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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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62d9028
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verified ·
1 Parent(s): a4a2f32

add 7 episodes (c2_p011_e024 .. c9_p011_e031); total 3032 {'v1': 1088, 'v2': 1944}

Browse files
Files changed (43) hide show
  1. episodes/c2_p011_e024/data.npz +3 -0
  2. episodes/c2_p011_e024/device_events.jsonl +36 -0
  3. episodes/c2_p011_e024/env.mp4 +3 -0
  4. episodes/c2_p011_e024/meta.json +32 -0
  5. episodes/c2_p011_e024/scene_snapshot.json +1558 -0
  6. episodes/c2_p011_e024/wrist.mp4 +3 -0
  7. episodes/c2_p011_e025/data.npz +3 -0
  8. episodes/c2_p011_e025/device_events.jsonl +36 -0
  9. episodes/c2_p011_e025/env.mp4 +3 -0
  10. episodes/c2_p011_e025/meta.json +32 -0
  11. episodes/c2_p011_e025/scene_snapshot.json +1558 -0
  12. episodes/c2_p011_e025/wrist.mp4 +3 -0
  13. episodes/c3_p009_e031/data.npz +3 -0
  14. episodes/c3_p009_e031/device_events.jsonl +36 -0
  15. episodes/c3_p009_e031/env.mp4 +3 -0
  16. episodes/c3_p009_e031/meta.json +32 -0
  17. episodes/c3_p009_e031/scene_snapshot.json +1558 -0
  18. episodes/c3_p009_e031/wrist.mp4 +3 -0
  19. episodes/c9_p011_e028/data.npz +3 -0
  20. episodes/c9_p011_e028/device_events.jsonl +35 -0
  21. episodes/c9_p011_e028/env.mp4 +3 -0
  22. episodes/c9_p011_e028/meta.json +32 -0
  23. episodes/c9_p011_e028/scene_snapshot.json +1558 -0
  24. episodes/c9_p011_e028/wrist.mp4 +3 -0
  25. episodes/c9_p011_e029/data.npz +3 -0
  26. episodes/c9_p011_e029/device_events.jsonl +35 -0
  27. episodes/c9_p011_e029/env.mp4 +3 -0
  28. episodes/c9_p011_e029/meta.json +32 -0
  29. episodes/c9_p011_e029/scene_snapshot.json +1558 -0
  30. episodes/c9_p011_e029/wrist.mp4 +3 -0
  31. episodes/c9_p011_e030/data.npz +3 -0
  32. episodes/c9_p011_e030/device_events.jsonl +36 -0
  33. episodes/c9_p011_e030/env.mp4 +3 -0
  34. episodes/c9_p011_e030/meta.json +32 -0
  35. episodes/c9_p011_e030/scene_snapshot.json +1558 -0
  36. episodes/c9_p011_e030/wrist.mp4 +3 -0
  37. episodes/c9_p011_e031/data.npz +3 -0
  38. episodes/c9_p011_e031/device_events.jsonl +35 -0
  39. episodes/c9_p011_e031/env.mp4 +3 -0
  40. episodes/c9_p011_e031/meta.json +32 -0
  41. episodes/c9_p011_e031/scene_snapshot.json +1558 -0
  42. episodes/c9_p011_e031/wrist.mp4 +3 -0
  43. index/episodes.csv +7 -0
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+ size 7145099
index/episodes.csv CHANGED
@@ -3024,3 +3024,10 @@ c8_p010_e012,3,True,0.0749969482421875,0.45000648498535156,-0.014782497323504073
3024
  c8_p010_e013,2,True,0.06761360168457031,0.45000171661376953,-0.0008841627086610132,0.008549679221449946,-3.8185867497399215,plate_24_clear,0.5017671585083008,0.0675649642944336,-93.9355727520357,0.22652272859350545,1583.9070464724782,rect,0.5418852231680548,0.0028513978223211334,3.168076687846809,12470.448740623577,4928.762295206361,disk,1.3646250017080903,0.3040996293199325,2.293206583719174,10443.00322319893,5975.286000376115,0.048139624297618866,-0.0005173682002350688,-0.026160217821598053,-0.2673390507698059,0.6620277762413025,0.6395537257194519,-0.2849913537502289,0.06559236347675323,0.5601174235343933,1.9467594623565674,0.029842032119631767,0.030534077435731888,0.25907355546951294,0.9649134874343872,1232,1,,2.1071624755859375,0.27689939972481514,0.0,0.007314453832805157,0.5202922077922078,12,release,0.04224991798400879,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3025
  c8_p010_e014,0,True,-0.1361227035522461,0.45000553131103516,0.0032471614107528472,-0.0008300865147756483,6.989107883228769,deep_well_96_2ml,0.5054759979248047,0.0936441421508789,-88.54507967983156,0.23603420663178865,1583.9070464724782,rect,-0.24694704690600155,0.29114712201015513,2.8560157245042075,6543.634437095864,7119.569103843185,sphere,1.3960512969904157,0.12584551515733144,1.9920169427363301,7850.902247815921,5599.984623733704,0.04766573756933212,0.0003562500060070306,-0.029411638155579567,-0.28467386960983276,0.643969714641571,0.654896080493927,-0.2745448648929596,0.03196009621024132,0.5651295781135559,1.9474927186965942,0.05092368647456169,0.01283033937215805,0.2696670591831207,0.9615206122398376,1200,1,,2.11539363861084,0.3222998531878925,0.0,0.007508475333452225,0.5275,12,release,0.04336190223693848,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3026
  c8_p010_e015,1,True,-0.11812686920166016,0.45000267028808594,-0.001446618603567026,0.003403708405623482,11.4922836050184,deep_well_96_1ml,0.47631263732910156,0.08839702606201172,-94.74114884331077,0.15542204454782885,1583.9070464724782,rect,0.24918722572423901,0.37898130382464945,2.672492516570443,9321.011488705342,7137.555952947425,sphere,0.9551675449865016,0.4326915529718256,2.2960375768649905,4531.060343825946,3009.012660768312,0.05051255598664284,-0.00048310597776435316,-0.03253121301531792,-0.2746211290359497,0.6547122001647949,0.6411372423171997,-0.291338711977005,0.05885641649365425,0.5931759476661682,1.9613330364227295,0.04929890111088753,0.027396241202950478,0.2708532214164734,0.9609670042991638,1235,1,,2.1089251041412354,0.27387094972512976,0.0,0.007457895670086145,0.5149797570850202,12,release,0.042098283767700195,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
 
 
 
 
 
 
 
 
3024
  c8_p010_e013,2,True,0.06761360168457031,0.45000171661376953,-0.0008841627086610132,0.008549679221449946,-3.8185867497399215,plate_24_clear,0.5017671585083008,0.0675649642944336,-93.9355727520357,0.22652272859350545,1583.9070464724782,rect,0.5418852231680548,0.0028513978223211334,3.168076687846809,12470.448740623577,4928.762295206361,disk,1.3646250017080903,0.3040996293199325,2.293206583719174,10443.00322319893,5975.286000376115,0.048139624297618866,-0.0005173682002350688,-0.026160217821598053,-0.2673390507698059,0.6620277762413025,0.6395537257194519,-0.2849913537502289,0.06559236347675323,0.5601174235343933,1.9467594623565674,0.029842032119631767,0.030534077435731888,0.25907355546951294,0.9649134874343872,1232,1,,2.1071624755859375,0.27689939972481514,0.0,0.007314453832805157,0.5202922077922078,12,release,0.04224991798400879,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3025
  c8_p010_e014,0,True,-0.1361227035522461,0.45000553131103516,0.0032471614107528472,-0.0008300865147756483,6.989107883228769,deep_well_96_2ml,0.5054759979248047,0.0936441421508789,-88.54507967983156,0.23603420663178865,1583.9070464724782,rect,-0.24694704690600155,0.29114712201015513,2.8560157245042075,6543.634437095864,7119.569103843185,sphere,1.3960512969904157,0.12584551515733144,1.9920169427363301,7850.902247815921,5599.984623733704,0.04766573756933212,0.0003562500060070306,-0.029411638155579567,-0.28467386960983276,0.643969714641571,0.654896080493927,-0.2745448648929596,0.03196009621024132,0.5651295781135559,1.9474927186965942,0.05092368647456169,0.01283033937215805,0.2696670591831207,0.9615206122398376,1200,1,,2.11539363861084,0.3222998531878925,0.0,0.007508475333452225,0.5275,12,release,0.04336190223693848,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3026
  c8_p010_e015,1,True,-0.11812686920166016,0.45000267028808594,-0.001446618603567026,0.003403708405623482,11.4922836050184,deep_well_96_1ml,0.47631263732910156,0.08839702606201172,-94.74114884331077,0.15542204454782885,1583.9070464724782,rect,0.24918722572423901,0.37898130382464945,2.672492516570443,9321.011488705342,7137.555952947425,sphere,0.9551675449865016,0.4326915529718256,2.2960375768649905,4531.060343825946,3009.012660768312,0.05051255598664284,-0.00048310597776435316,-0.03253121301531792,-0.2746211290359497,0.6547122001647949,0.6411372423171997,-0.291338711977005,0.05885641649365425,0.5931759476661682,1.9613330364227295,0.04929890111088753,0.027396241202950478,0.2708532214164734,0.9609670042991638,1235,1,,2.1089251041412354,0.27387094972512976,0.0,0.007457895670086145,0.5149797570850202,12,release,0.042098283767700195,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3027
+ c2_p011_e024,2,True,0.010433197021484375,0.4500007629394531,-0.0015999781159955586,-0.005327311052259356,3.02984436186685,plate_384_black,0.5209474563598633,0.06173419952392578,-90.27743180792878,0.20309694072086182,420.1364842769986,rect,0.20955503846428392,0.5164865585542633,2.9496174134299604,4173.065111475586,5069.962657335097,disk,0.11009434397203122,-0.7344933796903426,2.1657108674191647,4795.031563070457,2905.610209959259,0.048389386385679245,-0.002531161531805992,-0.0331026166677475,-0.2849998474121094,0.6493272185325623,0.6449102759361267,-0.28502631187438965,0.04895762726664543,0.5860552787780762,1.969308853149414,0.03472841531038284,0.008586015552282333,0.2775569558143616,0.9600428938865662,1237,1,,2.057274580001831,0.2891469085968937,0.0,0.007377938367426395,0.5683104284559418,12,release,0.042426884174346924,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3028
+ c2_p011_e025,3,True,-0.05590248107910156,0.45000171661376953,-0.009001872308665903,0.0022377087488342994,2.479687299896966,plate_48_clear,0.48239707946777344,0.11338615417480469,-91.06423776343438,0.26027052119168725,420.1364842769986,rect,0.4731693425871798,-0.32046710411574,2.921657173162787,6978.165681270622,4402.828057155818,disk,-0.44088435261319203,-0.8341749029496297,2.7714087626459483,6048.82624573728,3644.0314026312158,0.04879342392086983,-0.00011834561155410483,-0.029099974781274796,-0.27981075644493103,0.6461924314498901,0.654004693031311,-0.2764401137828827,0.05415493994951248,0.5637142062187195,1.9440990686416626,0.05146303400397301,-0.0004517468623816967,0.2729495167732239,0.9606508016586304,1224,1,,2.072653293609619,0.310511439702267,0.0,0.007290325593203306,0.5212418300653595,12,release,0.04213881492614746,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3029
+ c3_p009_e031,0,True,0.0791778564453125,0.4475831985473633,-0.014050657492414683,0.0016798258705971172,-8.004316311926175,plate_96_black,0.46109962463378906,0.10063934326171875,-92.06954503385543,0.2931724708758532,1469.725183123249,rect,0.6577673395139972,0.36826788203923166,2.9340409419664275,8807.109806547054,4872.701248754977,sphere,0.4554229720533307,0.21909257785999303,2.7597119991252113,6902.826079889046,4120.63234050804,0.04930022358894348,0.0022827445063740015,-0.030177846550941467,-0.27481216192245483,0.6434609889984131,0.6598093509674072,-0.274021714925766,0.06587376445531845,0.5874728560447693,1.9546239376068115,0.030543940141797066,0.0009515138226561248,0.2552260756492615,0.9663983583450317,1165,1,,2.0505170822143555,0.25039273153905395,0.0,0.007309822365641594,0.5493562231759657,12,release,0.04215878248214722,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3030
+ c9_p011_e028,1,True,0.07076168060302734,0.45000267028808594,-0.00835239678834884,0.0050085021917446815,-1.522527776961482,plate_12_clear,0.5227231979370117,0.11492919921875,-88.80199811353675,0.1648403536235471,729.2837949319354,rect,-0.40569915336178153,0.3711627209782328,2.668986011382029,14787.82805151832,5773.515716225367,disk,1.4971942781526826,-0.32467789371604305,1.601563803663826,3824.667911081332,2877.8018002084045,0.05305080860853195,0.0005365035030990839,-0.02841418795287609,-0.27567875385284424,0.6599006056785583,0.6416005492210388,-0.2772745192050934,0.04552309587597847,0.5718454122543335,1.9578754901885986,0.04556716978549957,0.017830800265073776,0.2816815972328186,0.9582594633102417,1150,1,,2.0931687355041504,0.26352232014865656,0.0,0.00739057082682848,0.5530434782608695,12,release,0.04227268695831299,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3031
+ c9_p011_e029,0,True,0.1376781463623047,0.45000457763671875,-0.00812763058831981,-0.007935095801698901,-0.5624402308974652,plate_96_black,0.4791736602783203,0.06023120880126953,-88.05324592295906,0.17885149098210076,729.2837949319354,rect,0.38750518085637575,0.3289972187149929,2.940008363355934,7882.540728452373,4817.941883569636,disk,-1.566622163552648,0.36009062712801465,2.112483340248983,10132.563526545775,6539.2639799300905,0.04889798164367676,-0.003036276437342167,-0.03163447603583336,-0.27465468645095825,0.6486314535140991,0.6570426225662231,-0.26858335733413696,0.057791754603385925,0.576846182346344,1.9693998098373413,0.04550810158252716,0.01039132196456194,0.2621082365512848,0.963908851146698,1279,1,,2.0206871032714844,0.2657614858570675,0.0,0.007257338613271713,0.5050820953870211,12,release,0.042237937450408936,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3032
+ c9_p011_e030,3,True,-0.07768821716308594,0.45000171661376953,-0.008318955184661135,0.0014053956118504623,0.6818391337501737,reservoir_12ch,0.5216436386108398,0.11292362213134766,-87.43239555807246,0.2115956437885096,729.2837949319354,rect,0.5580775982652663,0.0276897801874445,3.0452699708196587,11819.284281910903,6013.615791467408,sphere,-1.5451185408313344,-0.7269379781457892,2.6522681843655693,7309.60226076933,7473.666823538025,0.0475279800593853,0.001965160248801112,-0.034233029931783676,-0.27024969458580017,0.6532499194145203,0.6454194188117981,-0.28924623131752014,0.05909787490963936,0.5966196656227112,1.9711941480636597,0.031114552170038223,0.0035173925571143627,0.2578093111515045,0.9656882882118225,1225,1,,2.0704188346862793,0.2748073469092491,0.0,0.0073988414369523525,0.5208163265306123,12,release,0.04237532615661621,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3033
+ c9_p011_e031,2,True,-0.022696495056152344,0.45000457763671875,-0.007451140026209176,-0.0117675893347365,-7.978319941038961,plate_1536_black,0.5055665969848633,0.09293270111083984,-85.08654863577858,0.25563091558073137,729.2837949319354,rect,0.8468904297445455,0.39685459330993256,2.84277693917655,7853.946406161055,5707.5458338216795,disk,1.737928550587677,1.3302411962571876,1.9503239294988859,2971.2273320138647,4007.022466806324,0.046941421926021576,-0.001375214895233512,-0.029949691146612167,-0.2753793001174927,0.6436731815338135,0.6607617735862732,-0.270638108253479,0.0571218878030777,0.559956967830658,1.93360435962677,0.039091236889362335,0.0005398491630330682,0.2584438621997833,0.9652348756790161,1333,1,,2.106067657470703,0.26940810958650463,0.0,0.007383998483419418,0.5288822205551388,12,release,0.042318761348724365,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False