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Datasets:
Arashi2001
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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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add 6 episodes (c2_p009_e004 .. c7_p007_e020); total 2312 {'v1': 1088, 'v2': 1224}

Browse files
Files changed (37) hide show
  1. episodes/c2_p009_e004/data.npz +3 -0
  2. episodes/c2_p009_e004/device_events.jsonl +37 -0
  3. episodes/c2_p009_e004/env.mp4 +3 -0
  4. episodes/c2_p009_e004/meta.json +32 -0
  5. episodes/c2_p009_e004/scene_snapshot.json +1558 -0
  6. episodes/c2_p009_e004/wrist.mp4 +3 -0
  7. episodes/c5_p006_e037/data.npz +3 -0
  8. episodes/c5_p006_e037/device_events.jsonl +35 -0
  9. episodes/c5_p006_e037/env.mp4 +3 -0
  10. episodes/c5_p006_e037/meta.json +32 -0
  11. episodes/c5_p006_e037/scene_snapshot.json +1558 -0
  12. episodes/c5_p006_e037/wrist.mp4 +3 -0
  13. episodes/c5_p006_e038/data.npz +3 -0
  14. episodes/c5_p006_e038/device_events.jsonl +36 -0
  15. episodes/c5_p006_e038/env.mp4 +3 -0
  16. episodes/c5_p006_e038/meta.json +32 -0
  17. episodes/c5_p006_e038/scene_snapshot.json +1558 -0
  18. episodes/c5_p006_e038/wrist.mp4 +3 -0
  19. episodes/c5_p006_e039/data.npz +3 -0
  20. episodes/c5_p006_e039/device_events.jsonl +38 -0
  21. episodes/c5_p006_e039/env.mp4 +3 -0
  22. episodes/c5_p006_e039/meta.json +32 -0
  23. episodes/c5_p006_e039/scene_snapshot.json +1558 -0
  24. episodes/c5_p006_e039/wrist.mp4 +3 -0
  25. episodes/c6_p007_e024/data.npz +3 -0
  26. episodes/c6_p007_e024/device_events.jsonl +36 -0
  27. episodes/c6_p007_e024/env.mp4 +3 -0
  28. episodes/c6_p007_e024/meta.json +32 -0
  29. episodes/c6_p007_e024/scene_snapshot.json +1558 -0
  30. episodes/c6_p007_e024/wrist.mp4 +3 -0
  31. episodes/c7_p007_e020/data.npz +3 -0
  32. episodes/c7_p007_e020/device_events.jsonl +40 -0
  33. episodes/c7_p007_e020/env.mp4 +3 -0
  34. episodes/c7_p007_e020/meta.json +32 -0
  35. episodes/c7_p007_e020/scene_snapshot.json +1558 -0
  36. episodes/c7_p007_e020/wrist.mp4 +3 -0
  37. index/episodes.csv +6 -0
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episodes/c7_p007_e020/wrist.mp4 ADDED
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+ oid sha256:cb40d4f07f8faa3be3bcfa2ad95a80b713a422a7779a6760403d264fb61f02f0
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+ size 6522449
index/episodes.csv CHANGED
@@ -2305,3 +2305,9 @@ c7_p007_e019,2,True,-0.029544830322265625,0.45000267028808594,-0.004656914633186
2305
  c8_p007_e013,1,True,0.11816120147705078,0.4499998092651367,0.013120637676192395,0.0032597134300964706,0.7806903969385246,plate_96_white,0.4940500259399414,0.12068843841552734,-88.4793647150569,0.203251382956965,865.7484633452245,rect,0.3862368948878865,-0.4480532183696812,3.1143167637214813,14693.159852242117,4521.842806125237,sphere,-0.29101562103562273,-0.6289953302250849,1.9071966405352632,9379.143974761642,6926.5920547808255,0.04714176431298256,0.0012442698935046792,-0.029429271817207336,-0.28078973293304443,0.6474774479866028,0.6486971378326416,-0.28481945395469666,0.07383805513381958,0.5854329466819763,1.928359866142273,0.0291448887437582,0.023123815655708313,0.27390092611312866,0.9610380530357361,1225,1,,2.0214571952819824,0.245901473832082,0.0,0.007289614994078875,0.5134693877551021,12,release,0.04334688186645508,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2306
  c8_p007_e014,0,True,-0.0007772445678710938,0.45000267028808594,0.012451195921444358,-0.0007444175470705303,4.129084537743552,pcr_96_blue,0.4953346252441406,0.08161735534667969,-94.7172394143877,0.23707417813043985,865.7484633452245,rect,0.34199221801061486,-0.023420403261387335,3.136330982692132,12886.453828762043,5616.273223455067,sphere,0.827693600583054,0.8606977720898346,2.0350551306196882,6377.844417527014,6016.080040669658,0.05150797963142395,-0.0008559809648431838,-0.027645638212561607,-0.28539296984672546,0.638142466545105,0.6627088785171509,-0.2685926556587219,0.0624166876077652,0.5729935765266418,1.929408311843872,0.030381066724658012,0.011406419798731804,0.27634719014167786,0.9605098366737366,1262,1,,2.0734026432037354,0.2771805523970607,0.0,0.006841032300144434,0.5586370839936609,12,release,0.042240142822265625,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2307
  c8_p007_e015,3,True,-0.13591289520263672,0.4500007629394531,0.007112624108882226,0.002049025936447355,-0.8653113511628021,plate_384_white,0.5054759979248047,0.0936441421508789,-88.54507967983156,0.23603420663178865,865.7484633452245,rect,-0.24694704690600155,0.29114712201015513,2.8560157245042075,6543.634437095864,7119.569103843185,sphere,1.3960512969904157,0.12584551515733144,1.9920169427363301,7850.902247815921,5599.984623733704,0.051192376762628555,-0.00030906402389518917,-0.029987882822752,-0.2888675928115845,0.6481319069862366,0.6441708207130432,-0.28552496433258057,0.05338853970170021,0.560987114906311,1.9599177837371826,0.031364329159259796,0.01240546628832817,0.2591642737388611,0.9652441740036011,1175,1,,2.044370651245117,0.3060189508587419,0.0,0.007416865322738886,0.5395744680851063,12,release,0.042098045349121094,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
 
 
 
 
 
 
 
2305
  c8_p007_e013,1,True,0.11816120147705078,0.4499998092651367,0.013120637676192395,0.0032597134300964706,0.7806903969385246,plate_96_white,0.4940500259399414,0.12068843841552734,-88.4793647150569,0.203251382956965,865.7484633452245,rect,0.3862368948878865,-0.4480532183696812,3.1143167637214813,14693.159852242117,4521.842806125237,sphere,-0.29101562103562273,-0.6289953302250849,1.9071966405352632,9379.143974761642,6926.5920547808255,0.04714176431298256,0.0012442698935046792,-0.029429271817207336,-0.28078973293304443,0.6474774479866028,0.6486971378326416,-0.28481945395469666,0.07383805513381958,0.5854329466819763,1.928359866142273,0.0291448887437582,0.023123815655708313,0.27390092611312866,0.9610380530357361,1225,1,,2.0214571952819824,0.245901473832082,0.0,0.007289614994078875,0.5134693877551021,12,release,0.04334688186645508,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2306
  c8_p007_e014,0,True,-0.0007772445678710938,0.45000267028808594,0.012451195921444358,-0.0007444175470705303,4.129084537743552,pcr_96_blue,0.4953346252441406,0.08161735534667969,-94.7172394143877,0.23707417813043985,865.7484633452245,rect,0.34199221801061486,-0.023420403261387335,3.136330982692132,12886.453828762043,5616.273223455067,sphere,0.827693600583054,0.8606977720898346,2.0350551306196882,6377.844417527014,6016.080040669658,0.05150797963142395,-0.0008559809648431838,-0.027645638212561607,-0.28539296984672546,0.638142466545105,0.6627088785171509,-0.2685926556587219,0.0624166876077652,0.5729935765266418,1.929408311843872,0.030381066724658012,0.011406419798731804,0.27634719014167786,0.9605098366737366,1262,1,,2.0734026432037354,0.2771805523970607,0.0,0.006841032300144434,0.5586370839936609,12,release,0.042240142822265625,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2307
  c8_p007_e015,3,True,-0.13591289520263672,0.4500007629394531,0.007112624108882226,0.002049025936447355,-0.8653113511628021,plate_384_white,0.5054759979248047,0.0936441421508789,-88.54507967983156,0.23603420663178865,865.7484633452245,rect,-0.24694704690600155,0.29114712201015513,2.8560157245042075,6543.634437095864,7119.569103843185,sphere,1.3960512969904157,0.12584551515733144,1.9920169427363301,7850.902247815921,5599.984623733704,0.051192376762628555,-0.00030906402389518917,-0.029987882822752,-0.2888675928115845,0.6481319069862366,0.6441708207130432,-0.28552496433258057,0.05338853970170021,0.560987114906311,1.9599177837371826,0.031364329159259796,0.01240546628832817,0.2591642737388611,0.9652441740036011,1175,1,,2.044370651245117,0.3060189508587419,0.0,0.007416865322738886,0.5395744680851063,12,release,0.042098045349121094,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2308
+ c2_p009_e004,2,True,0.06354713439941406,0.4500007629394531,-0.007474400182825721,0.005326586931823457,-7.597750525834726,deep_well_24_10ml,0.46334171295166016,0.11973381042480469,-93.2363477926365,0.2717280457329553,690.2681427962696,rect,-0.4516884630132815,0.4243702899640841,2.929332941467144,11135.865964679517,5300.162157448876,sphere,-0.8645755302322811,-0.7198748900846135,2.668892669606291,5431.127472007693,5673.261292339226,0.04889107495546341,-0.00100448087323457,-0.03168236464262009,-0.2893823981285095,0.6406169533729553,0.6564826965332031,-0.27367541193962097,0.03947102651000023,0.5589746832847595,1.9711381196975708,0.03652307763695717,0.00443077739328146,0.2733657658100128,0.961206316947937,1231,1,,2.0562751293182373,0.24906453108959556,0.0,0.007521017920225859,0.5109666937449229,12,release,0.0423663854598999,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2309
+ c5_p006_e037,1,True,0.04938316345214844,0.45000171661376953,-0.007105567943478756,0.008666251195199193,7.460661994650735,pcr_384_red,0.5063915252685547,0.09279727935791016,-93.26214579185496,0.24333006218246542,1069.5125239314534,rect,0.4314993570160376,0.5370029575054442,2.612854764098032,12785.466103907693,6671.024944648021,sphere,1.0711679681334187,1.287673777472336,2.4047139828394304,8734.921818991712,4101.070416436391,0.04888881742954254,0.0008744095684960485,-0.033056166023015976,-0.2747596204280853,0.6577873826026917,0.6420546770095825,-0.2821146249771118,0.04769047349691391,0.5728892683982849,1.9487990140914917,0.04727902635931969,0.015567352995276451,0.2653839886188507,0.9628570675849915,1163,1,,2.047750949859619,0.3282591622810014,0.0,0.0068328650668263435,0.5468615649183147,12,release,0.042293548583984375,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2310
+ c5_p006_e038,3,True,-0.10179615020751953,0.4499988555908203,0.006924644762065694,0.0015010116357633515,4.623101275238071,plate_96_clear,0.46075916290283203,0.06093311309814453,-88.65269073566743,0.24705876808445337,1069.5125239314534,rect,-0.2695410670068319,0.05628668649541013,2.6140999906145015,14941.638039231904,4744.473318100426,sphere,1.2732364380661174,0.12642438571669268,2.4680648684826636,6678.936347840507,6933.456766842351,0.0518377348780632,0.00024754356127232313,-0.030557045713067055,-0.30340448021888733,0.635001540184021,0.6525261402130127,-0.2809419333934784,0.06601837277412415,0.5981491208076477,1.9651801586151123,0.0573735237121582,0.013547329232096672,0.2740441560745239,0.9599086046218872,1192,1,,2.114415407180786,0.33651128325454355,0.0,0.007317439187318087,0.5327181208053692,12,release,0.042271196842193604,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2311
+ c5_p006_e039,2,True,0.034450531005859375,0.4474782943725586,0.014247384149569216,-0.002860603788688181,3.4630906306790905,deep_well_24_10ml,0.5050344467163086,0.06483745574951172,-86.25063902752741,0.26173658694913704,1069.5125239314534,rect,-0.24503786777049458,0.17021253216160837,2.8330807916436718,12300.690904252402,4305.448013505948,disk,1.016758151773769,1.4727798852396845,2.2693390380496217,3992.624634843696,6670.240100035551,0.05136692523956299,-0.0003644898533821106,-0.03132030367851257,-0.289628803730011,0.6428418159484863,0.6493616104125977,-0.28495439887046814,0.04685061424970627,0.5642886757850647,1.965207815170288,0.027846256271004677,0.014515364542603493,0.2841133773326874,0.9582763314247131,1145,1,,2.133180856704712,0.3143079435483051,0.0,0.007506668567657471,0.5580786026200873,12,release,0.043158531188964844,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2312
+ c6_p007_e024,1,True,0.038910865783691406,0.45000267028808594,-0.0037292501677090905,-0.008112215831655563,3.211144349738504,plate_96_white,0.5113554000854492,0.10975074768066406,-91.73156323661549,0.16018077702696237,1008.6944257579945,rect,0.3691656242968109,0.04556913367523019,2.8350882789525005,7792.630065230182,3210.148688917443,disk,0.5238083675603251,0.6445043624911253,2.586900149871736,3206.1602235490213,4315.578261102343,0.050134751945734024,-0.0009486973867751658,-0.02903943508863449,-0.2812582552433014,0.6554953455924988,0.6412612795829773,-0.2828490734100342,0.04417594149708748,0.5928413271903992,1.935343623161316,0.04556103050708771,-0.0031293670181185007,0.28081759810447693,0.9586740136146545,1234,1,,2.116360902786255,0.2902514092029439,0.0,0.007257597986608744,0.5235008103727715,12,release,0.04255223274230957,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2313
+ c7_p007_e020,1,True,0.059352874755859375,0.4470682144165039,-0.014136752178670435,-0.01040459670105743,5.951127056798157,deep_well_96_1ml,0.4677009582519531,0.06300163269042969,-90.72762367119496,0.19225261305431934,539.6920380454923,rect,0.27138982773249476,0.5855983785340326,2.7511524816104016,8746.080593439528,4319.026886741085,disk,-1.1836148089915235,0.9542354303501106,1.909957946130259,4459.419870851236,3785.8682200727612,0.04766024649143219,0.0011854355689138174,-0.03315272182226181,-0.27503281831741333,0.6535778641700745,0.6427249312400818,-0.2899959087371826,0.07481834292411804,0.5559129118919373,1.9321249723434448,0.03565739467740059,0.00018376916705165058,0.280684232711792,0.9591375589370728,1157,1,,2.0746803283691406,0.3121421683292211,0.0,0.007455428130924702,0.5522904062229905,12,release,0.04235696792602539,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False