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Datasets:
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 (c6_p019_e000 .. c9_p024_e038); total 4871 {'v1': 1088, 'v2': 3783}

Browse files
Files changed (43) hide show
  1. episodes/c6_p019_e000/data.npz +3 -0
  2. episodes/c6_p019_e000/device_events.jsonl +36 -0
  3. episodes/c6_p019_e000/env.mp4 +3 -0
  4. episodes/c6_p019_e000/meta.json +32 -0
  5. episodes/c6_p019_e000/scene_snapshot.json +1558 -0
  6. episodes/c6_p019_e000/wrist.mp4 +3 -0
  7. episodes/c6_p019_e001/data.npz +3 -0
  8. episodes/c6_p019_e001/device_events.jsonl +35 -0
  9. episodes/c6_p019_e001/env.mp4 +3 -0
  10. episodes/c6_p019_e001/meta.json +32 -0
  11. episodes/c6_p019_e001/scene_snapshot.json +1558 -0
  12. episodes/c6_p019_e001/wrist.mp4 +3 -0
  13. episodes/c6_p019_e002/data.npz +3 -0
  14. episodes/c6_p019_e002/device_events.jsonl +37 -0
  15. episodes/c6_p019_e002/env.mp4 +3 -0
  16. episodes/c6_p019_e002/meta.json +32 -0
  17. episodes/c6_p019_e002/scene_snapshot.json +1558 -0
  18. episodes/c6_p019_e002/wrist.mp4 +3 -0
  19. episodes/c6_p019_e003/data.npz +3 -0
  20. episodes/c6_p019_e003/device_events.jsonl +35 -0
  21. episodes/c6_p019_e003/env.mp4 +3 -0
  22. episodes/c6_p019_e003/meta.json +32 -0
  23. episodes/c6_p019_e003/scene_snapshot.json +1558 -0
  24. episodes/c6_p019_e003/wrist.mp4 +3 -0
  25. episodes/c9_p024_e036/data.npz +3 -0
  26. episodes/c9_p024_e036/device_events.jsonl +35 -0
  27. episodes/c9_p024_e036/env.mp4 +3 -0
  28. episodes/c9_p024_e036/meta.json +32 -0
  29. episodes/c9_p024_e036/scene_snapshot.json +1558 -0
  30. episodes/c9_p024_e036/wrist.mp4 +3 -0
  31. episodes/c9_p024_e037/data.npz +3 -0
  32. episodes/c9_p024_e037/device_events.jsonl +37 -0
  33. episodes/c9_p024_e037/env.mp4 +3 -0
  34. episodes/c9_p024_e037/meta.json +32 -0
  35. episodes/c9_p024_e037/scene_snapshot.json +1558 -0
  36. episodes/c9_p024_e037/wrist.mp4 +3 -0
  37. episodes/c9_p024_e038/data.npz +3 -0
  38. episodes/c9_p024_e038/device_events.jsonl +38 -0
  39. episodes/c9_p024_e038/env.mp4 +3 -0
  40. episodes/c9_p024_e038/meta.json +32 -0
  41. episodes/c9_p024_e038/scene_snapshot.json +1558 -0
  42. episodes/c9_p024_e038/wrist.mp4 +3 -0
  43. index/episodes.csv +7 -0
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@@ -4863,3 +4863,10 @@ c9_p024_e032,1,True,-0.0059680938720703125,0.4474935531616211,0.0072269423545050
4863
  c9_p024_e033,0,True,0.11732864379882812,0.4499979019165039,-0.006719556378302721,0.010067961686517734,6.5880704277628865,plate_6_clear,0.5247726440429688,0.0938873291015625,-93.80799500765366,0.19354772057756534,1363.3922923853604,rect,0.20983455313856225,0.5518488626566045,2.65388611787374,14311.264342209503,4385.672170930682,disk,-1.4676505318016442,-1.0166624892874754,2.3328849007538786,10867.57570320267,2907.6358555757074,0.04676441475749016,-0.0001656772510614246,-0.03096725232899189,-0.2714761197566986,0.6479799747467041,0.6547237038612366,-0.2788538932800293,0.030043600127100945,0.583761990070343,1.9380956888198853,0.05295844376087189,0.0031204416882246733,0.27764981985092163,0.9592164754867554,1246,1,,2.0859856605529785,0.27863703234501974,0.0,0.00734203215688467,0.5120385232744783,12,release,0.04260706901550293,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4864
  c9_p024_e034,3,True,-0.14642620086669922,0.44722747802734375,0.010930576496355666,0.004346451514982435,-9.292208220294896,plate_96_clear,0.5186014175415039,0.1036224365234375,-92.19232068021707,0.17443657967909282,1363.3922923853604,rect,-0.5197906758724646,0.3877400729561673,2.995523653994887,8607.925376491898,4956.777546792591,sphere,-0.43012857572111307,0.37661405592290986,2.1302946050866343,2573.298542355415,3565.409763353815,0.04764071851968765,0.0030567364301532507,-0.026227686554193497,-0.28272202610969543,0.6526612639427185,0.6458358764648438,-0.2774844467639923,0.06881694495677948,0.5598790645599365,1.9727561473846436,0.057167526334524155,0.02043694071471691,0.26427674293518066,0.9625341296195984,1330,1,,2.100447654724121,0.2534812143347168,0.0,0.00731409527361393,0.5210526315789473,12,release,0.04263150691986084,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4865
  c9_p024_e035,2,True,0.10750579833984375,0.4499988555908203,0.011240384815201144,-0.009159792992833584,6.557220380398633,plate_384_black,0.5175085067749023,0.06086158752441406,-93.89862631039945,0.2814587357715256,1363.3922923853604,rect,0.6486153604144539,-0.013230032820426285,2.836443485474081,5976.543851237802,3786.8933268554356,disk,-0.851319275774655,-0.011356431865647387,1.822288586321041,2401.9097567626586,5642.487185554028,0.051271021366119385,0.002862178022041917,-0.03330527991056442,-0.28285008668899536,0.6436977982521057,0.6553939580917358,-0.27587634325027466,0.07170960307121277,0.5612531304359436,1.9327503442764282,0.037109944969415665,0.0257007647305727,0.2874642610549927,0.9567270278930664,1253,1,,2.07919979095459,0.29856383168356243,0.0,0.007408464327454567,0.5139664804469274,12,release,0.04235076904296875,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
 
 
 
 
 
 
 
 
4863
  c9_p024_e033,0,True,0.11732864379882812,0.4499979019165039,-0.006719556378302721,0.010067961686517734,6.5880704277628865,plate_6_clear,0.5247726440429688,0.0938873291015625,-93.80799500765366,0.19354772057756534,1363.3922923853604,rect,0.20983455313856225,0.5518488626566045,2.65388611787374,14311.264342209503,4385.672170930682,disk,-1.4676505318016442,-1.0166624892874754,2.3328849007538786,10867.57570320267,2907.6358555757074,0.04676441475749016,-0.0001656772510614246,-0.03096725232899189,-0.2714761197566986,0.6479799747467041,0.6547237038612366,-0.2788538932800293,0.030043600127100945,0.583761990070343,1.9380956888198853,0.05295844376087189,0.0031204416882246733,0.27764981985092163,0.9592164754867554,1246,1,,2.0859856605529785,0.27863703234501974,0.0,0.00734203215688467,0.5120385232744783,12,release,0.04260706901550293,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4864
  c9_p024_e034,3,True,-0.14642620086669922,0.44722747802734375,0.010930576496355666,0.004346451514982435,-9.292208220294896,plate_96_clear,0.5186014175415039,0.1036224365234375,-92.19232068021707,0.17443657967909282,1363.3922923853604,rect,-0.5197906758724646,0.3877400729561673,2.995523653994887,8607.925376491898,4956.777546792591,sphere,-0.43012857572111307,0.37661405592290986,2.1302946050866343,2573.298542355415,3565.409763353815,0.04764071851968765,0.0030567364301532507,-0.026227686554193497,-0.28272202610969543,0.6526612639427185,0.6458358764648438,-0.2774844467639923,0.06881694495677948,0.5598790645599365,1.9727561473846436,0.057167526334524155,0.02043694071471691,0.26427674293518066,0.9625341296195984,1330,1,,2.100447654724121,0.2534812143347168,0.0,0.00731409527361393,0.5210526315789473,12,release,0.04263150691986084,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4865
  c9_p024_e035,2,True,0.10750579833984375,0.4499988555908203,0.011240384815201144,-0.009159792992833584,6.557220380398633,plate_384_black,0.5175085067749023,0.06086158752441406,-93.89862631039945,0.2814587357715256,1363.3922923853604,rect,0.6486153604144539,-0.013230032820426285,2.836443485474081,5976.543851237802,3786.8933268554356,disk,-0.851319275774655,-0.011356431865647387,1.822288586321041,2401.9097567626586,5642.487185554028,0.051271021366119385,0.002862178022041917,-0.03330527991056442,-0.28285008668899536,0.6436977982521057,0.6553939580917358,-0.27587634325027466,0.07170960307121277,0.5612531304359436,1.9327503442764282,0.037109944969415665,0.0257007647305727,0.2874642610549927,0.9567270278930664,1253,1,,2.07919979095459,0.29856383168356243,0.0,0.007408464327454567,0.5139664804469274,12,release,0.04235076904296875,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4866
+ c6_p019_e000,1,True,0.0988616943359375,0.4499998092651367,0.0035430578966759007,0.008131912139781396,2.8204597857117335,pcr_384_red,0.4978609085083008,0.0513916015625,-85.55150535356483,0.271395261146081,367.7378761502171,rect,0.601744220313131,-0.068731514857364,2.617611318016332,14454.68654986228,3273.3823674272653,sphere,0.6592986558992666,1.3473010980659559,2.2230381558336694,6337.494535853024,6321.0445371749975,0.05088742449879646,-0.00032549112802371383,-0.030202269554138184,-0.2777870297431946,0.6506325006484985,0.6519943475723267,-0.27279117703437805,0.05794017016887665,0.5790315866470337,1.9694206714630127,0.04307826608419418,0.018006017431616783,0.26089319586753845,0.9642379283905029,1203,1,,2.11781907081604,0.31507550831426356,0.0,0.006821539718657732,0.5220282626766417,12,release,0.04203927516937256,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4867
+ c6_p019_e001,0,True,-0.14038372039794922,0.4472055435180664,-0.000550881734389594,0.008081375522762,10.91718129126744,pcr_96_blue,0.46005821228027344,0.07340621948242188,-91.66042404353601,0.16240738374365557,367.7378761502171,rect,-0.16417358037993818,0.17446070216100495,2.748536374807253,4860.896298637237,5410.826654461404,sphere,1.6732781853565077,1.0239601886185434,1.6959206381815237,5383.057532077881,6635.431573529154,0.04709780961275101,-6.463615864049643e-05,-0.02950715273618698,-0.28540924191474915,0.6557486057281494,0.6418251395225525,-0.27675947546958923,0.05702455714344978,0.5736537575721741,1.9704416990280151,0.04722467437386513,-0.007398940622806549,0.260899156332016,0.9641819000244141,1256,1,,2.1193220615386963,0.31136892526682425,0.0,0.006851669866591692,0.5493630573248408,12,release,0.04245823621749878,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4868
+ c6_p019_e002,2,True,-0.05118560791015625,0.4500312805175781,0.0005216218427811126,-0.010104379008344473,-6.163710678527025,deep_well_24_10ml,0.4747438430786133,0.09552478790283203,-89.98996241752981,0.16616744026186994,367.7378761502171,rect,0.8435636879352791,-0.11988330825885646,2.610235338951099,13145.655591200242,4418.567491236809,disk,-0.9934891633275938,0.9172509299933795,2.175076023818787,2674.7690362109024,5720.990230066179,0.05206529423594475,-0.004266367293894291,-0.03551853820681572,-0.28413864970207214,0.6424921154975891,0.6584959626197815,-0.26991143822669983,0.06446298956871033,0.594612181186676,1.9269226789474487,0.029942436143755913,0.02576369047164917,0.2663516700267792,0.9630661606788635,1243,1,,2.0605945587158203,0.27766306338072966,0.0,0.007535753771662712,0.5156878519710378,12,release,0.04214286804199219,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4869
+ c6_p019_e003,3,True,0.0037822723388671875,0.4499998092651367,0.000917918852291823,0.00507363233001307,-11.16384106382327,plate_48_clear,0.5114650726318359,0.12754154205322266,-93.1389491124915,0.22368194307068662,367.7378761502171,rect,0.6683635357327963,0.32420668412016906,2.9215629462584176,11009.662147652154,7164.946803160119,disk,0.0634445845338798,0.055507583645149294,1.8968088447328462,2133.148991530677,6012.697866221051,0.05097658932209015,0.0003353022621013224,-0.03190498426556587,-0.2887650728225708,0.6423447728157043,0.6510249376296997,-0.2831510007381439,0.0708102434873581,0.5761926770210266,1.927932858467102,0.04427635297179222,0.00872680451720953,0.26823458075523376,0.9622960090637207,1313,1,,2.085660934448242,0.32072434299733094,0.0,0.00729085598140955,0.5376999238385377,12,release,0.0422513484954834,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4870
+ c9_p024_e036,1,True,-0.12752437591552734,0.45000267028808594,-0.009740075651711578,-0.009664341630704449,10.599837663783859,pcr_384_red,0.46871280670166016,0.10303306579589844,-93.30503348958119,0.2808369494449282,1558.7046514462777,rect,-0.2700074145475939,0.4590683209936238,2.681109158454526,8601.39613277966,4156.60865992118,sphere,-1.1906170422060478,0.3605832032348941,2.671440772014558,8263.74781003598,5507.130337807566,0.049465030431747437,0.0015250942669808865,-0.03175907954573631,-0.27536824345588684,0.6556934714317322,0.649308443069458,-0.2695122957229614,0.02753857523202896,0.5671562552452087,1.9611656665802002,0.029004396870732307,0.0005957544199191034,0.265938937664032,0.963553249835968,1215,1,,2.114842176437378,0.31501978126653246,0.0,0.0068184612318873405,0.5185185185185185,12,release,0.04205584526062012,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4871
+ c9_p024_e037,3,True,-0.0969095230102539,0.4475526809692383,0.011571095049774454,-0.006959751066490255,-0.2130291024975577,plate_384_white,0.5186014175415039,0.1036224365234375,-92.19232068021707,0.15519088388612118,1558.7046514462777,rect,0.05389825064901965,0.5396565112623786,3.1572131817203797,5250.668907532277,6968.312859917415,sphere,-0.04544974788641376,0.7781700132752252,2.1192311333442855,9195.356137631683,5602.217945583847,0.050147492438554764,-0.0006625351961702108,-0.026244040578603745,-0.28720980882644653,0.6388715505599976,0.6613926291465759,-0.26816675066947937,0.033953141421079636,0.5666172504425049,1.9746037721633911,0.05245256423950195,0.001526221982203424,0.28234368562698364,0.9578770399093628,1163,1,,2.071221113204956,0.31109062698333156,0.0,0.007409440353512764,0.5468615649183147,12,release,0.04209160804748535,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4872
+ c9_p024_e038,0,True,-0.03670024871826172,0.45000362396240234,0.0031698464343494553,0.00259229100447435,-11.44487968225252,plate_6_clear,0.5247726440429688,0.0938873291015625,-93.80799500765366,0.197652221366104,1558.7046514462777,rect,0.7231506464877978,0.18760416202231545,3.0548226433655343,5272.892181657897,6706.341360539796,disk,1.7128589184303538,0.2957987396498265,2.4741674581507134,4766.888066585068,4885.732411866801,0.051031023263931274,-0.00029806396923959255,-0.02955584041774273,-0.2813308537006378,0.6443134546279907,0.6597696542739868,-0.26536235213279724,0.02750466577708721,0.5966234803199768,1.9413890838623047,0.033654820173978806,0.011854720301926136,0.2605234384536743,0.96480792760849,1209,1,,2.0452799797058105,0.316371621157884,0.0,0.007408667355775833,0.5301902398676592,12,release,0.04227757453918457,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False