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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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1 Parent(s): cf10ec9

add 8 episodes (c2_p014_e000 .. c9_p016_e015); total 3413 {'v1': 1088, 'v2': 2325}

Browse files
Files changed (49) hide show
  1. episodes/c2_p014_e000/data.npz +3 -0
  2. episodes/c2_p014_e000/device_events.jsonl +36 -0
  3. episodes/c2_p014_e000/env.mp4 +3 -0
  4. episodes/c2_p014_e000/meta.json +32 -0
  5. episodes/c2_p014_e000/scene_snapshot.json +1558 -0
  6. episodes/c2_p014_e000/wrist.mp4 +3 -0
  7. episodes/c7_p011_e032/data.npz +3 -0
  8. episodes/c7_p011_e032/device_events.jsonl +38 -0
  9. episodes/c7_p011_e032/env.mp4 +3 -0
  10. episodes/c7_p011_e032/meta.json +32 -0
  11. episodes/c7_p011_e032/scene_snapshot.json +1558 -0
  12. episodes/c7_p011_e032/wrist.mp4 +3 -0
  13. episodes/c7_p011_e033/data.npz +3 -0
  14. episodes/c7_p011_e033/device_events.jsonl +35 -0
  15. episodes/c7_p011_e033/env.mp4 +3 -0
  16. episodes/c7_p011_e033/meta.json +32 -0
  17. episodes/c7_p011_e033/scene_snapshot.json +1558 -0
  18. episodes/c7_p011_e033/wrist.mp4 +3 -0
  19. episodes/c7_p011_e034/data.npz +3 -0
  20. episodes/c7_p011_e034/device_events.jsonl +39 -0
  21. episodes/c7_p011_e034/env.mp4 +3 -0
  22. episodes/c7_p011_e034/meta.json +32 -0
  23. episodes/c7_p011_e034/scene_snapshot.json +1558 -0
  24. episodes/c7_p011_e034/wrist.mp4 +3 -0
  25. episodes/c9_p016_e012/data.npz +3 -0
  26. episodes/c9_p016_e012/device_events.jsonl +35 -0
  27. episodes/c9_p016_e012/env.mp4 +3 -0
  28. episodes/c9_p016_e012/meta.json +32 -0
  29. episodes/c9_p016_e012/scene_snapshot.json +1558 -0
  30. episodes/c9_p016_e012/wrist.mp4 +3 -0
  31. episodes/c9_p016_e013/data.npz +3 -0
  32. episodes/c9_p016_e013/device_events.jsonl +35 -0
  33. episodes/c9_p016_e013/env.mp4 +3 -0
  34. episodes/c9_p016_e013/meta.json +32 -0
  35. episodes/c9_p016_e013/scene_snapshot.json +1558 -0
  36. episodes/c9_p016_e013/wrist.mp4 +3 -0
  37. episodes/c9_p016_e014/data.npz +3 -0
  38. episodes/c9_p016_e014/device_events.jsonl +35 -0
  39. episodes/c9_p016_e014/env.mp4 +3 -0
  40. episodes/c9_p016_e014/meta.json +32 -0
  41. episodes/c9_p016_e014/scene_snapshot.json +1558 -0
  42. episodes/c9_p016_e014/wrist.mp4 +3 -0
  43. episodes/c9_p016_e015/data.npz +3 -0
  44. episodes/c9_p016_e015/device_events.jsonl +36 -0
  45. episodes/c9_p016_e015/env.mp4 +3 -0
  46. episodes/c9_p016_e015/meta.json +32 -0
  47. episodes/c9_p016_e015/scene_snapshot.json +1558 -0
  48. episodes/c9_p016_e015/wrist.mp4 +3 -0
  49. index/episodes.csv +8 -0
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+ 1.944762110710144,
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+ 0.04103594273328781,
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+ -0.0019674128852784634,
1551
+ 0.27925583720207214,
1552
+ 0.9593374729156494
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c9_p016_e015/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:892c63126cd22a4e7a487df480a1dc0105d365008aac3c7271750d019a151810
3
+ size 8566677
index/episodes.csv CHANGED
@@ -3404,3 +3404,11 @@ c8_p012_e000,2,True,0.11310386657714844,0.45000171661376953,0.008289665959607567
3404
  c8_p012_e001,0,True,-0.0014657974243164062,0.4475383758544922,-0.010515368202502989,0.007297281527761994,7.455660116408296,deep_well_96_2ml,0.5017671585083008,0.0675649642944336,-93.9355727520357,0.2819165987776837,560.4745293836664,rect,0.6275323934498244,-0.07163326542872317,3.1638396053467157,8144.105297912146,3936.9636752915203,disk,-0.30641667929180283,-1.010147723785041,1.7805324713765147,9589.284076923177,5389.659540247452,0.04889611527323723,-0.0005934914806857705,-0.0295029915869236,-0.2785502076148987,0.6529764533042908,0.6423643827438354,-0.28878986835479736,0.06033528968691826,0.5765848159790039,1.9312118291854858,0.05557136610150337,0.004334406461566687,0.2545006275177002,0.9654648900032043,1340,1,,2.141115665435791,0.29006572522801133,0.0,0.00750570185482502,0.5261194029850746,12,release,0.04271697998046875,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3405
  c8_p012_e002,1,True,0.1497507095336914,0.4500007629394531,-0.008387520330352961,0.004454697992942702,-5.4847368610439275,deep_well_96_1ml,0.470947265625,0.11478233337402344,-86.6555380947792,0.2979566033029754,560.4745293836664,rect,0.15549561822698865,-0.17081464692589066,2.8676986773200173,14421.689800240256,5155.867610389499,disk,0.8343010082644393,-0.8611124816718372,2.4417150096481466,2791.1780258765307,4162.5126824157005,0.051917389035224915,0.001629674225114286,-0.02922670915722847,-0.27397438883781433,0.6507303714752197,0.6515174508094788,-0.27751222252845764,0.05773787200450897,0.5928541421890259,1.9553189277648926,0.032731205224990845,0.028630008921027184,0.27377262711524963,0.9608108997344971,1221,1,,2.092059850692749,0.3037673118294824,0.0,0.007426830008625984,0.5176085176085176,12,release,0.042131781578063965,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3406
  c8_p012_e003,3,True,-0.07548046112060547,0.4499988555908203,0.00477502327684613,-0.0033531531098692662,10.515330127948744,plate_384_white,0.4705057144165039,0.12225914001464844,-93.49630103581289,0.20423259378174935,560.4745293836664,rect,-0.02358065148142441,0.06758660453142007,2.977429658253845,7160.862421233605,6337.276860556163,disk,0.8747728156745183,1.2531732550618082,2.7245282537575353,10781.888894816073,7241.297604946045,0.0523616187274456,0.000557905703317374,-0.030143339186906815,-0.2899947166442871,0.6403298377990723,0.6533601880073547,-0.2810715436935425,0.05817428231239319,0.5849975347518921,1.9592905044555664,0.03240276500582695,0.014806597493588924,0.2564491629600525,0.9659009575843811,1249,1,,2.0451481342315674,0.3070080187978864,0.0,0.007417395710945129,0.5132105684547638,12,release,0.042344093322753906,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
 
 
 
 
 
 
 
 
 
3404
  c8_p012_e001,0,True,-0.0014657974243164062,0.4475383758544922,-0.010515368202502989,0.007297281527761994,7.455660116408296,deep_well_96_2ml,0.5017671585083008,0.0675649642944336,-93.9355727520357,0.2819165987776837,560.4745293836664,rect,0.6275323934498244,-0.07163326542872317,3.1638396053467157,8144.105297912146,3936.9636752915203,disk,-0.30641667929180283,-1.010147723785041,1.7805324713765147,9589.284076923177,5389.659540247452,0.04889611527323723,-0.0005934914806857705,-0.0295029915869236,-0.2785502076148987,0.6529764533042908,0.6423643827438354,-0.28878986835479736,0.06033528968691826,0.5765848159790039,1.9312118291854858,0.05557136610150337,0.004334406461566687,0.2545006275177002,0.9654648900032043,1340,1,,2.141115665435791,0.29006572522801133,0.0,0.00750570185482502,0.5261194029850746,12,release,0.04271697998046875,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3405
  c8_p012_e002,1,True,0.1497507095336914,0.4500007629394531,-0.008387520330352961,0.004454697992942702,-5.4847368610439275,deep_well_96_1ml,0.470947265625,0.11478233337402344,-86.6555380947792,0.2979566033029754,560.4745293836664,rect,0.15549561822698865,-0.17081464692589066,2.8676986773200173,14421.689800240256,5155.867610389499,disk,0.8343010082644393,-0.8611124816718372,2.4417150096481466,2791.1780258765307,4162.5126824157005,0.051917389035224915,0.001629674225114286,-0.02922670915722847,-0.27397438883781433,0.6507303714752197,0.6515174508094788,-0.27751222252845764,0.05773787200450897,0.5928541421890259,1.9553189277648926,0.032731205224990845,0.028630008921027184,0.27377262711524963,0.9608108997344971,1221,1,,2.092059850692749,0.3037673118294824,0.0,0.007426830008625984,0.5176085176085176,12,release,0.042131781578063965,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3406
  c8_p012_e003,3,True,-0.07548046112060547,0.4499988555908203,0.00477502327684613,-0.0033531531098692662,10.515330127948744,plate_384_white,0.4705057144165039,0.12225914001464844,-93.49630103581289,0.20423259378174935,560.4745293836664,rect,-0.02358065148142441,0.06758660453142007,2.977429658253845,7160.862421233605,6337.276860556163,disk,0.8747728156745183,1.2531732550618082,2.7245282537575353,10781.888894816073,7241.297604946045,0.0523616187274456,0.000557905703317374,-0.030143339186906815,-0.2899947166442871,0.6403298377990723,0.6533601880073547,-0.2810715436935425,0.05817428231239319,0.5849975347518921,1.9592905044555664,0.03240276500582695,0.014806597493588924,0.2564491629600525,0.9659009575843811,1249,1,,2.0451481342315674,0.3070080187978864,0.0,0.007417395710945129,0.5132105684547638,12,release,0.042344093322753906,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3407
+ c2_p014_e000,1,True,0.11548423767089844,0.4499998092651367,0.008597730467446866,-0.010967928858979481,-2.814166902327514,plate_12_clear,0.46442604064941406,0.05261802673339844,-90.18349874668557,0.1859489703356372,848.1984588258895,rect,0.2523581651986043,0.3677523586854149,2.8409126003666763,6236.328160683355,3686.608994571344,disk,-0.21108062841960828,0.5601465368126413,2.2003119716511366,5978.094358759718,4550.578716959003,0.048469241708517075,0.00016372076061088592,-0.029134683310985565,-0.2660459578037262,0.6568846106529236,0.6430200338363647,-0.29025402665138245,0.061440542340278625,0.590052604675293,1.9677708148956299,0.038378700613975525,-0.005130855832248926,0.2622953951358795,0.9642105102539062,1237,1,,2.053403377532959,0.26690867314938144,0.0,0.007318692747503519,0.5101050929668552,12,release,0.04211616516113281,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3408
+ c7_p011_e032,0,True,0.011235237121582031,0.4499998092651367,-0.012070623059784276,-0.010867155226818198,9.47733663438376,plate_6_clear,0.4943122863769531,0.12484455108642578,-92.88386472532007,0.26557766905933156,1150.2447773932997,rect,0.1907435620406156,-0.33425406869400937,3.1314726992955477,10784.903545225136,3226.4919968505997,disk,-1.4163995732378227,-1.139048271866931,2.7786362957191697,3257.6395080895372,7216.611855281702,0.05169782415032387,0.0024663179647177458,-0.029880493879318237,-0.270105242729187,0.6545881032943726,0.6475613117218018,-0.2814638018608093,0.06322058290243149,0.5762523412704468,1.9635473489761353,0.028581034392118454,0.0064934552647173405,0.2680593430995941,0.9629564881324768,1176,1,,2.1172146797180176,0.327571955481699,0.0,0.007341860327869654,0.5467687074829932,12,release,0.042342305183410645,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3409
+ c7_p011_e033,3,True,0.011296272277832031,0.44721317291259766,0.00511873956247565,-0.004942779523401235,-11.95189122978212,plate_48_clear,0.5255861282348633,0.11473560333251953,-86.36290489679435,0.18287213001977504,1150.2447773932997,rect,0.02327756830500005,0.30474166694721405,2.882601424631629,8686.117590452635,6426.372192934517,sphere,-0.3215093969757219,0.632359672084708,1.9791629872180119,7539.950351689774,5333.418021771098,0.0481468103826046,0.0036947180051356554,-0.03194933012127876,-0.26855093240737915,0.6475351452827454,0.6551061868667603,-0.2818058133125305,0.059686239808797836,0.5897275805473328,1.9683599472045898,0.051946498453617096,-0.004118545912206173,0.2646155059337616,0.9629451036453247,1234,1,,2.1035711765289307,0.32415412134145305,0.0,0.007335373666137457,0.5162074554294975,12,release,0.042106032371520996,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3410
+ c7_p011_e034,2,True,-0.13413715362548828,0.44725608825683594,-0.009911044851547573,0.006463132050309138,4.145501281547524,deep_well_24_10ml,0.5084505081176758,0.052756309509277344,-93.12400749015953,0.22419372536318052,1150.2447773932997,rect,-0.38550848015822925,-0.33456038744005856,2.6366156446484164,14216.684494618894,6849.062740567717,sphere,-1.5219055270348525,0.09224942966467609,2.4396132232468375,9180.546330172274,7105.3354765784,0.046660855412483215,-0.0009242280502803624,-0.02774246223270893,-0.2792392671108246,0.6421266794204712,0.6584813594818115,-0.2758641242980957,0.06903234124183655,0.5595319271087646,1.9657140970230103,0.036472074687480927,0.013723435811698437,0.2636619508266449,0.9638276696205139,1225,1,,2.0758183002471924,0.27635064105866924,0.0,0.007518029771745205,0.5183673469387755,12,release,0.04215395450592041,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3411
+ c9_p016_e012,3,True,-0.03397083282470703,0.45000457763671875,-0.0006100688393115682,0.009262040791372508,8.152325221573761,plate_96_clear,0.5144157409667969,0.09686946868896484,-89.41839473485591,0.20547854665147516,995.0452959263267,rect,0.5060883987610937,-0.12263534258643083,3.147891280021309,8454.975331998026,5808.6450776564,sphere,1.5178885374277296,0.42040892877892055,2.318298799318634,7896.150482520788,3152.0014567190624,0.045131467282772064,-0.0007095881155692041,-0.029318077489733696,-0.281106561422348,0.6505684852600098,0.6513773798942566,-0.27101150155067444,0.027879763394594193,0.5658396482467651,1.944762110710144,0.04103594273328781,-0.0019674128852784634,0.27925583720207214,0.9593374729156494,1271,1,,2.1070027351379395,0.27184397943920285,0.0,0.007304048631340265,0.5523210070810386,12,release,0.0422205924987793,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3412
+ c9_p016_e013,2,True,0.004502296447753906,0.4500112533569336,-0.013447754463923108,-0.0023011157611260726,7.6450531219126105,plate_384_black,0.4793062210083008,0.06306743621826172,-86.66536905306221,0.195143356633445,995.0452959263267,rect,-0.43050953365785866,0.06004576859057176,2.7988099881582365,12441.709003088055,6593.057390969367,sphere,-0.982381688577213,0.8605923697832834,2.733168099769115,1865.0129530146087,7234.75035086131,0.051144421100616455,-0.0014570057392120361,-0.027541551738977432,-0.2815747559070587,0.6425519585609436,0.6604132056236267,-0.2677629888057709,0.06937390565872192,0.570623517036438,1.95734703540802,0.0385047122836113,0.010675355792045593,0.28111734986305237,0.9588412046432495,1255,1,,2.096653699874878,0.29329384224478966,0.0,0.007379228249192238,0.5617529880478087,12,release,0.042136311531066895,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3413
+ c9_p016_e014,0,True,-0.1357269287109375,0.4473285675048828,-0.014729048300564406,-0.0029885775827048597,-11.592579398826814,pcr_96_blue,0.47104358673095703,0.06777477264404297,-89.11705891501327,0.2901088622801189,1323.9548393684672,rect,-0.139669688827171,0.5664293410765959,2.764006949600804,7573.971204191467,3769.0995047764573,disk,-0.01652451554135781,0.06591842675449944,2.547789489363284,8580.290574985382,6920.4674579217435,0.04968137666583061,0.003327776677906513,-0.028973327949643135,-0.2658596634864807,0.6605935096740723,0.6445432305335999,-0.27838608622550964,0.05353260412812233,0.5977676510810852,1.9390217065811157,0.04018769413232803,0.007298326585441828,0.26273125410079956,0.9640041589736938,1166,1,,2.071718454360962,0.2886113713609054,0.0,0.006878715939819813,0.5420240137221269,12,release,0.04207569360733032,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3414
+ c9_p016_e015,1,True,-0.10521411895751953,0.4499988555908203,-0.010363578470386894,3.63327317856493e-05,-10.500045672829032,pcr_384_red,0.46932029724121094,0.11342144012451172,-92.7353368630375,0.28536765598464053,995.0452959263267,rect,0.8524912064939,0.4369723360474266,2.8162131707712663,5456.159118100095,3629.590172117208,sphere,-1.2442272057676838,1.5973060482653325,2.1689903298679236,2836.4867125171413,4966.645828988164,0.048867493867874146,0.0017787774559110403,-0.027971602976322174,-0.28761327266693115,0.6417137980461121,0.6581020355224609,-0.26904213428497314,0.043302636593580246,0.5948021411895752,1.9546748399734497,0.05444960296154022,-0.003162782173603773,0.25795355439186096,0.964616596698761,1262,1,,2.1136715412139893,0.2853174675717694,0.0,0.00680895708501339,0.5023771790808241,12,release,0.04219985008239746,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False