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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 14 episodes (c2_p015_e025 .. c9_p017_e039); total 3822 {'v1': 1088, 'v2': 2734}

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  1. episodes/c2_p015_e025/data.npz +3 -0
  2. episodes/c2_p015_e025/device_events.jsonl +37 -0
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  4. episodes/c2_p015_e025/meta.json +32 -0
  5. episodes/c2_p015_e025/scene_snapshot.json +1558 -0
  6. episodes/c2_p015_e025/wrist.mp4 +3 -0
  7. episodes/c2_p015_e026/data.npz +3 -0
  8. episodes/c2_p015_e026/device_events.jsonl +36 -0
  9. episodes/c2_p015_e026/env.mp4 +3 -0
  10. episodes/c2_p015_e026/meta.json +32 -0
  11. episodes/c2_p015_e026/scene_snapshot.json +1558 -0
  12. episodes/c2_p015_e026/wrist.mp4 +3 -0
  13. episodes/c2_p015_e027/data.npz +3 -0
  14. episodes/c2_p015_e027/device_events.jsonl +35 -0
  15. episodes/c2_p015_e027/env.mp4 +3 -0
  16. episodes/c2_p015_e027/meta.json +32 -0
  17. episodes/c2_p015_e027/scene_snapshot.json +1558 -0
  18. episodes/c2_p015_e027/wrist.mp4 +3 -0
  19. episodes/c4_p012_e032/data.npz +3 -0
  20. episodes/c4_p012_e032/device_events.jsonl +35 -0
  21. episodes/c4_p012_e032/env.mp4 +3 -0
  22. episodes/c4_p012_e032/meta.json +32 -0
  23. episodes/c4_p012_e032/scene_snapshot.json +1558 -0
  24. episodes/c4_p012_e032/wrist.mp4 +3 -0
  25. episodes/c4_p012_e033/data.npz +3 -0
  26. episodes/c4_p012_e033/device_events.jsonl +35 -0
  27. episodes/c4_p012_e033/env.mp4 +3 -0
  28. episodes/c4_p012_e033/meta.json +32 -0
  29. episodes/c4_p012_e033/scene_snapshot.json +1558 -0
  30. episodes/c4_p012_e033/wrist.mp4 +3 -0
  31. episodes/c4_p012_e034/data.npz +3 -0
  32. episodes/c4_p012_e034/device_events.jsonl +36 -0
  33. episodes/c4_p012_e034/env.mp4 +3 -0
  34. episodes/c4_p012_e034/meta.json +32 -0
  35. episodes/c4_p012_e034/scene_snapshot.json +1558 -0
  36. episodes/c4_p012_e034/wrist.mp4 +3 -0
  37. episodes/c4_p012_e035/data.npz +3 -0
  38. episodes/c4_p012_e035/device_events.jsonl +35 -0
  39. episodes/c4_p012_e035/env.mp4 +3 -0
  40. episodes/c4_p012_e035/meta.json +32 -0
  41. episodes/c4_p012_e035/scene_snapshot.json +1558 -0
  42. episodes/c4_p012_e035/wrist.mp4 +3 -0
  43. episodes/c6_p012_e031/data.npz +3 -0
  44. episodes/c6_p012_e031/device_events.jsonl +35 -0
  45. episodes/c6_p012_e031/env.mp4 +3 -0
  46. episodes/c6_p012_e031/meta.json +32 -0
  47. episodes/c6_p012_e031/scene_snapshot.json +1558 -0
  48. episodes/c6_p012_e031/wrist.mp4 +3 -0
  49. episodes/c7_p014_e008/data.npz +3 -0
  50. episodes/c7_p014_e008/device_events.jsonl +35 -0
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+ {"env_id": 3, "seq": 1, "step": 128, "t": 0.64, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
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+ {"env_id": 3, "seq": 2, "step": 128, "t": 0.64, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
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+ {"env_id": 3, "seq": 3, "step": 133, "t": 0.665, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
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+ {"env_id": 3, "seq": 4, "step": 6119, "t": 30.595, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
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+ {"env_id": 3, "seq": 5, "step": 6732, "t": 33.66, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
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+ {"env_id": 3, "seq": 6, "step": 6732, "t": 33.66, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.9121684602617464}, "cause": "task-3-1"}
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+ {"env_id": 3, "seq": 7, "step": 6732, "t": 33.66, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"}
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+ {"env_id": 3, "seq": 8, "step": 6732, "t": 33.66, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
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+ {"env_id": 3, "seq": 9, "step": 6732, "t": 33.66, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"}
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+ {"env_id": 3, "seq": 10, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
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+ {"env_id": 3, "seq": 11, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"}
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+ {"env_id": 3, "seq": 12, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"}
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+ {"env_id": 3, "seq": 13, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"}
14
+ {"env_id": 3, "seq": 14, "step": 7151, "t": 35.755, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"}
15
+ {"env_id": 3, "seq": 15, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"}
16
+ {"env_id": 3, "seq": 16, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"}
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+ {"env_id": 3, "seq": 17, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
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+ {"env_id": 3, "seq": 18, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.9121684602617464}, "cause": "program-3-3"}
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+ {"env_id": 3, "seq": 19, "step": 7534, "t": 37.67, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
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+ {"env_id": 3, "seq": 20, "step": 7534, "t": 37.67, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.9150000000009797}, "cause": "program-3-3"}
21
+ {"env_id": 3, "seq": 21, "step": 7534, "t": 37.67, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.9150000000009797}}, "cause": "program-3-3"}
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+ {"env_id": 3, "seq": 22, "step": 7534, "t": 37.67, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"}
23
+ {"env_id": 3, "seq": 23, "step": 7534, "t": 37.67, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
24
+ {"env_id": 3, "seq": 24, "step": 7534, "t": 37.67, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"}
25
+ {"env_id": 3, "seq": 25, "step": 7954, "t": 39.77, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
26
+ {"env_id": 3, "seq": 26, "step": 7954, "t": 39.77, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"}
27
+ {"env_id": 3, "seq": 27, "step": 7954, "t": 39.77, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"}
28
+ {"env_id": 3, "seq": 28, "step": 7954, "t": 39.77, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"}
29
+ {"env_id": 3, "seq": 29, "step": 7954, "t": 39.77, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"}
30
+ {"env_id": 3, "seq": 30, "step": 7954, "t": 39.77, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
31
+ {"env_id": 3, "seq": 31, "step": 8536, "t": 42.68, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
32
+ {"env_id": 3, "seq": 32, "step": 10252, "t": 51.26, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"}
33
+ {"env_id": 3, "seq": 33, "step": 10252, "t": 51.26, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-3-5"}
34
+ {"env_id": 3, "seq": 34, "step": 10252, "t": 51.26, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
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+ {"env_id": 3, "seq": 35, "step": 10252, "t": 51.26, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"}