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Arashi2001
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MagicBioLab

Tasks:
Robotics
Tags:
simulation
isaac-sim
lab-automation
microplate
imitation-learning
License:
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 Community
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1 Parent(s): 5f3a1ea

add 8 episodes (c4_p007_e012 .. c9_p009_e015); total 2371 {'v1': 1088, 'v2': 1283}

Browse files
Files changed (49) hide show
  1. episodes/c4_p007_e012/data.npz +3 -0
  2. episodes/c4_p007_e012/device_events.jsonl +35 -0
  3. episodes/c4_p007_e012/env.mp4 +3 -0
  4. episodes/c4_p007_e012/meta.json +32 -0
  5. episodes/c4_p007_e012/scene_snapshot.json +1558 -0
  6. episodes/c4_p007_e012/wrist.mp4 +3 -0
  7. episodes/c6_p007_e031/data.npz +3 -0
  8. episodes/c6_p007_e031/device_events.jsonl +35 -0
  9. episodes/c6_p007_e031/env.mp4 +3 -0
  10. episodes/c6_p007_e031/meta.json +32 -0
  11. episodes/c6_p007_e031/scene_snapshot.json +1558 -0
  12. episodes/c6_p007_e031/wrist.mp4 +3 -0
  13. episodes/c7_p007_e028/data.npz +3 -0
  14. episodes/c7_p007_e028/device_events.jsonl +38 -0
  15. episodes/c7_p007_e028/env.mp4 +3 -0
  16. episodes/c7_p007_e028/meta.json +32 -0
  17. episodes/c7_p007_e028/scene_snapshot.json +1558 -0
  18. episodes/c7_p007_e028/wrist.mp4 +3 -0
  19. episodes/c7_p007_e029/data.npz +3 -0
  20. episodes/c7_p007_e029/device_events.jsonl +35 -0
  21. episodes/c7_p007_e029/env.mp4 +3 -0
  22. episodes/c7_p007_e029/meta.json +32 -0
  23. episodes/c7_p007_e029/scene_snapshot.json +1558 -0
  24. episodes/c7_p007_e029/wrist.mp4 +3 -0
  25. episodes/c7_p007_e030/data.npz +3 -0
  26. episodes/c7_p007_e030/device_events.jsonl +36 -0
  27. episodes/c7_p007_e030/env.mp4 +3 -0
  28. episodes/c7_p007_e030/meta.json +32 -0
  29. episodes/c7_p007_e030/scene_snapshot.json +1558 -0
  30. episodes/c7_p007_e030/wrist.mp4 +3 -0
  31. episodes/c7_p007_e031/data.npz +3 -0
  32. episodes/c7_p007_e031/device_events.jsonl +35 -0
  33. episodes/c7_p007_e031/env.mp4 +3 -0
  34. episodes/c7_p007_e031/meta.json +32 -0
  35. episodes/c7_p007_e031/scene_snapshot.json +1558 -0
  36. episodes/c7_p007_e031/wrist.mp4 +3 -0
  37. episodes/c8_p007_e024/data.npz +3 -0
  38. episodes/c8_p007_e024/device_events.jsonl +35 -0
  39. episodes/c8_p007_e024/env.mp4 +3 -0
  40. episodes/c8_p007_e024/meta.json +32 -0
  41. episodes/c8_p007_e024/scene_snapshot.json +1558 -0
  42. episodes/c8_p007_e024/wrist.mp4 +3 -0
  43. episodes/c9_p009_e015/data.npz +3 -0
  44. episodes/c9_p009_e015/device_events.jsonl +36 -0
  45. episodes/c9_p009_e015/env.mp4 +3 -0
  46. episodes/c9_p009_e015/meta.json +32 -0
  47. episodes/c9_p009_e015/scene_snapshot.json +1558 -0
  48. episodes/c9_p009_e015/wrist.mp4 +3 -0
  49. index/episodes.csv +8 -0
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@@ -2362,3 +2362,11 @@ c8_p007_e023,3,True,0.051863670349121094,0.4476203918457031,-0.00963081538410325
2362
  c9_p009_e012,2,True,0.10446929931640625,0.45000171661376953,0.0024283794019765437,-0.010879657034048626,-7.267035142715116,plate_384_black,0.4791736602783203,0.06023120880126953,-88.05324592295906,0.21156120999235367,544.6184301959879,rect,0.3205135201495781,-0.3204877643675868,2.8076539460951735,7002.661465788315,4305.081071771017,disk,-0.748634225744262,-0.5965223766390993,2.762485206145976,5568.004827691984,5889.963929731495,0.049603961408138275,0.0012749368324875832,-0.03085312992334366,-0.26925861835479736,0.6592521071434021,0.6459927558898926,-0.27491796016693115,0.03158722445368767,0.5966350436210632,1.9533590078353882,0.04251762852072716,-0.0039041072595864534,0.2836318910121918,0.9579822421073914,1267,1,,2.105586051940918,0.3115204686817961,0.0,0.007380345836281776,0.5122336227308603,12,release,0.04214286804199219,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2363
  c9_p009_e013,0,True,-0.03132820129394531,0.45000553131103516,-0.01442076946788495,-0.0063368370215995656,11.583222134680568,plate_6_clear,0.4984111785888672,0.10499954223632812,-94.88015299755519,0.2856786890478314,544.6184301959879,rect,-0.2916178424024072,-0.06205045278921717,2.697064656016137,8134.562702098364,4999.253680722532,disk,1.178773834005825,0.12506164630750072,2.3578769729864075,10222.851553130207,6973.404973945031,0.051444996148347855,-0.0028912245761603117,-0.03285922855138779,-0.28260338306427,0.6566575765609741,0.6434147357940674,-0.27377671003341675,0.04447859525680542,0.5877348780632019,1.9681062698364258,0.02780040353536606,0.01024286262691021,0.2767930030822754,0.9604727029800415,1306,1,,2.134256601333618,0.30858814602271106,0.0,0.007379456423223019,0.5405819295558959,12,release,0.042360782623291016,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2364
  c9_p009_e014,3,True,0.0647592544555664,0.4499969482421875,-0.00026131993433695956,0.0024127945939774417,11.448024287489517,plate_384_white,0.5227231979370117,0.11492919921875,-88.80199811353675,0.20094098405226207,544.6184301959879,rect,0.7466109774478845,-0.39569509725126284,2.891966717986537,5840.9331696004,3338.1395388761,disk,-1.4100438725906002,0.2213164625434645,1.8133443370217124,9445.193902809537,4709.4126839165765,0.04870036244392395,0.0021894804667681456,-0.027230845764279366,-0.2690786123275757,0.6528024673461914,0.653459370136261,-0.2728305459022522,0.05141565203666687,0.5577266812324524,1.94343101978302,0.049098867923021317,-0.008593388833105564,0.2798919081687927,0.9587366580963135,1151,1,,2.114894390106201,0.2995077064198103,0.0,0.00741711538285017,0.5560382276281495,12,release,0.04233193397521973,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
 
 
 
 
 
 
 
 
 
2362
  c9_p009_e012,2,True,0.10446929931640625,0.45000171661376953,0.0024283794019765437,-0.010879657034048626,-7.267035142715116,plate_384_black,0.4791736602783203,0.06023120880126953,-88.05324592295906,0.21156120999235367,544.6184301959879,rect,0.3205135201495781,-0.3204877643675868,2.8076539460951735,7002.661465788315,4305.081071771017,disk,-0.748634225744262,-0.5965223766390993,2.762485206145976,5568.004827691984,5889.963929731495,0.049603961408138275,0.0012749368324875832,-0.03085312992334366,-0.26925861835479736,0.6592521071434021,0.6459927558898926,-0.27491796016693115,0.03158722445368767,0.5966350436210632,1.9533590078353882,0.04251762852072716,-0.0039041072595864534,0.2836318910121918,0.9579822421073914,1267,1,,2.105586051940918,0.3115204686817961,0.0,0.007380345836281776,0.5122336227308603,12,release,0.04214286804199219,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2363
  c9_p009_e013,0,True,-0.03132820129394531,0.45000553131103516,-0.01442076946788495,-0.0063368370215995656,11.583222134680568,plate_6_clear,0.4984111785888672,0.10499954223632812,-94.88015299755519,0.2856786890478314,544.6184301959879,rect,-0.2916178424024072,-0.06205045278921717,2.697064656016137,8134.562702098364,4999.253680722532,disk,1.178773834005825,0.12506164630750072,2.3578769729864075,10222.851553130207,6973.404973945031,0.051444996148347855,-0.0028912245761603117,-0.03285922855138779,-0.28260338306427,0.6566575765609741,0.6434147357940674,-0.27377671003341675,0.04447859525680542,0.5877348780632019,1.9681062698364258,0.02780040353536606,0.01024286262691021,0.2767930030822754,0.9604727029800415,1306,1,,2.134256601333618,0.30858814602271106,0.0,0.007379456423223019,0.5405819295558959,12,release,0.042360782623291016,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2364
  c9_p009_e014,3,True,0.0647592544555664,0.4499969482421875,-0.00026131993433695956,0.0024127945939774417,11.448024287489517,plate_384_white,0.5227231979370117,0.11492919921875,-88.80199811353675,0.20094098405226207,544.6184301959879,rect,0.7466109774478845,-0.39569509725126284,2.891966717986537,5840.9331696004,3338.1395388761,disk,-1.4100438725906002,0.2213164625434645,1.8133443370217124,9445.193902809537,4709.4126839165765,0.04870036244392395,0.0021894804667681456,-0.027230845764279366,-0.2690786123275757,0.6528024673461914,0.653459370136261,-0.2728305459022522,0.05141565203666687,0.5577266812324524,1.94343101978302,0.049098867923021317,-0.008593388833105564,0.2798919081687927,0.9587366580963135,1151,1,,2.114894390106201,0.2995077064198103,0.0,0.00741711538285017,0.5560382276281495,12,release,0.04233193397521973,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2365
+ c4_p007_e012,3,True,-0.09145736694335938,0.4499998092651367,-0.014924994783159716,0.0011197238665028402,0.3278634231480453,plate_48_clear,0.4988422393798828,0.11703014373779297,-85.3321059681004,0.24621073488663464,837.6576544212958,rect,-0.08861119877714374,0.11999874424278933,2.701994395685534,10076.574779801556,4116.323619605186,disk,-0.5764805619128999,-0.34385041674508354,2.1307641774909127,8949.08992852736,4573.296699501594,0.0493294894695282,-0.0006778609822504222,-0.03119003213942051,-0.27094459533691406,0.6572375893592834,0.6458224654197693,-0.27846208214759827,0.06056293845176697,0.559775173664093,1.96737539768219,0.030126646161079407,0.026004841551184654,0.2874872088432312,0.9569572806358337,1150,1,,2.052945613861084,0.2681116145857722,0.0,0.007351514883339405,0.5521739130434783,12,release,0.04252266883850098,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2366
+ c6_p007_e031,3,True,-0.08947086334228516,0.4499988555908203,-0.0035628803754908585,-0.010296837812380609,8.062545039854143,plate_96_clear,0.4826030731201172,0.10466194152832031,-90.34329398814339,0.21301803768853567,792.8820509307126,rect,0.0709678484836852,-0.2358951714103119,3.0003182064218143,4740.389846149459,4445.851806920467,disk,-1.282852281427042,-0.06393928621907041,1.997651337998471,2256.618279693816,6042.826622093288,0.04731917008757591,-0.0023994306102395058,-0.02751372754573822,-0.2716676592826843,0.6515360474586487,0.65069979429245,-0.2797985374927521,0.030816173180937767,0.5804631114006042,1.9447921514511108,0.026606230065226555,0.019116435199975967,0.28266558051109314,0.9586588740348816,1301,1,,2.1133909225463867,0.3283873193009829,0.0,0.007283799350261688,0.5349730976172176,12,release,0.04238605499267578,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2367
+ c7_p007_e028,1,True,0.13321590423583984,0.4499998092651367,-0.004520599642498096,-0.0072344587770356485,-5.1096254423225105,plate_12_clear,0.4677009582519531,0.06300163269042969,-90.72762367119496,0.24928633070059414,1142.7249225069686,rect,-0.11532680458744754,0.21340025896950265,2.8043235472964105,9535.959875954308,5621.819290359064,disk,1.6108178770254034,-0.15636081691642767,1.7282961403195964,2223.0319988225388,3637.6395368556623,0.04787183925509453,-0.002587459282949567,-0.03207184374332428,-0.28732597827911377,0.6485814452171326,0.6500569581985474,-0.2724184989929199,0.05299917235970497,0.5880153775215149,1.9601246118545532,0.05239381268620491,0.0235807616263628,0.25558406114578247,0.9650780558586121,1191,1,,2.101842164993286,0.29246072084560015,0.0,0.007359158713370562,0.5256087321578505,12,release,0.0422324538230896,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2368
+ c7_p007_e029,3,True,0.0543670654296875,0.45000267028808594,0.002432039905161086,-0.0016696355479903459,8.46377431688154,plate_384_white,0.4947824478149414,0.1017904281616211,-86.85942985338791,0.2735855193053538,1568.856130628533,rect,0.0502925492205738,-0.2526241209891276,3.15761877148093,5373.094616760891,4906.177774814529,disk,-1.3477812660404767,1.328795185775529,2.353121947561596,5243.103010422892,7288.4914529801745,0.05019156634807587,0.003577607683837414,-0.02629784494638443,-0.2713632583618164,0.6571356058120728,0.6397820115089417,-0.2919139564037323,0.052507106214761734,0.5644849538803101,1.940629482269287,0.02953805774450302,0.006658086087554693,0.2832368314266205,0.9585719108581543,1178,1,,2.075162172317505,0.3274896956733384,0.0,0.0074256788939237595,0.5441426146010186,12,release,0.042256832122802734,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2369
+ c7_p007_e030,0,True,-0.08866119384765625,0.45000267028808594,0.006586734115531674,0.005103491236441115,1.8908273674547615,plate_96_black,0.5010499954223633,0.1187429428100586,-88.53705766770034,0.1716308621038977,1568.856130628533,rect,0.8532532977697166,0.41402482637837246,2.745979037823219,7377.20347817662,4715.63066119098,disk,0.5381910310455638,-0.408404319633218,2.6301974518754085,5722.761730619899,4669.824491496922,0.04971165210008621,-1.222788432642119e-05,-0.02959097921848297,-0.2733863592147827,0.6502399444580078,0.6541708111763,-0.2729624807834625,0.05656735226511955,0.5726056694984436,1.941922664642334,0.054767876863479614,0.008869876153767109,0.26764076948165894,0.9619200825691223,1213,1,,2.1087357997894287,0.288645073101825,0.0,0.0073044681921601295,0.5251442704039572,12,release,0.04215991497039795,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2370
+ c7_p007_e031,2,True,0.09964275360107422,0.4500007629394531,-0.008471402093741011,0.001965897094182702,-7.929439040053779,plate_1536_black,0.46644115447998047,0.05382251739501953,-94.3000692184742,0.2333777892128333,1568.856130628533,rect,-0.12370967847134634,-0.4172001206567656,3.081068509457681,11073.163930164279,4663.719225996247,sphere,1.369155533395582,-0.9071328447662939,2.665142412067655,7389.881432772724,3705.466930790817,0.0517299510538578,0.0002598583232611418,-0.027678189799189568,-0.29314470291137695,0.639205813407898,0.655615508556366,-0.27504611015319824,0.06100994348526001,0.5703043937683105,1.9352809190750122,0.037043001502752304,0.029363399371504784,0.27052056789398193,0.9615530371665955,1236,1,,2.062406301498413,0.29128773858879703,0.0,0.007382126525044441,0.5202265372168284,12,release,0.042295366525650024,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2371
+ c8_p007_e024,2,True,-0.06584548950195312,0.4500007629394531,-0.015486047814152686,0.01029353292419518,9.379669497741588,plate_1536_black,0.5170612335205078,0.08798694610595703,-88.62008018851587,0.2599312853973318,851.4091740587922,rect,0.7373236851341137,-0.43177306943669147,2.675910365453356,15979.933334317591,5857.768996881477,disk,1.7999424955991805,0.2534336965057358,1.7860468739756639,4254.032848900629,4517.58097338608,0.04988258704543114,0.000889480288606137,-0.02726692147552967,-0.27718234062194824,0.6552310585975647,0.6436376571655273,-0.2820865213871002,0.03339437395334244,0.5912325382232666,1.9729043245315552,0.04886522889137268,0.00972358975559473,0.2844233214855194,0.9574032425880432,1244,1,,2.0857303142547607,0.3168166375378226,0.0,0.007384496740996838,0.5136655948553055,12,release,0.04221232235431671,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2372
+ c9_p009_e015,1,True,0.0760650634765625,0.44753456115722656,0.002315677086868037,-0.0033054250578538067,7.534738940430628,deep_well_96_1ml,0.5116128921508789,0.08402252197265625,-90.0992231714612,0.2822735464030012,544.6184301959879,rect,0.17821316393177788,-0.48536795602485616,3.189894728546591,10390.876295127297,6214.041893585059,sphere,-0.703199863025888,-0.8147342400512676,1.9001373641329913,8902.082344398134,5783.1070557432795,0.053478941321372986,0.0032615235541015863,-0.02817307598888874,-0.2836615741252899,0.6459264159202576,0.6479280591011047,-0.2872357964515686,0.03853427618741989,0.5722599029541016,1.9412552118301392,0.05383220687508583,0.025236470624804497,0.25930485129356384,0.9639638066291809,1243,1,,2.0653915405273438,0.3266556427746975,0.0,0.007434013299643993,0.5172968624296058,12,release,0.04234480857849121,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False