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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
Commit
fe51c1b
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verified ·
1 Parent(s): 9d208b7

add 8 episodes (c2_p017_e000 .. c8_p015_e019); total 4212 {'v1': 1088, 'v2': 3124}

Browse files
Files changed (49) hide show
  1. episodes/c2_p017_e000/data.npz +3 -0
  2. episodes/c2_p017_e000/device_events.jsonl +37 -0
  3. episodes/c2_p017_e000/env.mp4 +3 -0
  4. episodes/c2_p017_e000/meta.json +32 -0
  5. episodes/c2_p017_e000/scene_snapshot.json +1558 -0
  6. episodes/c2_p017_e000/wrist.mp4 +3 -0
  7. episodes/c2_p017_e001/data.npz +3 -0
  8. episodes/c2_p017_e001/device_events.jsonl +36 -0
  9. episodes/c2_p017_e001/env.mp4 +3 -0
  10. episodes/c2_p017_e001/meta.json +32 -0
  11. episodes/c2_p017_e001/scene_snapshot.json +1558 -0
  12. episodes/c2_p017_e001/wrist.mp4 +3 -0
  13. episodes/c2_p017_e002/data.npz +3 -0
  14. episodes/c2_p017_e002/device_events.jsonl +35 -0
  15. episodes/c2_p017_e002/env.mp4 +3 -0
  16. episodes/c2_p017_e002/meta.json +32 -0
  17. episodes/c2_p017_e002/scene_snapshot.json +1558 -0
  18. episodes/c2_p017_e002/wrist.mp4 +3 -0
  19. episodes/c2_p017_e003/data.npz +3 -0
  20. episodes/c2_p017_e003/device_events.jsonl +35 -0
  21. episodes/c2_p017_e003/env.mp4 +3 -0
  22. episodes/c2_p017_e003/meta.json +32 -0
  23. episodes/c2_p017_e003/scene_snapshot.json +1558 -0
  24. episodes/c2_p017_e003/wrist.mp4 +3 -0
  25. episodes/c8_p015_e016/data.npz +3 -0
  26. episodes/c8_p015_e016/device_events.jsonl +36 -0
  27. episodes/c8_p015_e016/env.mp4 +3 -0
  28. episodes/c8_p015_e016/meta.json +32 -0
  29. episodes/c8_p015_e016/scene_snapshot.json +1558 -0
  30. episodes/c8_p015_e016/wrist.mp4 +3 -0
  31. episodes/c8_p015_e017/data.npz +3 -0
  32. episodes/c8_p015_e017/device_events.jsonl +38 -0
  33. episodes/c8_p015_e017/env.mp4 +3 -0
  34. episodes/c8_p015_e017/meta.json +32 -0
  35. episodes/c8_p015_e017/scene_snapshot.json +1558 -0
  36. episodes/c8_p015_e017/wrist.mp4 +3 -0
  37. episodes/c8_p015_e018/data.npz +3 -0
  38. episodes/c8_p015_e018/device_events.jsonl +35 -0
  39. episodes/c8_p015_e018/env.mp4 +3 -0
  40. episodes/c8_p015_e018/meta.json +32 -0
  41. episodes/c8_p015_e018/scene_snapshot.json +1558 -0
  42. episodes/c8_p015_e018/wrist.mp4 +3 -0
  43. episodes/c8_p015_e019/data.npz +3 -0
  44. episodes/c8_p015_e019/device_events.jsonl +37 -0
  45. episodes/c8_p015_e019/env.mp4 +3 -0
  46. episodes/c8_p015_e019/meta.json +32 -0
  47. episodes/c8_p015_e019/scene_snapshot.json +1558 -0
  48. episodes/c8_p015_e019/wrist.mp4 +3 -0
  49. index/episodes.csv +8 -0
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index/episodes.csv CHANGED
@@ -4203,3 +4203,11 @@ c9_p019_e024,1,True,-0.03159523010253906,0.4499979019165039,-0.00784875437815890
4203
  c9_p019_e025,0,True,-0.05285167694091797,0.4472999572753906,-0.011993771240751122,0.0027579578908477256,8.510932162742279,plate_6_clear,0.5144157409667969,0.09686946868896484,-89.41839473485591,0.26190318928840883,426.9812902898151,rect,0.26890931889377057,0.13309058887845682,2.7178691019955474,8400.864362973829,3817.2464128292527,sphere,1.0113731513432058,0.20984166299614793,1.9245953129716757,5716.8476632105685,3468.6651222760447,0.04892036318778992,0.0028317365795373917,-0.032074376940727234,-0.2811850309371948,0.6475250124931335,0.6571407318115234,-0.26422038674354553,0.04160120338201523,0.600800096988678,1.9418209791183472,0.027079714462161064,0.018349209800362587,0.27423951029777527,0.9611049294471741,1254,1,,2.0502371788024902,0.2613669567992306,0.0,0.0073701608926057816,0.511164274322169,12,release,0.04218205809593201,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4204
  c9_p019_e026,3,True,0.07360363006591797,0.4499998092651367,0.00015274269715705017,-0.005652423492199488,-2.1940959076588626,reservoir_12ch,0.4907093048095703,0.12754058837890625,-87.03385172275225,0.1594497495051593,426.9812902898151,rect,0.44423577827740635,-0.04384664355536816,2.69853198806061,13089.731801619337,4490.861275649393,disk,0.46110975937652476,-0.5239100921003643,1.900990338268889,8856.710864803237,6322.137858560052,0.04859939590096474,-0.0023743014317005873,-0.03205282986164093,-0.2980482280254364,0.647098183631897,0.6421101689338684,-0.28306490182876587,0.05778246372938156,0.5776031613349915,1.9636244773864746,0.055551595985889435,0.009031780064105988,0.2577272951602936,0.9645771384239197,1200,1,,2.171842098236084,0.32740187220456374,0.0,0.007446366362273693,0.5325,12,release,0.042021870613098145,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4205
  c9_p019_e027,2,True,-0.056319236755371094,0.4480323791503906,0.010162050009615481,-0.009620927958368755,1.7965157429079568,deep_well_24_10ml,0.526087760925293,0.08208084106445312,-87.08310295375541,0.2004624069350457,426.9812902898151,rect,-0.28427711234632463,0.42752587437255285,2.8655924896701497,13183.950829555964,4338.75643744499,sphere,0.8135819061835656,-0.9923531182081009,2.217921945566177,4110.297108550849,4990.339046570516,0.04872358217835426,0.0018686896655708551,-0.03165622800588608,-0.2838901877403259,0.6450251936912537,0.6505477428436279,-0.28308388590812683,0.03627864643931389,0.5677673816680908,1.9372755289077759,0.0489266999065876,0.008695182390511036,0.28580012917518616,0.9569998979568481,1251,1,,2.1215476989746094,0.29260067120270655,0.0,0.007516494020819664,0.5595523581135092,12,release,0.04324960708618164,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
 
 
 
 
 
 
 
 
 
4203
  c9_p019_e025,0,True,-0.05285167694091797,0.4472999572753906,-0.011993771240751122,0.0027579578908477256,8.510932162742279,plate_6_clear,0.5144157409667969,0.09686946868896484,-89.41839473485591,0.26190318928840883,426.9812902898151,rect,0.26890931889377057,0.13309058887845682,2.7178691019955474,8400.864362973829,3817.2464128292527,sphere,1.0113731513432058,0.20984166299614793,1.9245953129716757,5716.8476632105685,3468.6651222760447,0.04892036318778992,0.0028317365795373917,-0.032074376940727234,-0.2811850309371948,0.6475250124931335,0.6571407318115234,-0.26422038674354553,0.04160120338201523,0.600800096988678,1.9418209791183472,0.027079714462161064,0.018349209800362587,0.27423951029777527,0.9611049294471741,1254,1,,2.0502371788024902,0.2613669567992306,0.0,0.0073701608926057816,0.511164274322169,12,release,0.04218205809593201,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4204
  c9_p019_e026,3,True,0.07360363006591797,0.4499998092651367,0.00015274269715705017,-0.005652423492199488,-2.1940959076588626,reservoir_12ch,0.4907093048095703,0.12754058837890625,-87.03385172275225,0.1594497495051593,426.9812902898151,rect,0.44423577827740635,-0.04384664355536816,2.69853198806061,13089.731801619337,4490.861275649393,disk,0.46110975937652476,-0.5239100921003643,1.900990338268889,8856.710864803237,6322.137858560052,0.04859939590096474,-0.0023743014317005873,-0.03205282986164093,-0.2980482280254364,0.647098183631897,0.6421101689338684,-0.28306490182876587,0.05778246372938156,0.5776031613349915,1.9636244773864746,0.055551595985889435,0.009031780064105988,0.2577272951602936,0.9645771384239197,1200,1,,2.171842098236084,0.32740187220456374,0.0,0.007446366362273693,0.5325,12,release,0.042021870613098145,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4205
  c9_p019_e027,2,True,-0.056319236755371094,0.4480323791503906,0.010162050009615481,-0.009620927958368755,1.7965157429079568,deep_well_24_10ml,0.526087760925293,0.08208084106445312,-87.08310295375541,0.2004624069350457,426.9812902898151,rect,-0.28427711234632463,0.42752587437255285,2.8655924896701497,13183.950829555964,4338.75643744499,sphere,0.8135819061835656,-0.9923531182081009,2.217921945566177,4110.297108550849,4990.339046570516,0.04872358217835426,0.0018686896655708551,-0.03165622800588608,-0.2838901877403259,0.6450251936912537,0.6505477428436279,-0.28308388590812683,0.03627864643931389,0.5677673816680908,1.9372755289077759,0.0489266999065876,0.008695182390511036,0.28580012917518616,0.9569998979568481,1251,1,,2.1215476989746094,0.29260067120270655,0.0,0.007516494020819664,0.5595523581135092,12,release,0.04324960708618164,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4206
+ c2_p017_e000,2,True,0.106964111328125,0.4488229751586914,-0.0026627938303036155,0.003597604707227836,10.744217753286307,plate_1536_black,0.4639453887939453,0.05517768859863281,-87.3430696074474,0.25411377901293725,598.953629702999,rect,-0.006823027381209434,-0.29866703238279224,3.130120028583149,15186.57270852346,3842.385519895697,disk,-0.8807560302502926,-0.04378735283839519,1.6895074257382459,9624.217189705436,4745.111068984073,0.053047649562358856,-0.0004855818988289684,-0.024865126237273216,-0.2755979597568512,0.6499249339103699,0.657444953918457,-0.2634568512439728,0.028855416923761368,0.5565387606620789,1.949633240699768,0.05605321377515793,0.023134751245379448,0.27795326709747314,0.958678662776947,1157,1,,2.0930747985839844,0.2871142215151238,0.0,0.00736860278993845,0.5583405358686258,12,release,0.04220539331436157,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4207
+ c2_p017_e001,1,True,0.1366291046142578,0.4499998092651367,0.007816240540966014,0.01191749113528651,-1.0664565008964928,pcr_384_red,0.5080299377441406,0.10838794708251953,-94.807448785957,0.22103816866001103,598.953629702999,rect,0.4276276827290483,-0.4761571550046196,2.7560004611436573,14354.088192943334,3681.741500927192,disk,0.13323341395222776,0.6413055582242775,1.6349949818080818,4038.961997764606,6427.78297441462,0.04784757271409035,0.0021726926788687706,-0.028138501569628716,-0.2802720367908478,0.643751859664917,0.6537370681762695,-0.28223922848701477,0.0635296180844307,0.5599128603935242,1.9549120664596558,0.0489497072994709,0.008860994130373001,0.26063042879104614,0.9641562104225159,1248,1,,2.1469199657440186,0.2786731160889923,0.0,0.006848483346402645,0.5072115384615384,12,release,0.04218927025794983,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4208
+ c2_p017_e002,3,True,-0.016615867614746094,0.4499959945678711,-0.007971149115772241,0.008651420901559645,1.4036173394956108,reservoir_12ch,0.5008344650268555,0.05531501770019531,-90.924806798238,0.2721026345086459,598.953629702999,rect,-0.08264858739119052,-0.33119873061002025,2.9099181765559314,11409.553238004766,6982.773835733001,sphere,0.5566450140327128,0.6934316345606286,2.498558224582435,7498.15475714108,4725.743010268317,0.05038559436798096,-0.0017091184854507446,-0.029781244695186615,-0.2859876751899719,0.6540910601615906,0.6441440582275391,-0.27468958497047424,0.0705287754535675,0.5786563158035278,1.963385820388794,0.03488601744174957,0.012989637441933155,0.28094711899757385,0.9590010046958923,1268,1,,2.0529263019561768,0.28484515426428497,0.0,0.007394143380224705,0.555993690851735,12,release,0.04257559776306152,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4209
+ c2_p017_e003,0,True,0.062119483947753906,0.44791507720947266,-0.007188285910288056,0.0038893345669953738,3.8358000979793587,pcr_96_blue,0.4701118469238281,0.05037117004394531,-86.43240791037327,0.27196093237270164,598.953629702999,rect,0.136722191947257,-0.038126509652314455,2.922821807215656,10418.431118507277,7188.833263836938,disk,1.6095680783882758,-0.390614182379334,2.0164142001574863,9692.379269061192,6204.903196567266,0.05323835462331772,-0.0021909598726779222,-0.027770256623625755,-0.28998005390167236,0.6477119326591492,0.6462100744247437,-0.28070154786109924,0.04573117569088936,0.5839971899986267,1.953359603881836,0.03798830136656761,0.028999952599406242,0.2665424048900604,0.9626375436782837,1246,1,,2.084604024887085,0.2802725279721906,0.0,0.006896054372191429,0.5136436597110754,12,release,0.04252934455871582,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4210
+ c8_p015_e016,3,True,0.14699459075927734,0.4500007629394531,-0.007710470873612012,-0.0012244295044329268,-9.584105681313076,plate_96_clear,0.46161746978759766,0.08483600616455078,-93.4553000116265,0.28721880464799726,601.8467047043316,rect,-0.2535195795295049,0.15936314957020148,2.9384270830633166,12137.115932219956,4749.203849369858,disk,-1.0735490261593246,-0.9444621577844288,1.9713601776371925,6067.196719574778,6748.1906447503525,0.04698985069990158,4.510418148129247e-05,-0.031194457784295082,-0.26191580295562744,0.6587568521499634,0.6518794894218445,-0.26924455165863037,0.0686245858669281,0.5572574734687805,1.9582560062408447,0.04221917316317558,0.0018782521365210414,0.2558908760547638,0.9657815098762512,1233,1,,2.069802761077881,0.3189297506072108,0.0,0.0073141735047101974,0.5117599351175993,12,release,0.04242229461669922,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4211
+ c8_p015_e017,2,True,0.12786388397216797,0.4499969482421875,0.002266619656343652,-0.011097008311879812,-9.550087691991308,deep_well_24_10ml,0.5213470458984375,0.08469390869140625,-93.88218841504512,0.19688718487959164,601.8467047043316,rect,-0.4778748085471612,0.22682968552748584,2.9844132254784004,15864.352776441356,3301.4300139837346,disk,0.07246963373341986,1.4854499442156575,2.1520183751886632,4822.211643258203,6822.101632177867,0.05092638358473778,0.0020375254098325968,-0.025798577815294266,-0.2748451232910156,0.6430220007896423,0.6590368747711182,-0.2768632173538208,0.031066741794347763,0.5710590481758118,1.968806266784668,0.04317044839262962,0.017888899892568588,0.27069413661956787,0.9615305662155151,1225,1,,2.1011950969696045,0.276772778706886,0.0,0.007472793571650982,0.5224489795918368,12,release,0.04221487045288086,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4212
+ c8_p015_e018,0,True,0.008984565734863281,0.4499998092651367,-0.013182713942040954,-0.0026756462234433717,1.2209863387412838,deep_well_96_2ml,0.4705057144165039,0.12225914001464844,-93.49630103581289,0.16719544828281274,601.8467047043316,rect,0.5749963585025412,-0.2097598077081469,3.0818820030303367,5918.832880581571,6615.866568920566,disk,-1.561270715674727,-0.4333963592733491,2.444486523924971,2679.7543506819734,4389.095197172563,0.05188583955168724,0.0009175224113278091,-0.02894560992717743,-0.2925024628639221,0.6449906826019287,0.6455137133598328,-0.2859044671058655,0.04531096667051315,0.5790426731109619,1.9574229717254639,0.053146492689847946,-0.008082880638539791,0.279826819896698,0.9585442543029785,1274,1,,2.085650682449341,0.3317897630552421,0.0,0.007489189505577087,0.554160125588697,12,release,0.04417920112609863,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4213
+ c8_p015_e019,1,True,-0.1030740737915039,0.44759559631347656,0.005769934701868011,-0.012149483769498492,-2.3735715575179483,plate_96_white,0.4758901596069336,0.08242988586425781,-91.07517813999307,0.2983063466511231,601.8467047043316,rect,-0.49490994364094837,0.21198469552678556,2.7004344076071076,10476.084860089493,3648.0268535557198,disk,-0.2801622598008857,1.2386117617805323,2.3741666421796985,6595.725933141412,5684.417891749505,0.04756063222885132,0.003596474649384618,-0.028363047167658806,-0.26358339190483093,0.6576789617538452,0.6456822156906128,-0.2847396731376648,0.042039982974529266,0.5906019806861877,1.9352494478225708,0.049984533339738846,0.026109980419278145,0.27362924814224243,0.9601806402206421,1254,1,,2.07613468170166,0.2757325704617451,0.0,0.00730913458392024,0.5558213716108453,12,release,0.042572736740112305,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False