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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
45396a9
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verified ·
1 Parent(s): 7d8420e

add 8 episodes (c2_p012_e022 .. c7_p011_e015); total 3282 {'v1': 1088, 'v2': 2194}

Browse files
Files changed (49) hide show
  1. episodes/c2_p012_e022/data.npz +3 -0
  2. episodes/c2_p012_e022/device_events.jsonl +35 -0
  3. episodes/c2_p012_e022/env.mp4 +3 -0
  4. episodes/c2_p012_e022/meta.json +32 -0
  5. episodes/c2_p012_e022/scene_snapshot.json +1558 -0
  6. episodes/c2_p012_e022/wrist.mp4 +3 -0
  7. episodes/c2_p012_e023/data.npz +3 -0
  8. episodes/c2_p012_e023/device_events.jsonl +36 -0
  9. episodes/c2_p012_e023/env.mp4 +3 -0
  10. episodes/c2_p012_e023/meta.json +32 -0
  11. episodes/c2_p012_e023/scene_snapshot.json +1558 -0
  12. episodes/c2_p012_e023/wrist.mp4 +3 -0
  13. episodes/c3_p010_e016/data.npz +3 -0
  14. episodes/c3_p010_e016/device_events.jsonl +35 -0
  15. episodes/c3_p010_e016/env.mp4 +3 -0
  16. episodes/c3_p010_e016/meta.json +32 -0
  17. episodes/c3_p010_e016/scene_snapshot.json +1558 -0
  18. episodes/c3_p010_e016/wrist.mp4 +3 -0
  19. episodes/c3_p010_e017/data.npz +3 -0
  20. episodes/c3_p010_e017/device_events.jsonl +35 -0
  21. episodes/c3_p010_e017/env.mp4 +3 -0
  22. episodes/c3_p010_e017/meta.json +32 -0
  23. episodes/c3_p010_e017/scene_snapshot.json +1558 -0
  24. episodes/c3_p010_e017/wrist.mp4 +3 -0
  25. episodes/c7_p011_e012/data.npz +3 -0
  26. episodes/c7_p011_e012/device_events.jsonl +35 -0
  27. episodes/c7_p011_e012/env.mp4 +3 -0
  28. episodes/c7_p011_e012/meta.json +32 -0
  29. episodes/c7_p011_e012/scene_snapshot.json +1558 -0
  30. episodes/c7_p011_e012/wrist.mp4 +3 -0
  31. episodes/c7_p011_e013/data.npz +3 -0
  32. episodes/c7_p011_e013/device_events.jsonl +36 -0
  33. episodes/c7_p011_e013/env.mp4 +3 -0
  34. episodes/c7_p011_e013/meta.json +32 -0
  35. episodes/c7_p011_e013/scene_snapshot.json +1558 -0
  36. episodes/c7_p011_e013/wrist.mp4 +3 -0
  37. episodes/c7_p011_e014/data.npz +3 -0
  38. episodes/c7_p011_e014/device_events.jsonl +39 -0
  39. episodes/c7_p011_e014/env.mp4 +3 -0
  40. episodes/c7_p011_e014/meta.json +32 -0
  41. episodes/c7_p011_e014/scene_snapshot.json +1558 -0
  42. episodes/c7_p011_e014/wrist.mp4 +3 -0
  43. episodes/c7_p011_e015/data.npz +3 -0
  44. episodes/c7_p011_e015/device_events.jsonl +36 -0
  45. episodes/c7_p011_e015/env.mp4 +3 -0
  46. episodes/c7_p011_e015/meta.json +32 -0
  47. episodes/c7_p011_e015/scene_snapshot.json +1558 -0
  48. episodes/c7_p011_e015/wrist.mp4 +3 -0
  49. index/episodes.csv +8 -0
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@@ -3273,3 +3273,11 @@ c8_p011_e017,2,True,0.14661216735839844,0.4499959945678711,-0.00476372773874882,
3273
  c8_p011_e018,1,True,0.01987171173095703,0.44744014739990234,-0.014238792138888155,-0.008005714033445075,-0.4852099741339373,pcr_384_red,0.5017671585083008,0.0675649642944336,-93.9355727520357,0.25555868082575306,1579.346583301412,rect,-0.433174218349123,-0.1383700779088457,3.054446059261355,15257.465023273966,6281.490570106036,disk,-0.8780365310000596,0.9491504036299474,2.191569742430975,6385.150051681288,3118.667255507616,0.05098418891429901,0.0022096997126936913,-0.03292226046323776,-0.2838056981563568,0.6497900485992432,0.6482865810394287,-0.2774016261100769,0.04642200097441673,0.5838209390640259,1.9467637538909912,0.05066381394863129,0.00823909044265747,0.27739742398262024,0.9593831300735474,1203,1,,2.063359498977661,0.256283551523485,0.0,0.006823777221143246,0.5228595178719867,12,release,0.042230427265167236,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3274
  c8_p011_e019,0,True,-0.09961795806884766,0.4499998092651367,-0.011724447054020606,0.0015594454163799251,-3.612491147745601,pcr_96_blue,0.47631263732910156,0.08839702606201172,-94.74114884331077,0.24299921967509092,1579.346583301412,rect,-0.2271498367110109,-0.40801952740430725,2.878582313208266,11819.833558789549,4193.9185729095725,sphere,-1.2486538890526107,-0.3937873465397719,1.6652073233483151,8133.480904785052,3727.091999231945,0.04837993159890175,0.00019667524611577392,-0.031134551391005516,-0.2817007005214691,0.6472980976104736,0.6548182964324951,-0.26993125677108765,0.03260074183344841,0.5829343795776367,1.9556200504302979,0.03579187020659447,0.010055391117930412,0.2577402591705322,0.9654987454414368,1235,1,,2.0947699546813965,0.3218706667724776,0.0,0.006851772777736187,0.5141700404858299,12,release,0.04219639301300049,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3275
  c9_p012_e031,1,True,-0.02315998077392578,0.4472942352294922,-0.011865877639123276,-0.012268247961281887,4.052116393294455,plate_12_clear,0.5055665969848633,0.09293270111083984,-85.08654863577858,0.25563091558073137,650.8407245116941,rect,0.8468904297445455,0.39685459330993256,2.84277693917655,7853.946406161055,5707.5458338216795,disk,1.737928550587677,1.3302411962571876,1.9503239294988859,2971.2273320138647,4007.022466806324,0.051515255123376846,-0.0013446303782984614,-0.029360752552747726,-0.27092528343200684,0.6560710072517395,0.6500563621520996,-0.27128779888153076,0.04820204898715019,0.593846321105957,1.9581702947616577,0.03832048922777176,0.01653049886226654,0.28469133377075195,0.9577103853225708,1294,1,,2.0855002403259277,0.27074017259916955,0.0,0.0073186662048101425,0.5455950540958269,12,release,0.042246103286743164,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
 
 
 
 
 
 
 
 
 
3273
  c8_p011_e018,1,True,0.01987171173095703,0.44744014739990234,-0.014238792138888155,-0.008005714033445075,-0.4852099741339373,pcr_384_red,0.5017671585083008,0.0675649642944336,-93.9355727520357,0.25555868082575306,1579.346583301412,rect,-0.433174218349123,-0.1383700779088457,3.054446059261355,15257.465023273966,6281.490570106036,disk,-0.8780365310000596,0.9491504036299474,2.191569742430975,6385.150051681288,3118.667255507616,0.05098418891429901,0.0022096997126936913,-0.03292226046323776,-0.2838056981563568,0.6497900485992432,0.6482865810394287,-0.2774016261100769,0.04642200097441673,0.5838209390640259,1.9467637538909912,0.05066381394863129,0.00823909044265747,0.27739742398262024,0.9593831300735474,1203,1,,2.063359498977661,0.256283551523485,0.0,0.006823777221143246,0.5228595178719867,12,release,0.042230427265167236,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3274
  c8_p011_e019,0,True,-0.09961795806884766,0.4499998092651367,-0.011724447054020606,0.0015594454163799251,-3.612491147745601,pcr_96_blue,0.47631263732910156,0.08839702606201172,-94.74114884331077,0.24299921967509092,1579.346583301412,rect,-0.2271498367110109,-0.40801952740430725,2.878582313208266,11819.833558789549,4193.9185729095725,sphere,-1.2486538890526107,-0.3937873465397719,1.6652073233483151,8133.480904785052,3727.091999231945,0.04837993159890175,0.00019667524611577392,-0.031134551391005516,-0.2817007005214691,0.6472980976104736,0.6548182964324951,-0.26993125677108765,0.03260074183344841,0.5829343795776367,1.9556200504302979,0.03579187020659447,0.010055391117930412,0.2577402591705322,0.9654987454414368,1235,1,,2.0947699546813965,0.3218706667724776,0.0,0.006851772777736187,0.5141700404858299,12,release,0.04219639301300049,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3275
  c9_p012_e031,1,True,-0.02315998077392578,0.4472942352294922,-0.011865877639123276,-0.012268247961281887,4.052116393294455,plate_12_clear,0.5055665969848633,0.09293270111083984,-85.08654863577858,0.25563091558073137,650.8407245116941,rect,0.8468904297445455,0.39685459330993256,2.84277693917655,7853.946406161055,5707.5458338216795,disk,1.737928550587677,1.3302411962571876,1.9503239294988859,2971.2273320138647,4007.022466806324,0.051515255123376846,-0.0013446303782984614,-0.029360752552747726,-0.27092528343200684,0.6560710072517395,0.6500563621520996,-0.27128779888153076,0.04820204898715019,0.593846321105957,1.9581702947616577,0.03832048922777176,0.01653049886226654,0.28469133377075195,0.9577103853225708,1294,1,,2.0855002403259277,0.27074017259916955,0.0,0.0073186662048101425,0.5455950540958269,12,release,0.042246103286743164,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3276
+ c2_p012_e022,1,True,0.1348724365234375,0.44730663299560547,-0.0030729412815967963,0.000643336388409238,-8.659421651874311,plate_96_white,0.5209474563598633,0.06173419952392578,-90.27743180792878,0.2540164675090432,1130.0340742596436,rect,-0.29135062560113206,0.20602390795148307,2.7470605591042885,12321.118525457578,5051.619538485357,disk,-0.22975955389805236,1.4429798035288035,1.649924000413756,2895.6359094464674,4192.361715467813,0.0490635521709919,-0.0023271217942237854,-0.02711549587547779,-0.2667652666568756,0.6542230844497681,0.6500362753868103,-0.27978798747062683,0.031282488256692886,0.5561103224754333,1.9732043743133545,0.026245519518852234,0.00889443326741457,0.2674846053123474,0.9631635546684265,1191,1,,2.111646890640259,0.29768240313573124,0.0,0.007257563062012196,0.5264483627204031,12,release,0.04252445697784424,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3277
+ c2_p012_e023,3,True,0.04904747009277344,0.44714927673339844,0.010171721860131634,-0.0049570712853890695,9.28335797805488,plate_48_clear,0.46442604064941406,0.05261802673339844,-90.18349874668557,0.25478023577746334,1130.0340742596436,rect,-0.07297458595961392,0.48744657894267085,2.779877770230227,4037.122065018822,5333.548782005391,disk,-1.4166981852855578,0.2633524339396811,2.617020909760118,2849.5046515573313,4254.457913311317,0.05289469659328461,-0.003479717532172799,-0.03240574896335602,-0.2840297520160675,0.6560458540916443,0.6393376588821411,-0.283157616853714,0.07232610136270523,0.5611807703971863,1.9585723876953125,0.022943785414099693,-0.0005471462500281632,0.25900039076805115,0.9656045436859131,1246,1,,2.068897247314453,0.3165161601395652,0.0,0.007290187291800976,0.5128410914927769,12,release,0.04230237007141113,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3278
+ c3_p010_e016,0,True,0.0020132064819335938,0.4499979019165039,0.0005684055198768079,-0.0025052988837083,1.850891849253827,deep_well_96_2ml,0.5049848556518555,0.10344982147216797,-94.5582623604162,0.22365716861625257,1009.9874661045233,rect,0.17285687966215268,-0.48416168251666025,2.8369441427680377,7701.372406091317,5504.532135826976,sphere,-1.3854085518312904,1.37356080242225,2.588410259159538,3813.8675825732175,3870.4049597924495,0.05101185292005539,0.0029306956566870213,-0.030047127977013588,-0.2822796702384949,0.6540321707725525,0.6461640000343323,-0.2739199995994568,0.027001773938536644,0.5813288688659668,1.9256337881088257,0.024863792583346367,0.008332404308021069,0.27459269762039185,0.9612029790878296,1279,1,,2.127892017364502,0.26944945088337763,0.0,0.00750348623842001,0.5504300234558248,12,release,0.04412639141082764,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3279
+ c3_p010_e017,1,True,-0.02827167510986328,0.4466438293457031,-0.011907023463716315,0.002220116838705545,-6.257370594290052,plate_12_clear,0.5070743560791016,0.07066059112548828,-87.40336856740679,0.2697813792581967,1009.9874661045233,rect,0.2695358694664395,-0.43818978909738276,2.939894490638057,15437.983965317355,4084.6173700877516,sphere,1.178804161593844,-0.07795610293904343,1.9176210192469032,8040.2025657502445,6242.675538479058,0.050242338329553604,0.0012773028574883938,-0.02875152975320816,-0.2748068869113922,0.6575598120689392,0.6446532607078552,-0.27661970257759094,0.03334398567676544,0.5645772218704224,1.9468348026275635,0.05617842450737953,0.007692461367696524,0.25946366786956787,0.9640868306159973,1265,1,,2.0785791873931885,0.29747606858171227,0.0,0.007360994350165129,0.5541501976284585,12,release,0.04237091541290283,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3280
+ c7_p011_e012,0,True,-0.12374591827392578,0.4471702575683594,0.0010766581677871946,-0.0038019155737466573,-6.676374737215184,deep_well_96_2ml,0.4943122863769531,0.12484455108642578,-92.88386472532007,0.27831040433835286,1085.690763081284,rect,0.44857052920272567,-0.2226272573097463,2.9397770164478016,7541.905066891828,5604.936902802912,disk,0.20655091287071814,1.4457393509229555,2.125147331053883,10756.898588378597,6042.9875041298255,0.05405539274215698,-0.0025355429388582706,-0.02950955741107464,-0.2838117778301239,0.6458898782730103,0.6555338501930237,-0.2693557143211365,0.034803252667188644,0.5859494209289551,1.970587134361267,0.04722951725125313,0.016988713294267654,0.25513944029808044,0.9656006693840027,1188,1,,2.1311898231506348,0.31449941251584834,0.0,0.007506124675273895,0.5328282828282829,12,release,0.04284167289733887,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3281
+ c7_p011_e013,2,True,-0.10066986083984375,0.44638729095458984,0.006057970000612957,0.0010879259752449935,4.495944850666632,plate_1536_black,0.5084505081176758,0.052756309509277344,-93.12400749015953,0.22544104292540942,1085.690763081284,rect,0.26563311711682724,0.4001658453531478,2.9030758807016173,7076.794164495245,4991.706554955468,sphere,1.633214862848971,-1.1022239672954053,2.4012499945315566,2806.169802599693,3892.8049246994387,0.04947772994637489,0.0019203120609745383,-0.03178802877664566,-0.27362531423568726,0.6481838822364807,0.6495786309242249,-0.28815704584121704,0.05922431871294975,0.5783126950263977,1.9518226385116577,0.03770409896969795,0.00790065061300993,0.2555282711982727,0.9660338163375854,1274,1,,2.0606813430786133,0.2896036954380485,0.0,0.007382459472864866,0.5023547880690737,12,release,0.04283547401428223,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3282
+ c7_p011_e014,3,True,-0.10806560516357422,0.4499969482421875,-0.00811088406533884,-0.0045559087227619935,-6.1924287205690405,reservoir_12ch,0.5255861282348633,0.11473560333251953,-86.36290489679435,0.22379351681922038,1085.690763081284,rect,-0.39476877781097375,0.20782304719131794,3.1934385919525976,5377.600989480136,3860.2189497825702,sphere,-0.08574971873597592,0.23397975401971682,2.6717915613978818,3672.2777642541027,3869.2835853153483,0.05190141499042511,7.51432089600712e-05,-0.03152612969279289,-0.26772281527519226,0.6586357355117798,0.6445873975753784,-0.28112366795539856,0.038311079144477844,0.5909720659255981,1.936127781867981,0.026546334847807884,0.011157502420246601,0.28413739800453186,0.9583510756492615,1240,1,,2.0810227394104004,0.2690900490266983,0.0,0.0073966411873698235,0.5112903225806451,12,release,0.04259467124938965,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3283
+ c7_p011_e015,1,True,0.11471176147460938,0.44857025146484375,-0.012749637973167216,-0.007487590722918606,-4.167897392587065,plate_96_white,0.4654064178466797,0.08583927154541016,-88.57925339217232,0.18784246845070815,1085.690763081284,rect,0.112645126593926,0.12427243544518551,3.0756153437457745,6014.313865405513,6655.410128071368,sphere,-0.8370052847669844,1.541483062576414,2.150148337176243,5102.824173169061,4583.310004023892,0.050910115242004395,0.0015155673027038574,-0.027933143079280853,-0.27963903546333313,0.6421793699264526,0.6592450141906738,-0.27350255846977234,0.06554466485977173,0.5887477993965149,1.9407471418380737,0.03589480370283127,0.0005136966938152909,0.26660892367362976,0.9631360173225403,1221,1,,2.127502918243408,0.3056441679939712,0.0,0.007291325367987156,0.5184275184275184,12,release,0.042314350605010986,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False