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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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Arashi2001 commited on
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1 Parent(s): 4ac8679

add 6 episodes (c5_p007_e031 .. c9_p010_e011); total 2614 {'v1': 1088, 'v2': 1526}

Browse files
Files changed (37) hide show
  1. episodes/c5_p007_e031/data.npz +3 -0
  2. episodes/c5_p007_e031/device_events.jsonl +40 -0
  3. episodes/c5_p007_e031/env.mp4 +3 -0
  4. episodes/c5_p007_e031/meta.json +32 -0
  5. episodes/c5_p007_e031/scene_snapshot.json +1558 -0
  6. episodes/c5_p007_e031/wrist.mp4 +3 -0
  7. episodes/c7_p008_e036/data.npz +3 -0
  8. episodes/c7_p008_e036/device_events.jsonl +36 -0
  9. episodes/c7_p008_e036/env.mp4 +3 -0
  10. episodes/c7_p008_e036/meta.json +32 -0
  11. episodes/c7_p008_e036/scene_snapshot.json +1558 -0
  12. episodes/c7_p008_e036/wrist.mp4 +3 -0
  13. episodes/c7_p008_e037/data.npz +3 -0
  14. episodes/c7_p008_e037/device_events.jsonl +35 -0
  15. episodes/c7_p008_e037/env.mp4 +3 -0
  16. episodes/c7_p008_e037/meta.json +32 -0
  17. episodes/c7_p008_e037/scene_snapshot.json +1558 -0
  18. episodes/c7_p008_e037/wrist.mp4 +3 -0
  19. episodes/c9_p010_e009/data.npz +3 -0
  20. episodes/c9_p010_e009/device_events.jsonl +35 -0
  21. episodes/c9_p010_e009/env.mp4 +3 -0
  22. episodes/c9_p010_e009/meta.json +32 -0
  23. episodes/c9_p010_e009/scene_snapshot.json +1558 -0
  24. episodes/c9_p010_e009/wrist.mp4 +3 -0
  25. episodes/c9_p010_e010/data.npz +3 -0
  26. episodes/c9_p010_e010/device_events.jsonl +37 -0
  27. episodes/c9_p010_e010/env.mp4 +3 -0
  28. episodes/c9_p010_e010/meta.json +32 -0
  29. episodes/c9_p010_e010/scene_snapshot.json +1558 -0
  30. episodes/c9_p010_e010/wrist.mp4 +3 -0
  31. episodes/c9_p010_e011/data.npz +3 -0
  32. episodes/c9_p010_e011/device_events.jsonl +35 -0
  33. episodes/c9_p010_e011/env.mp4 +3 -0
  34. episodes/c9_p010_e011/meta.json +32 -0
  35. episodes/c9_p010_e011/scene_snapshot.json +1558 -0
  36. episodes/c9_p010_e011/wrist.mp4 +3 -0
  37. index/episodes.csv +6 -0
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+ 0.9638903737068176
1544
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1545
+ [
1546
+ 0.03119218349456787,
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+ 0.5738147497177124,
1548
+ 1.9417529106140137,
1549
+ 0.055197253823280334,
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+ -4.611508484231308e-05,
1551
+ 0.25687873363494873,
1552
+ 0.9648661017417908
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c9_p010_e011/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e24ce27289fe2f7a09d43ddb4cfd0db5197d46bf5c2719b20999ba56a4b852c0
3
+ size 6953941
index/episodes.csv CHANGED
@@ -2607,3 +2607,9 @@ c7_p008_e033,0,True,-0.1167593002319336,0.4499969482421875,0.013764170200326267,
2607
  c7_p008_e034,2,True,-0.020395278930664062,0.45000171661376953,-0.0058820262715606015,-0.011749386184993353,1.983905917026675,plate_384_black,0.4947824478149414,0.1017904281616211,-86.85942985338791,0.25531850561872516,1168.501236813573,rect,0.3099354710594254,0.21090138564746663,2.6765297539514465,5469.1187688074015,5951.581066734457,disk,1.5106428906006655,0.8377391637203473,2.463226951469631,7495.8328837840145,4445.127979773411,0.052872996777296066,0.001969076693058014,-0.03009951114654541,-0.2838806211948395,0.6520690321922302,0.645709753036499,-0.27798691391944885,0.06730521470308304,0.5862136483192444,1.9692200422286987,0.021693425253033638,0.0033024356234818697,0.27196571230888367,0.9620566964149475,1247,1,,2.1230978965759277,0.329606867620197,0.0,0.007417389191687107,0.5629510825982358,12,release,0.042252182960510254,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2608
  c7_p008_e035,1,True,-0.0680074691772461,0.4486055374145508,0.0016089869304680465,0.010165649739027822,-5.135834607792901,plate_96_white,0.46644115447998047,0.05382251739501953,-94.3000692184742,0.2536968342088868,1168.501236813573,rect,-0.19690619314930996,0.2523501213525,2.9033869021457415,12820.224707637586,5448.790391503502,sphere,1.5702585231450112,1.0306769341114113,2.2905521182515494,7181.160025215888,4006.305781417673,0.05206645280122757,0.003079652786254883,-0.03159816935658455,-0.28012311458587646,0.6441371440887451,0.6612929105758667,-0.26326805353164673,0.06954870373010635,0.5888975858688354,1.9329584836959839,0.052190445363521576,-0.004841327667236328,0.2782212197780609,0.9590858817100525,1218,1,,2.116481065750122,0.26575347012634826,0.0,0.007304152473807335,0.5229885057471264,12,release,0.04237300157546997,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2609
  c9_p010_e008,1,True,-0.03505229949951172,0.4477043151855469,-0.01044689270196159,-0.0008859300337382919,7.3449123092910895,plate_96_white,0.4791736602783203,0.06023120880126953,-88.05324592295906,0.15621877384210545,1285.179062337321,rect,-0.2079233857686248,0.49466023116898605,2.9920053421980217,7428.6941026943,3312.943275771585,disk,1.1453720656501818,1.3692237106016314,2.464829819181532,10249.386236765822,7490.477472690147,0.04773259535431862,1.608719139767345e-05,-0.031053462997078896,-0.278818815946579,0.6470168828964233,0.6544428467750549,-0.27446994185447693,0.05883437767624855,0.555173397064209,1.958670735359192,0.037679385393857956,0.02885054424405098,0.2586177587509155,0.9648133516311646,1274,1,,2.0898475646972656,0.33137998917385336,0.0,0.007288902997970581,0.5510204081632653,12,release,0.042289018630981445,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
 
 
 
 
 
 
 
2607
  c7_p008_e034,2,True,-0.020395278930664062,0.45000171661376953,-0.0058820262715606015,-0.011749386184993353,1.983905917026675,plate_384_black,0.4947824478149414,0.1017904281616211,-86.85942985338791,0.25531850561872516,1168.501236813573,rect,0.3099354710594254,0.21090138564746663,2.6765297539514465,5469.1187688074015,5951.581066734457,disk,1.5106428906006655,0.8377391637203473,2.463226951469631,7495.8328837840145,4445.127979773411,0.052872996777296066,0.001969076693058014,-0.03009951114654541,-0.2838806211948395,0.6520690321922302,0.645709753036499,-0.27798691391944885,0.06730521470308304,0.5862136483192444,1.9692200422286987,0.021693425253033638,0.0033024356234818697,0.27196571230888367,0.9620566964149475,1247,1,,2.1230978965759277,0.329606867620197,0.0,0.007417389191687107,0.5629510825982358,12,release,0.042252182960510254,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2608
  c7_p008_e035,1,True,-0.0680074691772461,0.4486055374145508,0.0016089869304680465,0.010165649739027822,-5.135834607792901,plate_96_white,0.46644115447998047,0.05382251739501953,-94.3000692184742,0.2536968342088868,1168.501236813573,rect,-0.19690619314930996,0.2523501213525,2.9033869021457415,12820.224707637586,5448.790391503502,sphere,1.5702585231450112,1.0306769341114113,2.2905521182515494,7181.160025215888,4006.305781417673,0.05206645280122757,0.003079652786254883,-0.03159816935658455,-0.28012311458587646,0.6441371440887451,0.6612929105758667,-0.26326805353164673,0.06954870373010635,0.5888975858688354,1.9329584836959839,0.052190445363521576,-0.004841327667236328,0.2782212197780609,0.9590858817100525,1218,1,,2.116481065750122,0.26575347012634826,0.0,0.007304152473807335,0.5229885057471264,12,release,0.04237300157546997,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2609
  c9_p010_e008,1,True,-0.03505229949951172,0.4477043151855469,-0.01044689270196159,-0.0008859300337382919,7.3449123092910895,plate_96_white,0.4791736602783203,0.06023120880126953,-88.05324592295906,0.15621877384210545,1285.179062337321,rect,-0.2079233857686248,0.49466023116898605,2.9920053421980217,7428.6941026943,3312.943275771585,disk,1.1453720656501818,1.3692237106016314,2.464829819181532,10249.386236765822,7490.477472690147,0.04773259535431862,1.608719139767345e-05,-0.031053462997078896,-0.278818815946579,0.6470168828964233,0.6544428467750549,-0.27446994185447693,0.05883437767624855,0.555173397064209,1.958670735359192,0.037679385393857956,0.02885054424405098,0.2586177587509155,0.9648133516311646,1274,1,,2.0898475646972656,0.33137998917385336,0.0,0.007288902997970581,0.5510204081632653,12,release,0.042289018630981445,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2610
+ c5_p007_e031,1,True,-0.007925987243652344,0.447357177734375,-0.006963537441609367,-0.0015078274107880557,8.304685376633273,plate_12_clear,0.5050344467163086,0.06483745574951172,-86.25063902752741,0.16473195900441784,584.663197157256,rect,-0.517115847671373,-0.039528558951895276,3.0595339295219364,4581.112130722637,6856.365931559785,disk,0.7635202325158459,0.08565975341803767,2.1138055166507677,5228.54575593263,3634.152416431948,0.051801007241010666,0.00021646954701282084,-0.032181087881326675,-0.27544233202934265,0.6558248400688171,0.6495717167854309,-0.26848065853118896,0.05722590535879135,0.564164936542511,1.9726330041885376,0.049884043633937836,-0.006488877348601818,0.27059224247932434,0.9613788723945618,1262,1,,2.090179443359375,0.23068852241759638,0.0,0.0073652914725244045,0.5079239302694136,12,release,0.0422053337097168,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2611
+ c7_p008_e036,3,True,0.005812644958496094,0.4499988555908203,0.0047663488980281615,-0.004437570478003612,-0.6568552694691903,reservoir_12ch,0.4943122863769531,0.12484455108642578,-92.88386472532007,0.2008908461236212,1168.501236813573,rect,0.29489513256766053,-0.16471920542807356,2.789959003498048,11231.376443644249,7073.0549925607065,disk,-1.539536192294138,0.08088847427565704,1.9416759713297063,8109.28589708021,2925.199681017297,0.051493238657712936,0.0006425227038562298,-0.02697143517434597,-0.2770482301712036,0.6460638046264648,0.6525459289550781,-0.28289511799812317,0.0572943277657032,0.572852373123169,1.9546860456466675,0.03672054037451744,0.019261982291936874,0.2793132960796356,0.9593042731285095,1217,1,,2.0840017795562744,0.25499269404865127,0.0,0.007445519790053368,0.5776499589153656,12,release,0.042361319065093994,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2612
+ c7_p008_e037,0,True,-0.03236865997314453,0.4475421905517578,0.013634644188242255,-0.005304349987285953,-9.457599346355693,plate_96_black,0.4677009582519531,0.06300163269042969,-90.72762367119496,0.2714724436841192,530.9640347950507,rect,-0.03186009929919009,0.024778915017424907,2.6943290488732794,12297.249580675012,3546.1861273365457,disk,1.0612408215659,1.4684251223706786,2.7203795255043532,9099.265090347435,3161.5243910601635,0.05055312067270279,-0.0006540626054629683,-0.0276904609054327,-0.283792108297348,0.6448364853858948,0.6507577896118164,-0.28312942385673523,0.06988981366157532,0.5798393487930298,1.9448459148406982,0.030793415382504463,0.029971100389957428,0.25518688559532166,0.9659364223480225,1219,1,,2.018397092819214,0.3038191671733785,0.0,0.007307467982172966,0.5758818703855619,12,release,0.04226088523864746,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2613
+ c9_p010_e009,0,True,-0.05219268798828125,0.44745635986328125,0.010743436493593658,0.0034416670065433195,-9.722532441603164,plate_6_clear,0.5116128921508789,0.08402252197265625,-90.0992231714612,0.22343853288168725,1285.179062337321,rect,-0.0945083600069444,0.5728032676026737,2.8162472549497153,8411.25447486317,7154.202683976282,sphere,-1.1371769263610207,0.2640318576379639,2.402214364952472,8311.571193610896,4143.336077217953,0.05179620534181595,-0.002199919428676367,-0.027845820412039757,-0.26829031109809875,0.6609406471252441,0.6408093571662903,-0.2837977409362793,0.05996190384030342,0.5754457712173462,1.9417860507965088,0.04772746190428734,-0.002344990149140358,0.2612595856189728,0.964085042476654,1206,1,,2.1289963722229004,0.29439160242695706,0.0,0.007341618649661541,0.5315091210613598,12,release,0.04206585884094238,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2614
+ c9_p010_e010,2,True,0.01010894775390625,0.4500274658203125,-0.009595575550900046,-0.011860540814174432,4.20419435327284,plate_1536_black,0.5227231979370117,0.11492919921875,-88.80199811353675,0.27235968932522014,1285.179062337321,rect,0.009065745168683637,-0.15848890678114158,2.9317364669231285,6323.122274835079,3943.3141801423812,disk,-1.5274728422969523,-0.7556113504620562,2.772722042148936,7403.3286873061,6978.106026726053,0.050451356917619705,-0.0008018803782761097,-0.02995956316590309,-0.2741357088088989,0.6577197313308716,0.6443651914596558,-0.2775750160217285,0.043597280979156494,0.5554973483085632,1.9454965591430664,0.02830454893410206,0.012889839708805084,0.26447683572769165,0.9638903737068176,1279,1,,2.066638469696045,0.31772326332698936,0.0,0.00734120886772871,0.5512118842845973,12,release,0.04247117042541504,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2615
+ c9_p010_e011,3,True,-0.0716238021850586,0.45000267028808594,0.013267203019007622,0.005910624763967741,-5.604967985304285,plate_96_clear,0.5055665969848633,0.09293270111083984,-85.08654863577858,0.29303473234342364,1285.179062337321,rect,0.15974149282853867,0.34837620438900463,2.737720368130924,5484.800668303862,4851.5891922856335,disk,0.10068171570682205,0.7474542857356923,2.6326651606607965,5142.52476359198,2930.4888454545976,0.04704197868704796,0.002509555546566844,-0.030925702303647995,-0.272588312625885,0.6510922312736511,0.6519315838813782,-0.27705541253089905,0.03119218349456787,0.5738147497177124,1.9417529106140137,0.055197253823280334,-4.611508484231308e-05,0.25687873363494873,0.9648661017417908,1239,1,,2.0872373580932617,0.3364278651844757,0.0,0.007311781868338585,0.5625504439063761,12,release,0.04260385036468506,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False