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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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f8e4344
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1 Parent(s): 21c1a0a

add 8 episodes (c4_p017_e000 .. c9_p022_e009); total 4705 {'v1': 1088, 'v2': 3617}

Browse files
Files changed (49) hide show
  1. episodes/c4_p017_e000/data.npz +3 -0
  2. episodes/c4_p017_e000/device_events.jsonl +35 -0
  3. episodes/c4_p017_e000/env.mp4 +3 -0
  4. episodes/c4_p017_e000/meta.json +32 -0
  5. episodes/c4_p017_e000/scene_snapshot.json +1558 -0
  6. episodes/c4_p017_e000/wrist.mp4 +3 -0
  7. episodes/c4_p017_e001/data.npz +3 -0
  8. episodes/c4_p017_e001/device_events.jsonl +36 -0
  9. episodes/c4_p017_e001/env.mp4 +3 -0
  10. episodes/c4_p017_e001/meta.json +32 -0
  11. episodes/c4_p017_e001/scene_snapshot.json +1558 -0
  12. episodes/c4_p017_e001/wrist.mp4 +3 -0
  13. episodes/c4_p017_e002/data.npz +3 -0
  14. episodes/c4_p017_e002/device_events.jsonl +37 -0
  15. episodes/c4_p017_e002/env.mp4 +3 -0
  16. episodes/c4_p017_e002/meta.json +32 -0
  17. episodes/c4_p017_e002/scene_snapshot.json +1558 -0
  18. episodes/c4_p017_e002/wrist.mp4 +3 -0
  19. episodes/c4_p017_e003/data.npz +3 -0
  20. episodes/c4_p017_e003/device_events.jsonl +35 -0
  21. episodes/c4_p017_e003/env.mp4 +3 -0
  22. episodes/c4_p017_e003/meta.json +32 -0
  23. episodes/c4_p017_e003/scene_snapshot.json +1558 -0
  24. episodes/c4_p017_e003/wrist.mp4 +3 -0
  25. episodes/c8_p017_e028/data.npz +3 -0
  26. episodes/c8_p017_e028/device_events.jsonl +35 -0
  27. episodes/c8_p017_e028/env.mp4 +3 -0
  28. episodes/c8_p017_e028/meta.json +32 -0
  29. episodes/c8_p017_e028/scene_snapshot.json +1558 -0
  30. episodes/c8_p017_e028/wrist.mp4 +3 -0
  31. episodes/c8_p017_e029/data.npz +3 -0
  32. episodes/c8_p017_e029/device_events.jsonl +36 -0
  33. episodes/c8_p017_e029/env.mp4 +3 -0
  34. episodes/c8_p017_e029/meta.json +32 -0
  35. episodes/c8_p017_e029/scene_snapshot.json +1558 -0
  36. episodes/c8_p017_e029/wrist.mp4 +3 -0
  37. episodes/c9_p022_e008/data.npz +3 -0
  38. episodes/c9_p022_e008/device_events.jsonl +35 -0
  39. episodes/c9_p022_e008/env.mp4 +3 -0
  40. episodes/c9_p022_e008/meta.json +32 -0
  41. episodes/c9_p022_e008/scene_snapshot.json +1558 -0
  42. episodes/c9_p022_e008/wrist.mp4 +3 -0
  43. episodes/c9_p022_e009/data.npz +3 -0
  44. episodes/c9_p022_e009/device_events.jsonl +38 -0
  45. episodes/c9_p022_e009/env.mp4 +3 -0
  46. episodes/c9_p022_e009/meta.json +32 -0
  47. episodes/c9_p022_e009/scene_snapshot.json +1558 -0
  48. episodes/c9_p022_e009/wrist.mp4 +3 -0
  49. index/episodes.csv +8 -0
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@@ -4696,3 +4696,11 @@ c8_p017_e027,0,True,0.14864063262939453,0.4499988555908203,-0.013842592400103675
4696
  c2_p019_e025,2,True,0.0042171478271484375,0.4474363327026367,0.0029898688684379788,0.0053492859320297065,-7.08950623993772,plate_1536_black,0.5298547744750977,0.07348442077636719,-91.26108372810012,0.1999541090953872,1390.7206755526424,rect,0.3078937059386756,0.4159593854458433,2.9172211173842912,7854.7877430547,6353.055472144089,sphere,-0.23013930344165767,-1.0438874633047828,1.7799054040712246,6960.694571768499,5109.644571463017,0.050132665783166885,0.002544490620493889,-0.026722125709056854,-0.29206040501594543,0.6390031576156616,0.6539822220802307,-0.2805047333240509,0.06076347455382347,0.5572810173034668,1.9467905759811401,0.031280990689992905,0.020385609939694405,0.2780015766620636,0.9598547220230103,1186,1,,2.054307460784912,0.2673039144843327,0.0,0.007336696609854698,0.53035413153457,12,release,0.042450010776519775,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4697
  c2_p019_e026,1,True,-0.11305618286132812,0.4499998092651367,0.012431474823851997,0.0029483231153323666,4.291642787209383,deep_well_96_1ml,0.5008344650268555,0.05531501770019531,-90.924806798238,0.22684727236336255,1586.0918923946836,rect,0.6075449755138042,0.22274563364848532,2.9940043092864896,12667.813188894715,5653.054650006854,sphere,-0.49591547946284265,-0.7623389461724048,1.683369618415382,2353.154937773726,7272.339678668016,0.04723585024476051,-0.00042870393372140825,-0.026623962447047234,-0.2729392647743225,0.6439173817634583,0.6600334644317627,-0.2742816209793091,0.035424865782260895,0.6014752388000488,1.9472684860229492,0.05210430920124054,0.013501331210136414,0.25569993257522583,0.9652566313743591,1234,1,,2.1072475910186768,0.28502082805254153,0.0,0.007427038624882698,0.5153970826580226,12,release,0.04226112365722656,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4698
  c2_p019_e027,0,True,-0.09395980834960938,0.4472951889038086,0.008233567839763223,-0.004537636238701838,4.480220246707631,plate_6_clear,0.4639453887939453,0.05517768859863281,-87.3430696074474,0.1627505730920275,1586.0918923946836,rect,0.6288399355558817,0.5481697623853488,2.6967359914718463,15831.83751473761,6919.762197939852,disk,-1.4669859508076128,-0.9225846871408774,1.9679492257440199,6229.40481101973,7058.467645920247,0.05294715240597725,0.0005879985983483493,-0.03047846630215645,-0.27031785249710083,0.6581323742866516,0.6467840671539307,-0.2747005820274353,0.03870861232280731,0.5798999667167664,1.9323524236679077,0.04460310563445091,0.007157931104302406,0.28607937693595886,0.9571405053138733,1243,1,,2.0786454677581787,0.27839511509342985,0.0,0.007376540452241898,0.5132743362831859,12,release,0.042922258377075195,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
 
 
 
 
 
 
 
 
 
4696
  c2_p019_e025,2,True,0.0042171478271484375,0.4474363327026367,0.0029898688684379788,0.0053492859320297065,-7.08950623993772,plate_1536_black,0.5298547744750977,0.07348442077636719,-91.26108372810012,0.1999541090953872,1390.7206755526424,rect,0.3078937059386756,0.4159593854458433,2.9172211173842912,7854.7877430547,6353.055472144089,sphere,-0.23013930344165767,-1.0438874633047828,1.7799054040712246,6960.694571768499,5109.644571463017,0.050132665783166885,0.002544490620493889,-0.026722125709056854,-0.29206040501594543,0.6390031576156616,0.6539822220802307,-0.2805047333240509,0.06076347455382347,0.5572810173034668,1.9467905759811401,0.031280990689992905,0.020385609939694405,0.2780015766620636,0.9598547220230103,1186,1,,2.054307460784912,0.2673039144843327,0.0,0.007336696609854698,0.53035413153457,12,release,0.042450010776519775,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4697
  c2_p019_e026,1,True,-0.11305618286132812,0.4499998092651367,0.012431474823851997,0.0029483231153323666,4.291642787209383,deep_well_96_1ml,0.5008344650268555,0.05531501770019531,-90.924806798238,0.22684727236336255,1586.0918923946836,rect,0.6075449755138042,0.22274563364848532,2.9940043092864896,12667.813188894715,5653.054650006854,sphere,-0.49591547946284265,-0.7623389461724048,1.683369618415382,2353.154937773726,7272.339678668016,0.04723585024476051,-0.00042870393372140825,-0.026623962447047234,-0.2729392647743225,0.6439173817634583,0.6600334644317627,-0.2742816209793091,0.035424865782260895,0.6014752388000488,1.9472684860229492,0.05210430920124054,0.013501331210136414,0.25569993257522583,0.9652566313743591,1234,1,,2.1072475910186768,0.28502082805254153,0.0,0.007427038624882698,0.5153970826580226,12,release,0.04226112365722656,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4698
  c2_p019_e027,0,True,-0.09395980834960938,0.4472951889038086,0.008233567839763223,-0.004537636238701838,4.480220246707631,plate_6_clear,0.4639453887939453,0.05517768859863281,-87.3430696074474,0.1627505730920275,1586.0918923946836,rect,0.6288399355558817,0.5481697623853488,2.6967359914718463,15831.83751473761,6919.762197939852,disk,-1.4669859508076128,-0.9225846871408774,1.9679492257440199,6229.40481101973,7058.467645920247,0.05294715240597725,0.0005879985983483493,-0.03047846630215645,-0.27031785249710083,0.6581323742866516,0.6467840671539307,-0.2747005820274353,0.03870861232280731,0.5798999667167664,1.9323524236679077,0.04460310563445091,0.007157931104302406,0.28607937693595886,0.9571405053138733,1243,1,,2.0786454677581787,0.27839511509342985,0.0,0.007376540452241898,0.5132743362831859,12,release,0.042922258377075195,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4699
+ c4_p017_e000,0,True,0.058951377868652344,0.4499988555908203,-0.01554297894706696,0.0002730391494492742,-1.3272119158783937,plate_96_black,0.4776611328125,0.0931386947631836,-85.46218884951735,0.2452546246612542,1435.3415385955593,rect,0.10393554801689142,-0.3177575866256698,2.8485238322851822,7820.23504188014,4099.078907758183,sphere,-1.193160957077988,-0.5724729786379622,2.681945910990974,2436.0512825858013,7227.5253625050855,0.04945801571011543,-0.0013745587784796953,-0.03179122880101204,-0.2895769774913788,0.6469192504882812,0.6475235819816589,-0.2799176275730133,0.03967362642288208,0.603713870048523,1.9366215467453003,0.033151090145111084,0.02064809948205948,0.27597475051879883,0.9603710770606995,1192,1,,2.09318470954895,0.30070866440229604,0.0,0.007313021458685398,0.5293624161073825,12,release,0.042244672775268555,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4700
+ c4_p017_e001,2,True,-0.052642822265625,0.447509765625,-0.013854402668840473,-0.011234489752647481,-4.61318793477065,plate_1536_black,0.47423839569091797,0.06496906280517578,-87.8337007184409,0.1973517758368325,1435.3415385955593,rect,0.5026529341761806,0.4150343286707123,2.8036153377976034,13944.838737543421,5776.402416098961,sphere,-0.8942438145767826,-0.05943105526256942,2.1179708866756037,8246.133806731952,4661.066469088426,0.05012403056025505,-0.003736166749149561,-0.029623504728078842,-0.28299713134765625,0.6409389972686768,0.6553834080696106,-0.2821035087108612,0.07466062903404236,0.5653033256530762,1.9412354230880737,0.047853924334049225,0.025429923087358475,0.27457931637763977,0.9600362181663513,1340,1,,2.1713478565216064,0.252448655455866,0.0,0.00738421268761158,0.5208955223880597,12,release,0.0425112247467041,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4701
+ c4_p017_e002,3,True,-0.05258655548095703,0.4471473693847656,0.005071771213314751,-0.0025733562887917715,3.700349749755418,plate_48_clear,0.4996166229248047,0.10909748077392578,-94.98525934364268,0.16933041390464518,1435.3415385955593,rect,0.700588260389123,0.11483416501366406,2.909053867045201,4922.219921807287,4237.219987107488,sphere,0.39421070768524147,0.674682306729893,1.8919342248634028,9601.992522650347,4790.419141736549,0.04938805103302002,-0.0023538183886557817,-0.028132056817412376,-0.29230597615242004,0.642940878868103,0.6512926816940308,-0.277492493391037,0.07192136347293854,0.5719976425170898,1.9569002389907837,0.04549543187022209,0.007986754179000854,0.28302064538002014,0.958000898361206,1219,1,,2.069916009902954,0.2572090679019375,0.0,0.00733588170260191,0.5291222313371616,12,release,0.04235875606536865,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4702
+ c4_p017_e003,1,True,-0.011612892150878906,0.4499950408935547,-0.001050039714147246,-0.0007285433447252582,6.948912450717813,pcr_384_red,0.515411376953125,0.0921182632446289,-86.90927809631044,0.25158855116235845,1435.3415385955593,rect,0.5643988504509235,-0.4128115862920677,2.6135554741785523,4806.947499685225,7102.034881477722,disk,-1.3504451339589285,-0.9485437250156032,2.4541838159327036,10050.769458376519,4782.99675126253,0.050134334713220596,1.5086698113009334e-05,-0.025992367416620255,-0.28486502170562744,0.645492434501648,0.6519899964332581,-0.2776698172092438,0.029531212523579597,0.5601168274879456,1.960429072380066,0.05385519191622734,0.02520773746073246,0.27311933040618896,0.9601406455039978,1204,1,,2.0917487144470215,0.2969418996347885,0.0,0.006822522263973951,0.5357142857142857,12,release,0.042175501585006714,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4703
+ c8_p017_e028,2,True,-0.1373281478881836,0.44748973846435547,-0.012014706442729067,0.00938554900195962,2.774364331710018,plate_24_clear,0.4881591796875,0.12302112579345703,-86.54485987223711,0.23778019919636506,656.280097781482,rect,0.4955713244748313,0.3395905270588706,3.1814178469680137,8179.440167479442,5678.7781269393945,sphere,-0.04999523742357659,0.3109720963531688,2.0671739550048542,3122.2718227965206,3043.4045912028346,0.04812416434288025,0.003037309041246772,-0.03329169750213623,-0.2813848555088043,0.6522704362869263,0.6428664922714233,-0.28651097416877747,0.0643196627497673,0.5686084032058716,1.9580764770507812,0.035708021372556686,0.02770565077662468,0.27153280377388,0.9613673686981201,1168,1,,2.044281244277954,0.272311969824861,0.0,0.00732568372040987,0.5402397260273972,12,release,0.04239243268966675,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4704
+ c8_p017_e029,1,True,0.005553245544433594,0.44994258880615234,0.004937312712819081,0.001574671837223279,0.4880785124746865,plate_96_white,0.46161746978759766,0.08483600616455078,-93.4553000116265,0.28994342746225676,656.280097781482,rect,0.2054352627284015,0.20164400689028295,2.7735760974259698,13619.268973843036,5891.36347995161,disk,-0.3447250067461449,0.05667110351588023,2.4247288852449485,5550.898495278089,5011.473790217116,0.052000563591718674,-0.00351629126816988,-0.03057629056274891,-0.2777118980884552,0.640757143497467,0.6603114604949951,-0.2762158513069153,0.06716272234916687,0.592531144618988,1.9538750648498535,0.044504765421152115,0.015205004252493382,0.2571728527545929,0.9652203321456909,1214,1,,2.077974319458008,0.3111885468686543,0.0,0.007302970625460148,0.5815485996705108,12,release,0.04216432571411133,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4705
+ c9_p022_e008,1,True,0.13823318481445312,0.4472360610961914,-0.004098064105869547,-0.0008015066298941928,0.4238935114383935,plate_12_clear,0.4649391174316406,0.10002994537353516,-90.10800180179169,0.27471260730774827,742.0182940666605,rect,-0.008018504831503237,-0.057909204558939664,2.731397996223472,10797.067611580376,4045.6413963839314,disk,-0.9928347614658066,0.8338154921496097,1.7122584892345236,5910.833119617196,3038.846849457311,0.0533207543194294,0.0005348793929442763,-0.030900193378329277,-0.2926490306854248,0.6410311460494995,0.6576278209686279,-0.266385555267334,0.02567584626376629,0.602177083492279,1.957487940788269,0.05543430149555206,0.015314189717173576,0.2836562991142273,0.9571998715400696,1138,1,,2.0911266803741455,0.3023209979522181,0.0,0.007354692090302706,0.5527240773286467,12,release,0.04223734140396118,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4706
+ c9_p022_e009,3,True,-0.11376667022705078,0.45000171661376953,-0.0001491378560173263,-0.008004199534008149,1.0204449736889671,plate_96_clear,0.46871280670166016,0.10303306579589844,-93.30503348958119,0.2895852217680385,742.0182940666605,rect,0.7591772154265689,0.21378328521788081,2.6226965886427247,15603.450778078775,6596.892533151997,sphere,0.34380428230286797,0.8817215232153439,2.7677308104048635,5856.934726992684,2884.466907552146,0.048586439341306686,0.00012395542580634356,-0.02793019451200962,-0.28660160303115845,0.644794762134552,0.6580289602279663,-0.26286327838897705,0.06980431824922562,0.5659464001655579,1.9265540838241577,0.03952912241220474,0.026097308844327927,0.28262728452682495,0.9580596089363098,1177,1,,2.1130974292755127,0.30198363057071875,0.0,0.007290889509022236,0.5386576040781649,12,release,0.04239535331726074,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False