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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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d28745e
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1 Parent(s): b915701

add 8 episodes (c6_p012_e009 .. c9_p017_e009); total 3636 {'v1': 1088, 'v2': 2548}

Browse files
Files changed (49) hide show
  1. episodes/c6_p012_e009/data.npz +3 -0
  2. episodes/c6_p012_e009/device_events.jsonl +35 -0
  3. episodes/c6_p012_e009/env.mp4 +3 -0
  4. episodes/c6_p012_e009/meta.json +32 -0
  5. episodes/c6_p012_e009/scene_snapshot.json +1558 -0
  6. episodes/c6_p012_e009/wrist.mp4 +3 -0
  7. episodes/c6_p012_e010/data.npz +3 -0
  8. episodes/c6_p012_e010/device_events.jsonl +35 -0
  9. episodes/c6_p012_e010/env.mp4 +3 -0
  10. episodes/c6_p012_e010/meta.json +32 -0
  11. episodes/c6_p012_e010/scene_snapshot.json +1558 -0
  12. episodes/c6_p012_e010/wrist.mp4 +3 -0
  13. episodes/c6_p012_e011/data.npz +3 -0
  14. episodes/c6_p012_e011/device_events.jsonl +35 -0
  15. episodes/c6_p012_e011/env.mp4 +3 -0
  16. episodes/c6_p012_e011/meta.json +32 -0
  17. episodes/c6_p012_e011/scene_snapshot.json +1558 -0
  18. episodes/c6_p012_e011/wrist.mp4 +3 -0
  19. episodes/c7_p012_e023/data.npz +3 -0
  20. episodes/c7_p012_e023/device_events.jsonl +36 -0
  21. episodes/c7_p012_e023/env.mp4 +3 -0
  22. episodes/c7_p012_e023/meta.json +32 -0
  23. episodes/c7_p012_e023/scene_snapshot.json +1558 -0
  24. episodes/c7_p012_e023/wrist.mp4 +3 -0
  25. episodes/c8_p013_e008/data.npz +3 -0
  26. episodes/c8_p013_e008/device_events.jsonl +39 -0
  27. episodes/c8_p013_e008/env.mp4 +3 -0
  28. episodes/c8_p013_e008/meta.json +32 -0
  29. episodes/c8_p013_e008/scene_snapshot.json +1558 -0
  30. episodes/c8_p013_e008/wrist.mp4 +3 -0
  31. episodes/c8_p013_e009/data.npz +3 -0
  32. episodes/c8_p013_e009/device_events.jsonl +35 -0
  33. episodes/c8_p013_e009/env.mp4 +3 -0
  34. episodes/c8_p013_e009/meta.json +32 -0
  35. episodes/c8_p013_e009/scene_snapshot.json +1558 -0
  36. episodes/c8_p013_e009/wrist.mp4 +3 -0
  37. episodes/c9_p017_e008/data.npz +3 -0
  38. episodes/c9_p017_e008/device_events.jsonl +36 -0
  39. episodes/c9_p017_e008/env.mp4 +3 -0
  40. episodes/c9_p017_e008/meta.json +32 -0
  41. episodes/c9_p017_e008/scene_snapshot.json +1558 -0
  42. episodes/c9_p017_e008/wrist.mp4 +3 -0
  43. episodes/c9_p017_e009/data.npz +3 -0
  44. episodes/c9_p017_e009/device_events.jsonl +37 -0
  45. episodes/c9_p017_e009/env.mp4 +3 -0
  46. episodes/c9_p017_e009/meta.json +32 -0
  47. episodes/c9_p017_e009/scene_snapshot.json +1558 -0
  48. episodes/c9_p017_e009/wrist.mp4 +3 -0
  49. index/episodes.csv +8 -0
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index/episodes.csv CHANGED
@@ -3627,3 +3627,11 @@ c7_p012_e021,1,True,0.07336616516113281,0.45000457763671875,-0.00440118054728611
3627
  c7_p012_e022,0,True,0.09832572937011719,0.4500007629394531,-0.01228154294268194,0.0016374744920020518,-11.588179425024492,plate_6_clear,0.4654064178466797,0.08583927154541016,-88.57925339217232,0.19800365475179207,1360.021032793905,rect,-0.5989539780856705,0.05634697895527008,2.919159392580822,12611.985743680414,4139.143990619027,sphere,1.7711778414660748,-0.14185765854329624,1.7252640045565537,5814.207426661884,4691.800995503371,0.04749687388539314,-0.00019572836754377931,-0.028813200071454048,-0.2699279189109802,0.6487594246864319,0.6574622988700867,-0.2720174193382263,0.037901606410741806,0.5884522199630737,1.9391604661941528,0.030863165855407715,0.02234441600739956,0.26065629720687866,0.964679479598999,1215,1,,2.0755765438079834,0.2730441488400855,0.0,0.007379882037639618,0.5316872427983539,12,release,0.04225987195968628,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3628
  c8_p013_e006,1,True,0.0053844451904296875,0.4499979019165039,0.0007067463998995462,-0.009262079335127606,-7.484773732288147,plate_96_white,0.4725770950317383,0.07769966125488281,-85.62539226203064,0.19236923427320646,1332.254389258267,rect,0.6063087776532822,0.42934942843993473,2.6180425637985087,11607.328502459255,3871.7769500139116,disk,-0.10363199329005468,0.7541313580871014,1.7846954721418948,10147.660869441153,4003.1463409231183,0.04890701547265053,0.0009461200679652393,-0.02977548912167549,-0.2843100428581238,0.6513649821281433,0.6440721154212952,-0.28295329213142395,0.043852176517248154,0.5833026170730591,1.9609965085983276,0.03572781756520271,0.021050479263067245,0.27757298946380615,0.9598091840744019,1302,1,,2.064343214035034,0.34842036146779776,0.0,0.007327488157898188,0.5391705069124424,12,release,0.042365431785583496,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3629
  c8_p013_e007,0,True,-0.03589439392089844,0.44745922088623047,0.004558135601427259,0.008670210216619607,9.386373992678699,deep_well_96_2ml,0.470947265625,0.11478233337402344,-86.6555380947792,0.18827965062623625,1332.254389258267,rect,0.3771167846857534,-0.14986276011524546,2.642309403717278,13973.181706801164,5641.290690787908,disk,1.7711515640389313,0.3702286661991874,2.598344867019029,10373.68062977982,5820.11736964417,0.04719102382659912,-0.0019584731198847294,-0.03303198143839836,-0.2853018343448639,0.6529394388198853,0.6447280645370483,-0.2767646312713623,0.06401766091585159,0.5639739036560059,1.9650367498397827,0.037150852382183075,0.008011595346033573,0.258004754781723,0.9653958678245544,1303,1,,2.0574121475219727,0.23161975951758415,0.0,0.007506880443543196,0.5395241749808135,12,release,0.04318952560424805,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
 
 
 
 
 
 
 
 
 
3627
  c7_p012_e022,0,True,0.09832572937011719,0.4500007629394531,-0.01228154294268194,0.0016374744920020518,-11.588179425024492,plate_6_clear,0.4654064178466797,0.08583927154541016,-88.57925339217232,0.19800365475179207,1360.021032793905,rect,-0.5989539780856705,0.05634697895527008,2.919159392580822,12611.985743680414,4139.143990619027,sphere,1.7711778414660748,-0.14185765854329624,1.7252640045565537,5814.207426661884,4691.800995503371,0.04749687388539314,-0.00019572836754377931,-0.028813200071454048,-0.2699279189109802,0.6487594246864319,0.6574622988700867,-0.2720174193382263,0.037901606410741806,0.5884522199630737,1.9391604661941528,0.030863165855407715,0.02234441600739956,0.26065629720687866,0.964679479598999,1215,1,,2.0755765438079834,0.2730441488400855,0.0,0.007379882037639618,0.5316872427983539,12,release,0.04225987195968628,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3628
  c8_p013_e006,1,True,0.0053844451904296875,0.4499979019165039,0.0007067463998995462,-0.009262079335127606,-7.484773732288147,plate_96_white,0.4725770950317383,0.07769966125488281,-85.62539226203064,0.19236923427320646,1332.254389258267,rect,0.6063087776532822,0.42934942843993473,2.6180425637985087,11607.328502459255,3871.7769500139116,disk,-0.10363199329005468,0.7541313580871014,1.7846954721418948,10147.660869441153,4003.1463409231183,0.04890701547265053,0.0009461200679652393,-0.02977548912167549,-0.2843100428581238,0.6513649821281433,0.6440721154212952,-0.28295329213142395,0.043852176517248154,0.5833026170730591,1.9609965085983276,0.03572781756520271,0.021050479263067245,0.27757298946380615,0.9598091840744019,1302,1,,2.064343214035034,0.34842036146779776,0.0,0.007327488157898188,0.5391705069124424,12,release,0.042365431785583496,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3629
  c8_p013_e007,0,True,-0.03589439392089844,0.44745922088623047,0.004558135601427259,0.008670210216619607,9.386373992678699,deep_well_96_2ml,0.470947265625,0.11478233337402344,-86.6555380947792,0.18827965062623625,1332.254389258267,rect,0.3771167846857534,-0.14986276011524546,2.642309403717278,13973.181706801164,5641.290690787908,disk,1.7711515640389313,0.3702286661991874,2.598344867019029,10373.68062977982,5820.11736964417,0.04719102382659912,-0.0019584731198847294,-0.03303198143839836,-0.2853018343448639,0.6529394388198853,0.6447280645370483,-0.2767646312713623,0.06401766091585159,0.5639739036560059,1.9650367498397827,0.037150852382183075,0.008011595346033573,0.258004754781723,0.9653958678245544,1303,1,,2.0574121475219727,0.23161975951758415,0.0,0.007506880443543196,0.5395241749808135,12,release,0.04318952560424805,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3630
+ c6_p012_e009,0,True,-0.042510986328125,0.4500007629394531,-0.006661531870497627,0.005216449395559307,-5.045646693870651,pcr_96_blue,0.5262136459350586,0.07812881469726562,-87.10510678931891,0.27651761570675626,658.1824904179343,rect,0.06175007967607049,0.024245188836123144,2.82113112568489,13748.669392184001,5214.052345735853,disk,0.8013184288200716,-0.2768214564667887,1.8671928550702164,4772.708332019891,4441.447118020555,0.05052513629198074,-0.0002854199556168169,-0.03008163720369339,-0.27090445160865784,0.6568997502326965,0.6431360840797424,-0.28542861342430115,0.06029096990823746,0.5707341432571411,1.935444951057434,0.03300677612423897,0.019443897530436516,0.25949832797050476,0.9649834632873535,1166,1,,2.1354963779449463,0.3274105116702345,0.0,0.006873512640595436,0.5497427101200686,12,release,0.04220759868621826,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3631
+ c6_p012_e010,2,True,0.12608051300048828,0.45000171661376953,-0.001144106388079182,-0.003483871729426961,-1.5378159868415082,plate_24_clear,0.4634876251220703,0.05016803741455078,-85.64322380730157,0.21617683304785096,658.1824904179343,rect,0.12289776965712362,0.11431351510653642,2.978491739645427,10096.102876492292,5650.07136225517,sphere,0.7992639183585659,-0.9201282352812641,2.343253195205574,1816.759080802779,6155.121362654867,0.04889936000108719,0.0013912832364439964,-0.03200441598892212,-0.28627368807792664,0.6444591879844666,0.6585588455200195,-0.26271653175354004,0.031933896243572235,0.5922781825065613,1.959958791732788,0.03573755919933319,0.008581127040088177,0.273000568151474,0.9613115191459656,1257,1,,2.071927547454834,0.277360045604237,0.0,0.00729037169367075,0.5003977724741447,12,release,0.04208540916442871,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3632
+ c6_p012_e011,1,True,0.1045980453491211,0.4499530792236328,0.002484364371193044,-0.007535566782498236,-0.14137487370231838,pcr_384_red,0.4951019287109375,0.0760946273803711,-87.26208570395877,0.255578407839755,658.1824904179343,rect,0.6653246241229854,0.05518838957661809,2.973437797329054,15074.959319322206,6729.56741531515,sphere,0.8048984423478971,0.08282404939675425,2.7680343277518062,2056.525906897273,6808.708720716113,0.048412714153528214,-0.0013163438998162746,-0.027183635160326958,-0.29016342759132385,0.6319345831871033,0.6646466851234436,-0.2733287513256073,0.036923255771398544,0.6031603813171387,1.9636504650115967,0.025329820811748505,0.002732043620198965,0.2865025997161865,0.9577406644821167,1170,1,,2.0984461307525635,0.33858440788139366,0.0,0.00683679711073637,0.5470085470085471,12,release,0.042092204093933105,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3633
+ c7_p012_e023,3,True,0.02975940704345703,0.44736576080322266,0.0027960795452090753,0.010454385441595899,3.703166041807833,plate_96_clear,0.5013265609741211,0.12685012817382812,-86.2240741152387,0.16515893302905726,1360.021032793905,rect,-0.23394194491713943,0.1691052564263219,3.117272556149864,11152.998642322313,7037.027271427627,sphere,0.9172613158031964,-0.024810132606723823,1.9800932551109414,7593.6254385835,5556.728292675842,0.048105206340551376,-0.0026610789354890585,-0.03238669037818909,-0.27616268396377563,0.6540339589118958,0.6521430015563965,-0.2658632695674896,0.03414306044578552,0.5854322910308838,1.9554412364959717,0.03978334367275238,0.02943071536719799,0.281450480222702,0.9582988619804382,1217,1,,2.0664761066436768,0.32225087037960054,0.0,0.0072575719095766544,0.5168447000821693,12,release,0.04212498664855957,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3634
+ c8_p013_e008,3,True,0.03015422821044922,0.4499931335449219,0.006478505578708118,0.010531891615891121,-7.627210065222329,reservoir_12ch,0.4758901596069336,0.08242988586425781,-91.07517813999307,0.16062427052438244,1332.254389258267,rect,0.022070630890030585,0.5550121831548913,2.963143563088425,6256.958799896849,4095.1321800284454,disk,-0.34784512366780485,0.23092624401798956,1.9055842000853576,6690.183643851499,4043.1094267062194,0.05172199755907059,0.00047720593283884227,-0.03143031522631645,-0.28096261620521545,0.6502828001976013,0.6432203054428101,-0.2906198799610138,0.04433504864573479,0.5881368517875671,1.9528471231460571,0.058985427021980286,0.014714641496539116,0.2753109335899353,0.9594311118125916,1175,1,,2.054201364517212,0.27819422461770477,0.0,0.007390215992927551,0.5387234042553192,12,release,0.042236328125,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3635
+ c8_p013_e009,2,True,-0.09036445617675781,0.45000171661376953,0.0019205166217266946,-0.009556807192583984,-4.038127474071501,plate_24_clear,0.4705057144165039,0.12225914001464844,-93.49630103581289,0.24899012540107512,1332.9576626922994,rect,0.24518283530631613,0.3983976462043627,2.7206228461075654,4176.5657348393,6977.858322647089,disk,1.3506936644991239,-1.1050712060192518,2.0929537424964235,3514.1947652932404,5834.090067531717,0.053243786096572876,-0.0027438097167760134,-0.032267965376377106,-0.2647261321544647,0.6574293375015259,0.6521720290184021,-0.2690322697162628,0.03150497376918793,0.5709827542304993,1.9274373054504395,0.031553003937006,0.02323967032134533,0.25702333450317383,0.9656103253364563,1289,1,,2.0672531127929688,0.33838605369711844,0.0,0.007348476909101009,0.5407292474786657,12,release,0.04241585731506348,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3636
+ c9_p017_e008,2,True,0.026529312133789062,0.4500007629394531,-0.006708996819509777,-0.0012898982909164292,-11.729456609077232,plate_1536_black,0.5144157409667969,0.09686946868896484,-89.41839473485591,0.23879853475709348,1111.8415747427557,rect,-0.47969223806080835,0.5093291010746548,2.6533933958065448,7012.322089586425,3256.58587691405,sphere,1.5939148156863054,1.5495704326602568,2.5789322179332976,7503.030251792932,7270.66191801048,0.04871128872036934,0.00017610221402719617,-0.03050244227051735,-0.2868908941745758,0.6416874527931213,0.651718258857727,-0.2849457561969757,0.03840956464409828,0.579685389995575,1.949648380279541,0.04077936336398125,0.02148132398724556,0.28107038140296936,0.9585797190666199,1231,1,,2.119521379470825,0.27457225133220337,0.0,0.007340496405959129,0.5182778229082047,12,release,0.042294055223464966,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3637
+ c9_p017_e009,1,True,-0.10159492492675781,0.45000457763671875,-0.00593182502086853,-0.0006907112541911768,11.675967372339954,plate_12_clear,0.4793062210083008,0.06306743621826172,-86.66536905306221,0.28952858526143277,1111.8415747427557,rect,0.44410825447283153,0.22614539786105137,3.179295915295191,13376.272958907713,4641.9719722241025,sphere,-0.9047874086377503,0.9451118902505866,2.3558865883870603,5442.631041496255,3453.3493404228484,0.04643864929676056,-6.178839976200834e-05,-0.03497074544429779,-0.2854408025741577,0.6417924761772156,0.6539207696914673,-0.2810934782028198,0.04540790244936943,0.5646792054176331,1.9441161155700684,0.03897726535797119,0.01599259488284588,0.2797812521457672,0.9591389298439026,1223,1,,2.091472864151001,0.2778801601169127,0.0,0.007376659661531448,0.5241210139002453,12,release,0.04215085506439209,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False