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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 6 episodes (c2_p018_e020 .. c6_p015_e008); total 4480 {'v1': 1088, 'v2': 3392}

Browse files
Files changed (37) hide show
  1. episodes/c2_p018_e020/data.npz +3 -0
  2. episodes/c2_p018_e020/device_events.jsonl +36 -0
  3. episodes/c2_p018_e020/env.mp4 +3 -0
  4. episodes/c2_p018_e020/meta.json +32 -0
  5. episodes/c2_p018_e020/scene_snapshot.json +1558 -0
  6. episodes/c2_p018_e020/wrist.mp4 +3 -0
  7. episodes/c2_p018_e021/data.npz +3 -0
  8. episodes/c2_p018_e021/device_events.jsonl +35 -0
  9. episodes/c2_p018_e021/env.mp4 +3 -0
  10. episodes/c2_p018_e021/meta.json +32 -0
  11. episodes/c2_p018_e021/scene_snapshot.json +1558 -0
  12. episodes/c2_p018_e021/wrist.mp4 +3 -0
  13. episodes/c4_p015_e028/data.npz +3 -0
  14. episodes/c4_p015_e028/device_events.jsonl +36 -0
  15. episodes/c4_p015_e028/env.mp4 +3 -0
  16. episodes/c4_p015_e028/meta.json +32 -0
  17. episodes/c4_p015_e028/scene_snapshot.json +1558 -0
  18. episodes/c4_p015_e028/wrist.mp4 +3 -0
  19. episodes/c4_p015_e029/data.npz +3 -0
  20. episodes/c4_p015_e029/device_events.jsonl +35 -0
  21. episodes/c4_p015_e029/env.mp4 +3 -0
  22. episodes/c4_p015_e029/meta.json +32 -0
  23. episodes/c4_p015_e029/scene_snapshot.json +1558 -0
  24. episodes/c4_p015_e029/wrist.mp4 +3 -0
  25. episodes/c6_p015_e007/data.npz +3 -0
  26. episodes/c6_p015_e007/device_events.jsonl +36 -0
  27. episodes/c6_p015_e007/env.mp4 +3 -0
  28. episodes/c6_p015_e007/meta.json +32 -0
  29. episodes/c6_p015_e007/scene_snapshot.json +1558 -0
  30. episodes/c6_p015_e007/wrist.mp4 +3 -0
  31. episodes/c6_p015_e008/data.npz +3 -0
  32. episodes/c6_p015_e008/device_events.jsonl +36 -0
  33. episodes/c6_p015_e008/env.mp4 +3 -0
  34. episodes/c6_p015_e008/meta.json +32 -0
  35. episodes/c6_p015_e008/scene_snapshot.json +1558 -0
  36. episodes/c6_p015_e008/wrist.mp4 +3 -0
  37. index/episodes.csv +6 -0
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3
+ size 7022809
index/episodes.csv CHANGED
@@ -4473,3 +4473,9 @@ c9_p021_e001,1,True,-0.028644561767578125,0.4500007629394531,-0.0062589315258612
4473
  c9_p021_e002,3,True,-0.03868389129638672,0.44748878479003906,-0.0035985677946137233,0.0016960228554571074,4.3890922796057055,reservoir_12ch,0.5247726440429688,0.0938873291015625,-93.80799500765366,0.252691037774297,449.2067176950759,rect,0.5282122348654977,0.1398516116997348,3.061388416501096,11610.583708334943,4754.0466234357245,disk,0.0037896702380808556,0.3957095784213309,2.17617518543874,3812.2875099275097,5510.249490435857,0.05081193149089813,0.0027487720362842083,-0.029975973069667816,-0.27926716208457947,0.6503823399543762,0.6548535823822021,-0.2649140954017639,0.05407003313302994,0.5876619815826416,1.931095004081726,0.030736977234482765,0.02898498624563217,0.2739686071872711,0.9608102440834045,1299,1,,2.0761470794677734,0.2767237520688783,0.0,0.007447118870913982,0.541955350269438,12,release,0.04242658615112305,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4474
  c9_p021_e003,0,True,-0.14703750610351562,0.45000362396240234,-0.00032161924920658173,0.0020227065078759973,7.638451040497955,plate_6_clear,0.526087760925293,0.08208084106445312,-87.08310295375541,0.19160231863625307,449.2067176950759,rect,0.6774085846272943,0.13177150974324103,3.1314864374687574,12275.603174362612,5783.721342950846,sphere,0.7933581194009975,-1.126394117276121,2.102930469543884,6156.090522929595,6270.177140487284,0.05044311285018921,-0.002245662733912468,-0.025985272601246834,-0.2709384262561798,0.6460722088813782,0.6619619131088257,-0.2664385139942169,0.07142592966556549,0.5834779739379883,1.9456584453582764,0.04874095693230629,0.00977239292114973,0.27496519684791565,0.960168182849884,1271,1,,2.0859317779541016,0.3387957260363453,0.0,0.007368814200162888,0.4980330448465775,12,release,0.042075395584106445,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4475
  c5_p014_e019,0,True,-0.05620861053466797,0.45000267028808594,0.007478163636448677,-0.008708607537655642,-3.491887334829073,plate_96_black,0.5151042938232422,0.09217453002929688,-87.25871703894035,0.25854898050861114,1027.7386106566971,rect,0.6753045613115832,-0.400107632978449,2.7513817794388076,12081.355392393434,4905.8672056922305,disk,-0.1255854432446024,1.5005031755018183,1.7047400515954085,8421.762322953835,3726.3451070696237,0.04944757744669914,0.0022744457237422466,-0.028178870677947998,-0.28734543919563293,0.6495214104652405,0.6448045372962952,-0.2824564278125763,0.03325847536325455,0.5827802419662476,1.9389303922653198,0.03344035521149635,0.0034678420051932335,0.2682478129863739,0.9627631306648254,1261,1,,2.096271514892578,0.2558626975354282,0.0,0.007314018905162811,0.5551149881046789,12,release,0.04231536388397217,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
 
 
 
 
 
 
 
4473
  c9_p021_e002,3,True,-0.03868389129638672,0.44748878479003906,-0.0035985677946137233,0.0016960228554571074,4.3890922796057055,reservoir_12ch,0.5247726440429688,0.0938873291015625,-93.80799500765366,0.252691037774297,449.2067176950759,rect,0.5282122348654977,0.1398516116997348,3.061388416501096,11610.583708334943,4754.0466234357245,disk,0.0037896702380808556,0.3957095784213309,2.17617518543874,3812.2875099275097,5510.249490435857,0.05081193149089813,0.0027487720362842083,-0.029975973069667816,-0.27926716208457947,0.6503823399543762,0.6548535823822021,-0.2649140954017639,0.05407003313302994,0.5876619815826416,1.931095004081726,0.030736977234482765,0.02898498624563217,0.2739686071872711,0.9608102440834045,1299,1,,2.0761470794677734,0.2767237520688783,0.0,0.007447118870913982,0.541955350269438,12,release,0.04242658615112305,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4474
  c9_p021_e003,0,True,-0.14703750610351562,0.45000362396240234,-0.00032161924920658173,0.0020227065078759973,7.638451040497955,plate_6_clear,0.526087760925293,0.08208084106445312,-87.08310295375541,0.19160231863625307,449.2067176950759,rect,0.6774085846272943,0.13177150974324103,3.1314864374687574,12275.603174362612,5783.721342950846,sphere,0.7933581194009975,-1.126394117276121,2.102930469543884,6156.090522929595,6270.177140487284,0.05044311285018921,-0.002245662733912468,-0.025985272601246834,-0.2709384262561798,0.6460722088813782,0.6619619131088257,-0.2664385139942169,0.07142592966556549,0.5834779739379883,1.9456584453582764,0.04874095693230629,0.00977239292114973,0.27496519684791565,0.960168182849884,1271,1,,2.0859317779541016,0.3387957260363453,0.0,0.007368814200162888,0.4980330448465775,12,release,0.042075395584106445,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4475
  c5_p014_e019,0,True,-0.05620861053466797,0.45000267028808594,0.007478163636448677,-0.008708607537655642,-3.491887334829073,plate_96_black,0.5151042938232422,0.09217453002929688,-87.25871703894035,0.25854898050861114,1027.7386106566971,rect,0.6753045613115832,-0.400107632978449,2.7513817794388076,12081.355392393434,4905.8672056922305,disk,-0.1255854432446024,1.5005031755018183,1.7047400515954085,8421.762322953835,3726.3451070696237,0.04944757744669914,0.0022744457237422466,-0.028178870677947998,-0.28734543919563293,0.6495214104652405,0.6448045372962952,-0.2824564278125763,0.03325847536325455,0.5827802419662476,1.9389303922653198,0.03344035521149635,0.0034678420051932335,0.2682478129863739,0.9627631306648254,1261,1,,2.096271514892578,0.2558626975354282,0.0,0.007314018905162811,0.5551149881046789,12,release,0.04231536388397217,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4476
+ c2_p018_e020,0,True,0.020898818969726562,0.4468812942504883,-0.01514275636536587,-0.001800873711691325,-3.4468225436527575,plate_96_black,0.5080299377441406,0.10838794708251953,-94.807448785957,0.29836005207492233,1017.6967120586845,rect,0.12626656240455048,-0.05514971974896116,2.8919683568033676,14550.28597582134,5082.12505482152,disk,1.751822547095363,-0.2693808366966234,1.6525563146560858,8062.059595767249,4520.398052240347,0.05415807664394379,0.003827480599284172,-0.02565082535147667,-0.2875431776046753,0.6428020596504211,0.6531020998954773,-0.2785356640815735,0.04786720126867294,0.5725179314613342,1.9514973163604736,0.02623300999403,-0.0009906056802719831,0.2670615613460541,0.96332186460495,1155,1,,2.117034673690796,0.29978157285943563,0.0,0.007291046902537346,0.5575757575757576,12,release,0.042157649993896484,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4477
+ c2_p018_e021,1,True,-0.05841255187988281,0.4499940872192383,-0.014659214239339885,0.004040633135221849,3.5705047423059284,deep_well_96_1ml,0.4639453887939453,0.05517768859863281,-87.3430696074474,0.1580995787999545,1017.6967120586845,rect,0.5785791823692007,-0.06546506734993701,3.0333239251610813,4845.130742257534,6375.303808138369,disk,-1.5361797533485584,0.7659861799341083,2.2206038002046276,3090.2089697323268,5238.81328177827,0.05137886106967926,-0.0002915299846790731,-0.026984741911292076,-0.2676718533039093,0.6634067296981812,0.641679048538208,-0.276570588350296,0.04504167288541794,0.5630601644515991,1.973836898803711,0.03888562321662903,0.006889026612043381,0.26966771483421326,0.9621433019638062,1268,1,,2.0677390098571777,0.2783259689706801,0.0,0.007443910464644432,0.5496845425867508,12,release,0.04241681098937988,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4478
+ c4_p015_e028,0,True,0.14581871032714844,0.44999217987060547,0.010786674515150979,0.002430498718389077,-8.13803530399258,deep_well_96_2ml,0.47370147705078125,0.12525367736816406,-87.22483591707285,0.28731044512759846,804.3900090026839,rect,0.3689713734243436,0.4820761923436482,2.96692036964131,7358.6616630089175,5655.149808462612,sphere,0.04095030137163125,0.11155799507984843,2.2451266264348924,7822.555022864527,7009.802077345889,0.05024679750204086,0.0022971921134740114,-0.03241098299622536,-0.2937996983528137,0.6388381719589233,0.6552475690841675,-0.27607637643814087,0.03798272833228111,0.5865186452865601,1.9551100730895996,0.03483699634671211,0.013982314616441727,0.263129860162735,0.964029848575592,1228,1,,2.0822606086730957,0.32610478331055864,0.0,0.007505796849727631,0.5203583061889251,12,release,0.04243123531341553,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4479
+ c4_p015_e029,3,True,0.02543926239013672,0.44725704193115234,0.004758037011390275,-0.0063109973005520325,-8.521236502492457,plate_96_clear,0.515411376953125,0.0921182632446289,-86.90927809631044,0.1834003858587629,804.3900090026839,rect,0.7827436164446505,-0.17783601918669528,2.8039872337487948,10728.024583059374,6426.4608641460145,disk,-0.46340888870365915,0.7091301994314907,2.090885681022379,10809.903558920189,6144.467009245975,0.05321262404322624,-0.0004855953447986394,-0.02791684679687023,-0.2734113037586212,0.6534520387649536,0.6485660672187805,-0.27858349680900574,0.038464393466711044,0.6009474396705627,1.938537359237671,0.057583633810281754,0.008058479055762291,0.2732416093349457,0.9601865410804749,1232,1,,2.1188080310821533,0.3266159038139533,0.0,0.007257848046720028,0.523538961038961,12,release,0.042110562324523926,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4480
+ c6_p015_e007,1,True,0.022306442260742188,0.4499969482421875,-0.011691285440543374,0.010574128544115472,-5.018212671017494,deep_well_96_1ml,0.5198965072631836,0.10860538482666016,-86.17251372599831,0.2844536786512369,605.1478597647558,rect,-0.4791876930310022,-0.036950153746725445,2.8347194249184007,9637.516867076196,4436.308299198701,disk,-0.9348410965505625,-0.2742553704819536,2.527919625785029,10605.016899779606,3502.0693403159953,0.0516393817961216,0.0014524564612656832,-0.0326818972826004,-0.2757965922355652,0.645222008228302,0.6623427867889404,-0.26253923773765564,0.035946592688560486,0.5738721489906311,1.9699753522872925,0.03418772295117378,0.00981535017490387,0.25923001766204834,0.9651604294776917,1219,1,,2.137439727783203,0.26908998629078634,0.0,0.007472444791346788,0.5356849876948319,12,release,0.042409300804138184,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4481
+ c6_p015_e008,0,True,0.02504444122314453,0.4499959945678711,0.011808332403607352,-0.004836236240849661,-11.004908616892209,deep_well_96_2ml,0.478240966796875,0.061928749084472656,-94.39775395472809,0.24885792210189567,605.1478597647558,rect,0.031073758964584974,0.5428888492429735,2.6231301975284658,12462.467256211743,3463.917502287806,disk,1.4090258254296204,-0.12359814332410757,2.4961585739904777,4035.371575952986,6054.9531857426555,0.054836492985486984,0.0002594372199382633,-0.032460201531648636,-0.27551284432411194,0.6561151146888733,0.6445856094360352,-0.2794906497001648,0.04082120209932327,0.576820433139801,1.9387011528015137,0.05117109790444374,0.000527084746863693,0.2584300637245178,0.9646735787391663,1206,1,,2.076655626296997,0.27546274963840045,0.0,0.007467431016266346,0.5323383084577115,12,release,0.042249709367752075,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False