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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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 Community
Arashi2001 commited on
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add 5 episodes (c4_p013_e024 .. c9_p018_e036); total 4029 {'v1': 1088, 'v2': 2941}

Browse files
Files changed (31) hide show
  1. episodes/c4_p013_e024/data.npz +3 -0
  2. episodes/c4_p013_e024/device_events.jsonl +35 -0
  3. episodes/c4_p013_e024/env.mp4 +3 -0
  4. episodes/c4_p013_e024/meta.json +32 -0
  5. episodes/c4_p013_e024/scene_snapshot.json +1558 -0
  6. episodes/c4_p013_e024/wrist.mp4 +3 -0
  7. episodes/c4_p013_e025/data.npz +3 -0
  8. episodes/c4_p013_e025/device_events.jsonl +36 -0
  9. episodes/c4_p013_e025/env.mp4 +3 -0
  10. episodes/c4_p013_e025/meta.json +32 -0
  11. episodes/c4_p013_e025/scene_snapshot.json +1558 -0
  12. episodes/c4_p013_e025/wrist.mp4 +3 -0
  13. episodes/c4_p013_e026/data.npz +3 -0
  14. episodes/c4_p013_e026/device_events.jsonl +35 -0
  15. episodes/c4_p013_e026/env.mp4 +3 -0
  16. episodes/c4_p013_e026/meta.json +32 -0
  17. episodes/c4_p013_e026/scene_snapshot.json +1558 -0
  18. episodes/c4_p013_e026/wrist.mp4 +3 -0
  19. episodes/c6_p013_e015/data.npz +3 -0
  20. episodes/c6_p013_e015/device_events.jsonl +35 -0
  21. episodes/c6_p013_e015/env.mp4 +3 -0
  22. episodes/c6_p013_e015/meta.json +32 -0
  23. episodes/c6_p013_e015/scene_snapshot.json +1558 -0
  24. episodes/c6_p013_e015/wrist.mp4 +3 -0
  25. episodes/c9_p018_e036/data.npz +3 -0
  26. episodes/c9_p018_e036/device_events.jsonl +36 -0
  27. episodes/c9_p018_e036/env.mp4 +3 -0
  28. episodes/c9_p018_e036/meta.json +32 -0
  29. episodes/c9_p018_e036/scene_snapshot.json +1558 -0
  30. episodes/c9_p018_e036/wrist.mp4 +3 -0
  31. index/episodes.csv +5 -0
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+ size 7253973
index/episodes.csv CHANGED
@@ -4023,3 +4023,8 @@ c9_p018_e032,2,True,0.03401374816894531,0.45000648498535156,0.003171183084499018
4023
  c9_p018_e033,3,True,-0.1445608139038086,0.4477043151855469,-0.0027782267994574525,-0.006668827105602585,-0.7178624737424002,plate_96_clear,0.526087760925293,0.08208084106445312,-87.08310295375541,0.1522714130567747,454.286189730691,rect,0.37780376974798113,0.14691319909807887,2.892457314303679,11578.885528745663,6892.933725116376,sphere,1.2678448042902475,0.9065027844209788,1.6701805322366121,2144.683413330443,6414.475586833796,0.04898242652416229,-0.0016461907653138041,-0.029540641233325005,-0.282090425491333,0.6480063796043396,0.651344358921051,-0.276157945394516,0.03465459123253822,0.5942968726158142,1.953905463218689,0.03796248883008957,0.01573789119720459,0.287416011095047,0.9569238424301147,1253,1,,2.027423620223999,0.3017903034831671,0.0,0.007308031432330608,0.5498802873104549,12,release,0.04223811626434326,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4024
  c9_p018_e034,0,True,-0.046459197998046875,0.44740772247314453,0.008791624351230857,-0.010154086361871886,-4.684851318278561,plate_96_black,0.4793062210083008,0.06306743621826172,-86.66536905306221,0.28649075105524835,454.286189730691,rect,0.09311649862230287,0.021665281674004166,2.6980785719781193,12317.162569093949,7195.827130684485,sphere,0.8941130712253882,-0.7521223507669637,1.8024951770819542,3036.4818842069317,7426.894585148972,0.04553152620792389,0.002579647349193692,-0.03309977427124977,-0.2777390778064728,0.6469305157661438,0.6482844352722168,-0.28994688391685486,0.07273048907518387,0.5658019781112671,1.9459025859832764,0.041434645652770996,0.01784856617450714,0.28758808970451355,0.9566910266876221,1281,1,,2.1324586868286133,0.26672066232824837,0.0,0.007305563427507877,0.5472287275565965,12,release,0.04286932945251465,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4025
  c9_p018_e035,1,True,0.057403564453125,0.45000171661376953,-0.006207464817289265,-0.010789467024375835,6.1701469542323935,deep_well_96_1ml,0.5144157409667969,0.09686946868896484,-89.41839473485591,0.26835865024876493,454.286189730691,rect,-0.4844660848616037,0.24223277850418734,2.9570725140279714,10401.952928168057,3858.5580382805515,sphere,-1.0762229613882144,0.06258150319893052,2.554123671844051,5594.579112403488,5318.152702880894,0.05166541412472725,0.0022626440040767193,-0.02956104464828968,-0.27372467517852783,0.6499009132385254,0.6546043753623962,-0.2723907232284546,0.04823418706655502,0.6034977436065674,1.9478213787078857,0.0259334035217762,0.009051459841430187,0.2818179428577423,0.9590746164321899,1253,1,,2.065178394317627,0.32664847185549084,0.0,0.007470802403986454,0.5147645650438947,12,release,0.04221463203430176,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
 
 
 
 
 
 
4023
  c9_p018_e033,3,True,-0.1445608139038086,0.4477043151855469,-0.0027782267994574525,-0.006668827105602585,-0.7178624737424002,plate_96_clear,0.526087760925293,0.08208084106445312,-87.08310295375541,0.1522714130567747,454.286189730691,rect,0.37780376974798113,0.14691319909807887,2.892457314303679,11578.885528745663,6892.933725116376,sphere,1.2678448042902475,0.9065027844209788,1.6701805322366121,2144.683413330443,6414.475586833796,0.04898242652416229,-0.0016461907653138041,-0.029540641233325005,-0.282090425491333,0.6480063796043396,0.651344358921051,-0.276157945394516,0.03465459123253822,0.5942968726158142,1.953905463218689,0.03796248883008957,0.01573789119720459,0.287416011095047,0.9569238424301147,1253,1,,2.027423620223999,0.3017903034831671,0.0,0.007308031432330608,0.5498802873104549,12,release,0.04223811626434326,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4024
  c9_p018_e034,0,True,-0.046459197998046875,0.44740772247314453,0.008791624351230857,-0.010154086361871886,-4.684851318278561,plate_96_black,0.4793062210083008,0.06306743621826172,-86.66536905306221,0.28649075105524835,454.286189730691,rect,0.09311649862230287,0.021665281674004166,2.6980785719781193,12317.162569093949,7195.827130684485,sphere,0.8941130712253882,-0.7521223507669637,1.8024951770819542,3036.4818842069317,7426.894585148972,0.04553152620792389,0.002579647349193692,-0.03309977427124977,-0.2777390778064728,0.6469305157661438,0.6482844352722168,-0.28994688391685486,0.07273048907518387,0.5658019781112671,1.9459025859832764,0.041434645652770996,0.01784856617450714,0.28758808970451355,0.9566910266876221,1281,1,,2.1324586868286133,0.26672066232824837,0.0,0.007305563427507877,0.5472287275565965,12,release,0.04286932945251465,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4025
  c9_p018_e035,1,True,0.057403564453125,0.45000171661376953,-0.006207464817289265,-0.010789467024375835,6.1701469542323935,deep_well_96_1ml,0.5144157409667969,0.09686946868896484,-89.41839473485591,0.26835865024876493,454.286189730691,rect,-0.4844660848616037,0.24223277850418734,2.9570725140279714,10401.952928168057,3858.5580382805515,sphere,-1.0762229613882144,0.06258150319893052,2.554123671844051,5594.579112403488,5318.152702880894,0.05166541412472725,0.0022626440040767193,-0.02956104464828968,-0.27372467517852783,0.6499009132385254,0.6546043753623962,-0.2723907232284546,0.04823418706655502,0.6034977436065674,1.9478213787078857,0.0259334035217762,0.009051459841430187,0.2818179428577423,0.9590746164321899,1253,1,,2.065178394317627,0.32664847185549084,0.0,0.007470802403986454,0.5147645650438947,12,release,0.04221463203430176,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4026
+ c4_p013_e024,3,True,-0.1463775634765625,0.45000362396240234,0.00046922986456513855,-0.0004901674427374225,0.5487020399611993,plate_48_clear,0.4817361831665039,0.11155509948730469,-85.32433135693418,0.17044787264052588,923.8271649605701,rect,0.5666250809802024,0.24148467918224892,2.672303374090025,8432.319891206507,5257.967934539003,sphere,-0.8883995036868647,0.39561329910748544,2.188653987493967,6634.728625117547,3506.8034223335185,0.048041459172964096,0.001625913311727345,-0.029103266075253487,-0.27557045221328735,0.6514397263526917,0.6536552906036377,-0.2691131830215454,0.026674197986721992,0.5672399997711182,1.9433752298355103,0.04441273584961891,-0.0018520171288400888,0.25856488943099976,0.964970588684082,1176,1,,2.061607599258423,0.2829596777662514,0.0,0.00732558686286211,0.5365646258503401,12,release,0.04206228256225586,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4027
+ c4_p013_e025,0,True,0.012706756591796875,0.45003223419189453,0.0020266443840083292,0.011626020510264077,4.449533041713607,plate_96_black,0.4789886474609375,0.10606861114501953,-92.60895762332187,0.23340455385611053,923.8271649605701,rect,0.8610669369626108,-0.15043671481263565,3.17974134429329,11771.854025534463,3573.4906739170992,sphere,-1.4776204563376905,-0.6277166797293385,1.949818873916452,6209.056289020232,7489.247656010066,0.0523243211209774,-0.000938363082241267,-0.0337328277528286,-0.2908995449542999,0.6514863967895508,0.6382486820220947,-0.28910478949546814,0.030993733555078506,0.5901820063591003,1.9704043865203857,0.04381675273180008,0.008030250668525696,0.2665949761867523,0.962778627872467,1205,1,,2.101764678955078,0.34269962508131624,0.0,0.007303813472390175,0.5269709543568465,12,release,0.04237663745880127,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4028
+ c4_p013_e026,1,True,0.046553611755371094,0.44759654998779297,0.001179348388142118,0.004198505700951618,6.437891790458792,deep_well_96_1ml,0.4986705780029297,0.0822305679321289,-90.25616064821757,0.2729398900432084,923.8271649605701,rect,0.11881614201022572,-0.16171603675280438,3.021151226862551,4998.740492826259,4601.978825358815,disk,-1.4043989175773557,-0.4872527159690413,2.3552178607193524,2961.7551127119013,3444.3102433720514,0.05023978650569916,-0.0026895354967564344,-0.03289967030286789,-0.2765234410762787,0.6509737968444824,0.6459329128265381,-0.28729531168937683,0.03023598901927471,0.600957453250885,1.9418748617172241,0.05426126345992088,-0.0018911598017439246,0.27994853258132935,0.9584784507751465,1212,1,,2.1129043102264404,0.24799990334785604,0.0,0.007491909433156252,0.5247524752475248,12,release,0.04229259490966797,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4029
+ c6_p013_e015,0,True,-0.00978851318359375,0.44757652282714844,0.006240160576552375,0.0029455019183569076,1.081604324309609,pcr_96_blue,0.4951019287109375,0.0760946273803711,-87.26208570395877,0.1717132770816319,818.054966988791,rect,0.15646643184438214,-0.20490648507313208,3.175412765350152,15546.117344723894,5170.52795192247,sphere,-0.9348354877430434,-0.4554174154431523,1.8330254133887023,3693.063886588594,3967.2697648468557,0.050163205713033676,0.0009696027263998985,-0.033307503908872604,-0.2895492613315582,0.6389346718788147,0.6558199524879456,-0.2789694368839264,0.06751856952905655,0.5858961343765259,1.9597282409667969,0.04978707432746887,0.011415060609579086,0.26255255937576294,0.9635648131370544,1314,1,,2.1180458068847656,0.31283579349397567,0.0,0.0068519157357513905,0.5372907153729072,12,release,0.04229104518890381,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4030
+ c9_p018_e036,2,True,-0.09354114532470703,0.4475126266479492,-0.007789528609265294,-0.0012577490225781115,-8.58071314195206,plate_384_black,0.46865272521972656,0.1265573501586914,-88.40855080820758,0.20699856437335867,454.286189730691,rect,0.36336319949871887,-0.08270595957811128,3.0635369167319437,7802.873129277055,4750.171841568792,sphere,-1.1728794288759694,0.5977573820824877,2.6797810886579088,7079.357074503426,3781.1992880923335,0.0524958036839962,0.0028311109635978937,-0.029115665704011917,-0.28109973669052124,0.6505115032196045,0.6553192138671875,-0.2614850103855133,0.04622277244925499,0.5740941166877747,1.9676355123519897,0.022463008761405945,0.00791513454169035,0.2678318917751312,0.9631712436676025,1264,1,,2.0925676822662354,0.3060875829292451,0.0,0.0073799616657197475,0.504746835443038,12,release,0.042241811752319336,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False