156738,-0.27419430017471313,0.06713274121284485,0.5620956420898438,1.9723061323165894,0.02754855901002884,0.01992867700755596,0.2607240676879883,0.9648144245147705,1224,1,,2.0964791774749756,0.3147163042969432,0.0,0.006766815669834614,0.5310457516339869,12,release,0.04213571548461914,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3489
+ c9_p016_e028,3,True,0.011519432067871094,0.44744873046875,0.011211861531590348,-0.005047122840263168,-0.32019638928611016,plate_48_clear,0.5144157409667969,0.09686946868896484,-89.41839473485591,0.2918908279587996,1543.0771647007466,rect,0.8106366430459812,0.46532595402750365,2.7511596342613176,15616.699247903904,5680.638643669277,sphere,-0.10867847207865444,-0.29429254928107995,2.644940177143027,2456.1977408842545,6666.928259280014,0.04845147207379341,-0.0014742761850357056,-0.033428337424993515,-0.2649596631526947,0.6549840569496155,0.6519565582275391,-0.2752178907394409,0.0514366552233696,0.556705117225647,1.9342725276947021,0.048205915838479996,0.0017238130094483495,0.27809029817581177,0.9593430161476135,1206,1,,2.0950262546539307,0.2724932478147458,0.0,0.007333653047680855,0.5315091210613598,12,release,0.04240661859512329,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3490
+ c9_p016_e029,2,True,-0.04606056213378906,0.4499979019165039,0.011993549456842608,-0.007074116601172026,-10.728738784086403,plate_384_black,0.4793062210083008,0.06306743621826172,-86.66536905306221,0.2970757164933198,1543.0771647007466,rect,0.7230687080895862,-0.19181492930778266,2.855660067038073,10273.672363677026,7012.851607025956,sphere,0.07068344780751779,0.9068392184894132,1.6926805888794003,2213.933492342544,4857.98563335724,0.05352509394288063,0.0012151306727901101,-0.02987370453774929,-0.2728528082370758,0.6459536552429199,0.6540120840072632,-0.2838369309902191,0.043660636991262436,0.593964159488678,1.9599701166152954,0.042241282761096954,0.01560563500970602,0.2820894718170166,0.9583306908607483,1176,1,,2.103915214538574,0.28235536912425097,0.0,0.0073796650394797325,0.5459183673469388,12,release,0.04220902919769287,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3491
+ c9_p016_e030,1,True,0.03615570068359375,0.45000362396240234,-0.014853872822417378,-0.011305944233509379,0.0017555474800587945,deep_well_96_1ml,0.46932029724121094,0.11342144012451172,-92.7353368630375,0.17822628862630874,1543.0771647007466,rect,0.7657852397421824,-0.16002275246566927,2.9669236045319036,11006.85451846239,5348.2394407505635,sphere,1.4958314569433844,1.3446224579035284,1.8230667580763822,5600.226575509145,6944.832855282141,0.051267609000205994,0.002221824135631323,-0.027846364304423332,-0.27555760741233826,0.6507783532142639,0.6534425616264343,-0.2712348997592926,0.06478244811296463,0.5830410122871399,1.9391363859176636,0.031114032492041588,0.007290484383702278,0.2620469033718109,0.9645258784294128,1283,1,,2.076972246170044,0.31553892413002516,0.0,0.007473341189324856,0.5003897116134061,12,release,0.04236316680908203,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False