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Arashi2001
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MagicBioLab

Tasks:
Robotics
Tags:
simulation
isaac-sim
lab-automation
microplate
imitation-learning
License:
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 Community
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add 8 episodes (c2_p016_e020 .. c6_p013_e022); total 4082 {'v1': 1088, 'v2': 2994}

Browse files
Files changed (49) hide show
  1. episodes/c2_p016_e020/data.npz +3 -0
  2. episodes/c2_p016_e020/device_events.jsonl +35 -0
  3. episodes/c2_p016_e020/env.mp4 +3 -0
  4. episodes/c2_p016_e020/meta.json +32 -0
  5. episodes/c2_p016_e020/scene_snapshot.json +1558 -0
  6. episodes/c2_p016_e020/wrist.mp4 +3 -0
  7. episodes/c2_p016_e021/data.npz +3 -0
  8. episodes/c2_p016_e021/device_events.jsonl +35 -0
  9. episodes/c2_p016_e021/env.mp4 +3 -0
  10. episodes/c2_p016_e021/meta.json +32 -0
  11. episodes/c2_p016_e021/scene_snapshot.json +1558 -0
  12. episodes/c2_p016_e021/wrist.mp4 +3 -0
  13. episodes/c4_p013_e033/data.npz +3 -0
  14. episodes/c4_p013_e033/device_events.jsonl +35 -0
  15. episodes/c4_p013_e033/env.mp4 +3 -0
  16. episodes/c4_p013_e033/meta.json +32 -0
  17. episodes/c4_p013_e033/scene_snapshot.json +1558 -0
  18. episodes/c4_p013_e033/wrist.mp4 +3 -0
  19. episodes/c4_p013_e034/data.npz +3 -0
  20. episodes/c4_p013_e034/device_events.jsonl +36 -0
  21. episodes/c4_p013_e034/env.mp4 +3 -0
  22. episodes/c4_p013_e034/meta.json +32 -0
  23. episodes/c4_p013_e034/scene_snapshot.json +1558 -0
  24. episodes/c4_p013_e034/wrist.mp4 +3 -0
  25. episodes/c4_p013_e035/data.npz +3 -0
  26. episodes/c4_p013_e035/device_events.jsonl +35 -0
  27. episodes/c4_p013_e035/env.mp4 +3 -0
  28. episodes/c4_p013_e035/meta.json +32 -0
  29. episodes/c4_p013_e035/scene_snapshot.json +1558 -0
  30. episodes/c4_p013_e035/wrist.mp4 +3 -0
  31. episodes/c6_p013_e020/data.npz +3 -0
  32. episodes/c6_p013_e020/device_events.jsonl +35 -0
  33. episodes/c6_p013_e020/env.mp4 +3 -0
  34. episodes/c6_p013_e020/meta.json +32 -0
  35. episodes/c6_p013_e020/scene_snapshot.json +1558 -0
  36. episodes/c6_p013_e020/wrist.mp4 +3 -0
  37. episodes/c6_p013_e021/data.npz +3 -0
  38. episodes/c6_p013_e021/device_events.jsonl +35 -0
  39. episodes/c6_p013_e021/env.mp4 +3 -0
  40. episodes/c6_p013_e021/meta.json +32 -0
  41. episodes/c6_p013_e021/scene_snapshot.json +1558 -0
  42. episodes/c6_p013_e021/wrist.mp4 +3 -0
  43. episodes/c6_p013_e022/data.npz +3 -0
  44. episodes/c6_p013_e022/device_events.jsonl +35 -0
  45. episodes/c6_p013_e022/env.mp4 +3 -0
  46. episodes/c6_p013_e022/meta.json +32 -0
  47. episodes/c6_p013_e022/scene_snapshot.json +1558 -0
  48. episodes/c6_p013_e022/wrist.mp4 +3 -0
  49. index/episodes.csv +8 -0
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@@ -4073,3 +4073,11 @@ c8_p014_e035,1,True,0.05437946319580078,0.4474649429321289,0.006712319513061193,
4073
  c9_p019_e001,2,True,-0.14590167999267578,0.44728565216064453,0.005621644917911609,0.0018441440789269533,-9.436809334255372,plate_384_black,0.526087760925293,0.08208084106445312,-87.08310295375541,0.19160231863625307,1477.3576822920952,rect,0.6774085846272943,0.13177150974324103,3.1314864374687574,12275.603174362612,5783.721342950846,sphere,0.7933581194009975,-1.126394117276121,2.102930469543884,6156.090522929595,6270.177140487284,0.04514291137456894,0.001393886748701334,-0.02869809977710247,-0.28686487674713135,0.6412297487258911,0.6545693874359131,-0.2794134020805359,0.07482627779245377,0.5607385635375977,1.932125210762024,0.04372694343328476,0.02626224048435688,0.2758074104785919,0.9598585963249207,1247,1,,2.0740010738372803,0.32124145715430225,0.0,0.007418413180857897,0.5541299117882919,12,release,0.042555809020996094,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4074
  c9_p019_e002,0,True,0.14460372924804688,0.45000171661376953,-0.009611973335063992,0.00827023701424455,-11.63830997444282,deep_well_96_2ml,0.5144157409667969,0.09686946868896484,-89.41839473485591,0.2885999321968501,1477.3576822920952,rect,-0.04047906512897059,-0.13342394502156157,3.0619206811243975,5259.591580177791,5129.5456649817315,sphere,-0.49983935577500405,-0.5237547492392642,1.9930433183667209,9845.203247290754,6256.608963936025,0.048693981021642685,-0.0019318670965731144,-0.030629420652985573,-0.2856311798095703,0.6446190476417542,0.6497908234596252,-0.2839946150779724,0.02639671228826046,0.5949469804763794,1.949541449546814,0.038015227764844894,0.0010270660277456045,0.2608157992362976,0.9646392464637756,1183,1,,2.1824870109558105,0.3214641631105689,0.0,0.007467357907444239,0.5300084530853761,12,release,0.04227399826049805,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4075
  c9_p019_e003,3,True,-0.028138160705566406,0.4499998092651367,0.011167098575433713,-0.011762976867578783,3.329617133215919,plate_96_clear,0.4907093048095703,0.12754058837890625,-87.03385172275225,0.2267417729786232,1477.3576822920952,rect,0.7475341249958803,0.058924055221995286,2.7066420997311433,12742.835756016357,6472.1639635710635,disk,0.26419080139568396,-1.060169033465179,2.456086572253189,7874.641520018682,4756.002554725414,0.04706921800971031,-0.0015255025355145335,-0.028057467192411423,-0.2668241560459137,0.65462726354599,0.6511375904083252,-0.27620255947113037,0.04431677237153053,0.5906607508659363,1.9478814601898193,0.04237251728773117,-0.004548060242086649,0.2712671458721161,0.9615601897239685,1234,1,,2.041534185409546,0.279424693472965,0.0,0.007315369788557291,0.5696920583468396,12,release,0.04241180419921875,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
 
 
 
 
 
 
 
 
 
4073
  c9_p019_e001,2,True,-0.14590167999267578,0.44728565216064453,0.005621644917911609,0.0018441440789269533,-9.436809334255372,plate_384_black,0.526087760925293,0.08208084106445312,-87.08310295375541,0.19160231863625307,1477.3576822920952,rect,0.6774085846272943,0.13177150974324103,3.1314864374687574,12275.603174362612,5783.721342950846,sphere,0.7933581194009975,-1.126394117276121,2.102930469543884,6156.090522929595,6270.177140487284,0.04514291137456894,0.001393886748701334,-0.02869809977710247,-0.28686487674713135,0.6412297487258911,0.6545693874359131,-0.2794134020805359,0.07482627779245377,0.5607385635375977,1.932125210762024,0.04372694343328476,0.02626224048435688,0.2758074104785919,0.9598585963249207,1247,1,,2.0740010738372803,0.32124145715430225,0.0,0.007418413180857897,0.5541299117882919,12,release,0.042555809020996094,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4074
  c9_p019_e002,0,True,0.14460372924804688,0.45000171661376953,-0.009611973335063992,0.00827023701424455,-11.63830997444282,deep_well_96_2ml,0.5144157409667969,0.09686946868896484,-89.41839473485591,0.2885999321968501,1477.3576822920952,rect,-0.04047906512897059,-0.13342394502156157,3.0619206811243975,5259.591580177791,5129.5456649817315,sphere,-0.49983935577500405,-0.5237547492392642,1.9930433183667209,9845.203247290754,6256.608963936025,0.048693981021642685,-0.0019318670965731144,-0.030629420652985573,-0.2856311798095703,0.6446190476417542,0.6497908234596252,-0.2839946150779724,0.02639671228826046,0.5949469804763794,1.949541449546814,0.038015227764844894,0.0010270660277456045,0.2608157992362976,0.9646392464637756,1183,1,,2.1824870109558105,0.3214641631105689,0.0,0.007467357907444239,0.5300084530853761,12,release,0.04227399826049805,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4075
  c9_p019_e003,3,True,-0.028138160705566406,0.4499998092651367,0.011167098575433713,-0.011762976867578783,3.329617133215919,plate_96_clear,0.4907093048095703,0.12754058837890625,-87.03385172275225,0.2267417729786232,1477.3576822920952,rect,0.7475341249958803,0.058924055221995286,2.7066420997311433,12742.835756016357,6472.1639635710635,disk,0.26419080139568396,-1.060169033465179,2.456086572253189,7874.641520018682,4756.002554725414,0.04706921800971031,-0.0015255025355145335,-0.028057467192411423,-0.2668241560459137,0.65462726354599,0.6511375904083252,-0.27620255947113037,0.04431677237153053,0.5906607508659363,1.9478814601898193,0.04237251728773117,-0.004548060242086649,0.2712671458721161,0.9615601897239685,1234,1,,2.041534185409546,0.279424693472965,0.0,0.007315369788557291,0.5696920583468396,12,release,0.04241180419921875,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4076
+ c2_p016_e020,1,True,-0.12595367431640625,0.4499988555908203,0.00766847983733379,0.0007897913005658841,0.953909718043974,plate_12_clear,0.4701118469238281,0.05037117004394531,-86.43240791037327,0.27974622538763794,670.6372064077141,rect,0.3864015039739497,0.20885587192775001,3.1034615474911034,9774.347702243169,4770.351155185779,disk,1.131662939831957,1.305308182106004,2.551636287555778,4852.366546967793,5384.976183887515,0.049516063183546066,-3.9061425923136994e-05,-0.03132924810051918,-0.2820347249507904,0.6432347893714905,0.6517341136932373,-0.2862657606601715,0.02935466542840004,0.5835272073745728,1.9645791053771973,0.04287878796458244,0.009194176644086838,0.2729720175266266,0.9610219597816467,1199,1,,2.059089183807373,0.290441626481906,0.0,0.007352735381573439,0.5279399499582986,12,release,0.04237008094787598,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4077
+ c2_p016_e021,3,True,-0.059058189392089844,0.44774627685546875,-0.0053507360203838734,0.006067631986314974,-4.767683385379371,plate_48_clear,0.4639453887939453,0.05517768859863281,-87.3430696074474,0.1580995787999545,670.6372064077141,rect,0.5785791823692007,-0.06546506734993701,3.0333239251610813,4845.130742257534,6375.303808138369,disk,-1.5361797533485584,0.7659861799341083,2.2206038002046276,3090.2089697323268,5238.81328177827,0.046892665326595306,3.870452201226726e-05,-0.02898985520005226,-0.26908135414123535,0.6474040746688843,0.657321035861969,-0.2763913571834564,0.045860085636377335,0.5877004861831665,1.9294629096984863,0.04413620010018349,0.021241921931505203,0.2706122398376465,0.9614415168762207,1239,1,,2.1128604412078857,0.24428782065304813,0.0,0.00728885643184185,0.5633575464083939,12,release,0.04238486289978027,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4078
+ c4_p013_e033,0,True,0.05415821075439453,0.4500446319580078,-0.004763770108330631,0.00865187886977677,2.3741929460281312,deep_well_96_2ml,0.4789886474609375,0.10606861114501953,-92.60895762332187,0.18405777286861416,1018.6405720831542,rect,-0.20073051335898717,0.07391290838610132,2.7391425338232165,6580.812523448611,4878.133537089066,sphere,-1.2592947991362495,0.9462651433164055,1.8893973598726295,5168.2510701984975,5324.590372681696,0.0457419790327549,-0.00023439618234988302,-0.02772495523095131,-0.27783796191215515,0.6543362736701965,0.6502479314804077,-0.26800695061683655,0.054781608283519745,0.5556797385215759,1.9453709125518799,0.030164342373609543,-0.002057150937616825,0.2832472622394562,0.9585702419281006,1238,1,,2.052067279815674,0.2938471559231609,0.0,0.007468611001968384,0.5177705977382876,12,release,0.04305458068847656,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4079
+ c4_p013_e034,1,True,0.03650379180908203,0.44724273681640625,-0.011255807680573358,-0.01006461247082835,-3.0031709042235946,deep_well_96_1ml,0.4986705780029297,0.0822305679321289,-90.25616064821757,0.2875577185098434,1018.6405720831542,rect,-0.3733260901153829,0.3320010043109757,3.0606062428758567,9087.193844683283,3503.166002553055,disk,0.30094435781713447,1.172164907486726,2.3559495696073878,7364.674969832323,6958.930282272652,0.04883527010679245,-0.0019362416351214051,-0.03087822161614895,-0.28086724877357483,0.6432377099990845,0.6568664908409119,-0.27547284960746765,0.04402799531817436,0.5923936367034912,1.9497126340866089,0.04362035542726517,0.018429841846227646,0.26818251609802246,0.9622035622596741,1259,1,,2.083348274230957,0.24562471859309856,0.0,0.007471361197531223,0.5131056393963463,12,release,0.04212471842765808,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4080
+ c4_p013_e035,2,True,-0.1247406005859375,0.44754695892333984,0.00034485820378354155,0.00519930250781123,-2.9064554787011616,plate_24_clear,0.47370147705078125,0.12525367736816406,-87.22483591707285,0.22524126041504364,1018.6405720831542,rect,0.6994685823043242,-0.1130989272103246,2.69043245962866,11919.740112944131,3833.6172529838673,sphere,-0.8674775955633557,-0.9988746104093449,1.8413621889682246,7303.823307244031,5756.252129681912,0.04900892823934555,0.001814355025999248,-0.02825707383453846,-0.28285664319992065,0.6531621217727661,0.6388096809387207,-0.29205065965652466,0.05627424269914627,0.5824843645095825,1.9276463985443115,0.06151479482650757,0.021027615293860435,0.2625344395637512,0.9627302289009094,1240,1,,2.132525682449341,0.25854246554098165,0.0,0.007336781360208988,0.5580645161290323,12,release,0.04295754432678223,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4081
+ c6_p013_e020,3,True,0.010404586791992188,0.44927978515625,-0.002929550051593951,-0.001011775858124662,-2.1710195915388226,plate_384_white,0.5198965072631836,0.10860538482666016,-86.17251372599831,0.22036955995296165,726.8395676941949,rect,0.19180220382302926,0.029572916288535422,2.9649736957286694,11199.188198553762,3415.0176536074273,disk,-0.21622450596582365,1.2717166736490888,2.366787917714733,5971.171439982814,5500.276808828972,0.04964466392993927,-0.003475470468401909,-0.028839096426963806,-0.28316715359687805,0.6391405463218689,0.6550151109695435,-0.2868290841579437,0.06853112578392029,0.5992452502250671,1.9301135540008545,0.044985655695199966,0.01749195158481598,0.26559850573539734,0.962874710559845,1191,1,,2.1065423488616943,0.30573518059578675,0.0,0.007381408475339413,0.5289672544080605,12,release,0.04229515790939331,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4082
+ c6_p013_e021,1,True,0.031441688537597656,0.4473228454589844,0.007521359535107365,-0.006093055542428318,6.274787480629669,plate_12_clear,0.4634876251220703,0.05016803741455078,-85.64322380730157,0.2044216065083122,726.8395676941949,rect,0.8266998976139258,0.0010304140758431446,3.1074179338001784,11350.538966756676,6544.354778999083,sphere,0.5313373148877871,1.2156025591485677,2.687539089030611,4998.691150981168,4251.529348635468,0.05010450631380081,-0.0037656063213944435,-0.035236239433288574,-0.28313586115837097,0.646380603313446,0.651863694190979,-0.27766871452331543,0.0675911009311676,0.5923718214035034,1.9309531450271606,0.058280616998672485,0.023848026990890503,0.2710343301296234,0.9605076909065247,1227,1,,2.091242551803589,0.29720752163723324,0.0,0.007318597752600908,0.5232273838630807,12,release,0.04218339920043945,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4083
+ c6_p013_e022,2,True,-0.039340972900390625,0.44736385345458984,0.002163762689510937,-0.01026179757460158,0.8386981335542316,plate_384_black,0.478240966796875,0.061928749084472656,-94.39775395472809,0.2638218810700069,726.8395676941949,rect,0.20588127767883602,0.4275830515396415,2.6042037974181107,8954.434422109178,3221.110797972145,disk,1.7900632033343213,0.23105895051821346,2.0316033116934404,4101.760129341603,6862.096025754439,0.04806400462985039,0.00018488029309082776,-0.033226266503334045,-0.2728101909160614,0.6614349484443665,0.6444739699363708,-0.26968806982040405,0.05285738408565521,0.5978947877883911,1.9593214988708496,0.03744976967573166,0.01301303505897522,0.25959205627441406,0.9649041891098022,1246,1,,2.0611562728881836,0.30393256119479406,0.0,0.007418154738843441,0.5626003210272873,12,release,0.04223179817199707,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False