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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
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add 7 episodes (c3_p008_e020 .. c9_p010_e024); total 2738 {'v1': 1088, 'v2': 1650}

Browse files
Files changed (43) hide show
  1. episodes/c3_p008_e020/data.npz +3 -0
  2. episodes/c3_p008_e020/device_events.jsonl +37 -0
  3. episodes/c3_p008_e020/env.mp4 +3 -0
  4. episodes/c3_p008_e020/meta.json +32 -0
  5. episodes/c3_p008_e020/scene_snapshot.json +1558 -0
  6. episodes/c3_p008_e020/wrist.mp4 +3 -0
  7. episodes/c3_p008_e021/data.npz +3 -0
  8. episodes/c3_p008_e021/device_events.jsonl +35 -0
  9. episodes/c3_p008_e021/env.mp4 +3 -0
  10. episodes/c3_p008_e021/meta.json +32 -0
  11. episodes/c3_p008_e021/scene_snapshot.json +1558 -0
  12. episodes/c3_p008_e021/wrist.mp4 +3 -0
  13. episodes/c7_p009_e012/data.npz +3 -0
  14. episodes/c7_p009_e012/device_events.jsonl +36 -0
  15. episodes/c7_p009_e012/env.mp4 +3 -0
  16. episodes/c7_p009_e012/meta.json +32 -0
  17. episodes/c7_p009_e012/scene_snapshot.json +1558 -0
  18. episodes/c7_p009_e012/wrist.mp4 +3 -0
  19. episodes/c7_p009_e013/data.npz +3 -0
  20. episodes/c7_p009_e013/device_events.jsonl +36 -0
  21. episodes/c7_p009_e013/env.mp4 +3 -0
  22. episodes/c7_p009_e013/meta.json +32 -0
  23. episodes/c7_p009_e013/scene_snapshot.json +1558 -0
  24. episodes/c7_p009_e013/wrist.mp4 +3 -0
  25. episodes/c7_p009_e014/data.npz +3 -0
  26. episodes/c7_p009_e014/device_events.jsonl +37 -0
  27. episodes/c7_p009_e014/env.mp4 +3 -0
  28. episodes/c7_p009_e014/meta.json +32 -0
  29. episodes/c7_p009_e014/scene_snapshot.json +1558 -0
  30. episodes/c7_p009_e014/wrist.mp4 +3 -0
  31. episodes/c7_p009_e015/data.npz +3 -0
  32. episodes/c7_p009_e015/device_events.jsonl +35 -0
  33. episodes/c7_p009_e015/env.mp4 +3 -0
  34. episodes/c7_p009_e015/meta.json +32 -0
  35. episodes/c7_p009_e015/scene_snapshot.json +1558 -0
  36. episodes/c7_p009_e015/wrist.mp4 +3 -0
  37. episodes/c9_p010_e024/data.npz +3 -0
  38. episodes/c9_p010_e024/device_events.jsonl +35 -0
  39. episodes/c9_p010_e024/env.mp4 +3 -0
  40. episodes/c9_p010_e024/meta.json +32 -0
  41. episodes/c9_p010_e024/scene_snapshot.json +1558 -0
  42. episodes/c9_p010_e024/wrist.mp4 +3 -0
  43. index/episodes.csv +7 -0
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+ size 7062648
index/episodes.csv CHANGED
@@ -2730,3 +2730,10 @@ c5_p008_e010,1,True,0.1187896728515625,0.44742584228515625,0.006446407190768446,
2730
  c5_p008_e011,3,True,0.040268898010253906,0.4499940872192383,0.004199721585845632,-0.0025181340446053255,-11.255670022981633,reservoir_12ch,0.498779296875,0.07395744323730469,-91.47340417708187,0.26742475472215677,716.6114736323996,rect,-0.2316374027217159,0.41224119061654607,3.096473769754682,7249.489707071152,5677.49397481958,sphere,1.5724971993901162,1.1837641238410612,2.5647667604883546,1885.1745273593192,4664.4948447546385,0.05349249020218849,-0.0006936310674063861,-0.03120279312133789,-0.28424298763275146,0.6520785689353943,0.642170250415802,-0.28568655252456665,0.0663456991314888,0.5808018445968628,1.9722861051559448,0.0370204895734787,0.017779292538762093,0.2775081396102905,0.9598451256752014,1229,1,,2.085969924926758,0.27501706350755384,0.0,0.007447557523846626,0.5248169243287225,12,release,0.04228788614273071,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2731
  c8_p009_e018,0,True,-0.073944091796875,0.45009422302246094,0.0077411346856580176,-0.004554396978291499,-1.3947027564802568,plate_6_clear,0.5170612335205078,0.08798694610595703,-88.62008018851587,0.162679702261342,1541.4554547645353,rect,-0.5972018301797168,-0.012918126880971548,2.8627497040169896,4840.6359008901945,6453.945944465917,disk,0.9968303776699448,-0.9109269393851069,2.1618285829935933,2912.135844714207,5107.824409425957,0.04750843346118927,-0.00041687439079396427,-0.02787151373922825,-0.28224828839302063,0.6462305188179016,0.6559573411941528,-0.2691505253314972,0.029055073857307434,0.6003767848014832,1.9643745422363281,0.03607231751084328,0.002092506969347596,0.2857802212238312,0.9576137661933899,1203,1,,2.086540460586548,0.32941146477125705,0.0,0.007384368684142828,0.5320033250207814,12,release,0.04222869873046875,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2732
  c8_p009_e019,3,True,0.019547462463378906,0.4475831985473633,-0.01316038138351888,0.0013079711787877687,2.024467347916385,reservoir_12ch,0.5017671585083008,0.0675649642944336,-93.9355727520357,0.25555868082575306,1541.4554547645353,rect,-0.433174218349123,-0.1383700779088457,3.054446059261355,15257.465023273966,6281.490570106036,disk,-0.8780365310000596,0.9491504036299474,2.191569742430975,6385.150051681288,3118.667255507616,0.05298304557800293,0.0023472581524401903,-0.02885887399315834,-0.2776734232902527,0.6420550346374512,0.6520751714706421,-0.29233673214912415,0.0657714456319809,0.5617376565933228,1.965070366859436,0.046225741505622864,0.027049530297517776,0.27588599920272827,0.9596970677375793,1214,1,,2.1021921634674072,0.3246751659074725,0.0,0.007435396313667297,0.5181219110378913,12,release,0.04215502738952637,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
 
 
 
 
 
 
 
 
2730
  c5_p008_e011,3,True,0.040268898010253906,0.4499940872192383,0.004199721585845632,-0.0025181340446053255,-11.255670022981633,reservoir_12ch,0.498779296875,0.07395744323730469,-91.47340417708187,0.26742475472215677,716.6114736323996,rect,-0.2316374027217159,0.41224119061654607,3.096473769754682,7249.489707071152,5677.49397481958,sphere,1.5724971993901162,1.1837641238410612,2.5647667604883546,1885.1745273593192,4664.4948447546385,0.05349249020218849,-0.0006936310674063861,-0.03120279312133789,-0.28424298763275146,0.6520785689353943,0.642170250415802,-0.28568655252456665,0.0663456991314888,0.5808018445968628,1.9722861051559448,0.0370204895734787,0.017779292538762093,0.2775081396102905,0.9598451256752014,1229,1,,2.085969924926758,0.27501706350755384,0.0,0.007447557523846626,0.5248169243287225,12,release,0.04228788614273071,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2731
  c8_p009_e018,0,True,-0.073944091796875,0.45009422302246094,0.0077411346856580176,-0.004554396978291499,-1.3947027564802568,plate_6_clear,0.5170612335205078,0.08798694610595703,-88.62008018851587,0.162679702261342,1541.4554547645353,rect,-0.5972018301797168,-0.012918126880971548,2.8627497040169896,4840.6359008901945,6453.945944465917,disk,0.9968303776699448,-0.9109269393851069,2.1618285829935933,2912.135844714207,5107.824409425957,0.04750843346118927,-0.00041687439079396427,-0.02787151373922825,-0.28224828839302063,0.6462305188179016,0.6559573411941528,-0.2691505253314972,0.029055073857307434,0.6003767848014832,1.9643745422363281,0.03607231751084328,0.002092506969347596,0.2857802212238312,0.9576137661933899,1203,1,,2.086540460586548,0.32941146477125705,0.0,0.007384368684142828,0.5320033250207814,12,release,0.04222869873046875,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2732
  c8_p009_e019,3,True,0.019547462463378906,0.4475831985473633,-0.01316038138351888,0.0013079711787877687,2.024467347916385,reservoir_12ch,0.5017671585083008,0.0675649642944336,-93.9355727520357,0.25555868082575306,1541.4554547645353,rect,-0.433174218349123,-0.1383700779088457,3.054446059261355,15257.465023273966,6281.490570106036,disk,-0.8780365310000596,0.9491504036299474,2.191569742430975,6385.150051681288,3118.667255507616,0.05298304557800293,0.0023472581524401903,-0.02885887399315834,-0.2776734232902527,0.6420550346374512,0.6520751714706421,-0.29233673214912415,0.0657714456319809,0.5617376565933228,1.965070366859436,0.046225741505622864,0.027049530297517776,0.27588599920272827,0.9596970677375793,1214,1,,2.1021921634674072,0.3246751659074725,0.0,0.007435396313667297,0.5181219110378913,12,release,0.04215502738952637,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2733
+ c3_p008_e020,1,True,-0.12455177307128906,0.4473237991333008,0.01102988501783933,-0.0020807074931639405,6.090534040287082,deep_well_96_1ml,0.46109962463378906,0.10063934326171875,-92.06954503385543,0.17003967466337014,1272.3559533708008,rect,0.823941107406334,-0.49268745251595447,2.8503791619109156,5127.775649047246,5183.127248275681,sphere,-0.43342193991409084,-0.1084068569808061,1.829083799045743,9255.099902093873,6030.359866908913,0.05222267284989357,-0.00013076665345579386,-0.028248470276594162,-0.2804548144340515,0.6532195806503296,0.6439335942268372,-0.2828405797481537,0.04962881654500961,0.6047951579093933,1.933107614517212,0.053542207926511765,0.014284597709774971,0.26866862177848816,0.9616373181343079,1204,1,,2.1006429195404053,0.25381412018415817,0.0,0.007449334021657705,0.5274086378737541,12,release,0.042154788970947266,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2734
+ c3_p008_e021,2,True,-0.13668060302734375,0.44728851318359375,-0.0019879200320867345,-0.006911269960962914,6.831416134494589,plate_24_clear,0.5049848556518555,0.10344982147216797,-94.5582623604162,0.2880152260484512,452.5377127905409,rect,0.012271305151274503,-0.048621515688973826,3.0719366279738307,6299.6078164860755,7101.069764659747,sphere,1.270128276987636,0.18254540493342852,2.384490422012066,3894.7833481156204,2903.720196241298,0.05164292827248573,0.0017036318313330412,-0.030073171481490135,-0.27863797545433044,0.6486722826957703,0.6469904780387878,-0.28807729482650757,0.040443915873765945,0.5715100169181824,1.9338295459747314,0.047844331711530685,0.0230529997497797,0.2881454527378082,0.956112802028656,1195,1,,2.0711355209350586,0.28306621466515836,0.0,0.0073187947273254395,0.5313807531380753,12,release,0.04241132736206055,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2735
+ c7_p009_e012,0,True,-0.09986495971679688,0.4484519958496094,-0.009661514710780935,-0.004490007040539602,-7.524453880975187,deep_well_96_2ml,0.46644115447998047,0.05382251739501953,-94.3000692184742,0.2106587211437306,1578.3577927172962,rect,0.16134085565274925,-0.2174582200196013,2.9810966814865942,10566.382991791685,5413.690757240041,sphere,1.7426349589676122,-0.7382046690428641,2.56117986218056,2625.5983120892624,3541.714257125402,0.049868807196617126,-0.0013809679076075554,-0.03151550889015198,-0.27993398904800415,0.647087812423706,0.6482760906219482,-0.28749334812164307,0.03512147068977356,0.5943313241004944,1.9332067966461182,0.03234845772385597,0.029682865366339684,0.2600800395011902,0.964588463306427,1151,1,,2.084118366241455,0.29106294382416104,0.0,0.007524898275732994,0.5516941789748045,12,release,0.042249441146850586,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2736
+ c7_p009_e013,1,True,-0.04391193389892578,0.44751739501953125,0.005495824522195728,-0.002418699118719259,-10.53568149751544,plate_12_clear,0.4947824478149414,0.1017904281616211,-86.85942985338791,0.2362522283445237,1578.3577927172962,rect,0.5733512081872255,0.25982498436599377,2.9420954670807715,12007.15352021069,7139.749975468472,disk,-1.294048764447218,0.41465383824322566,2.2804481194548,8125.885255906633,5967.368451253262,0.05109826475381851,-0.0027274044696241617,-0.02825349196791649,-0.27719900012016296,0.6562596559524536,0.6335681676864624,-0.30178695917129517,0.034222815185785294,0.5726436376571655,1.933659553527832,0.04386593773961067,0.011453300714492798,0.2682105004787445,0.9622929692268372,1211,1,,2.018397331237793,0.3114034020234907,0.0,0.007368327118456364,0.5796862097440132,12,release,0.04239380359649658,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2737
+ c7_p009_e014,2,True,-0.12381744384765625,0.4499979019165039,-0.006990384130379616,0.005649626795552982,-10.180197250998845,deep_well_24_10ml,0.4943122863769531,0.12484455108642578,-92.88386472532007,0.27831040433835286,1578.3577927172962,rect,0.44857052920272567,-0.2226272573097463,2.9397770164478016,7541.905066891828,5604.936902802912,disk,0.20655091287071814,1.4457393509229555,2.125147331053883,10756.898588378597,6042.9875041298255,0.04770012944936752,0.00043437888962216675,-0.029519667848944664,-0.27691105008125305,0.6528409123420715,0.6424636840820312,-0.2904469966888428,0.07022400945425034,0.5588302612304688,1.9481408596038818,0.04201706871390343,0.019008291885256767,0.279304563999176,0.9590944647789001,1247,1,,2.0458202362060547,0.33170315643466947,0.0,0.007482479326426983,0.5092221331194867,12,release,0.04237508773803711,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2738
+ c7_p009_e015,3,True,0.11483001708984375,0.4500007629394531,0.013322233267451586,0.0044516311776915144,-5.860504592441657,plate_48_clear,0.4654064178466797,0.08583927154541016,-88.57925339217232,0.18784246845070815,1578.3577927172962,rect,0.112645126593926,0.12427243544518551,3.0756153437457745,6014.313865405513,6655.410128071368,sphere,-0.8370052847669844,1.541483062576414,2.150148337176243,5102.824173169061,4583.310004023892,0.05001005530357361,0.0009672508458606899,-0.027649886906147003,-0.2803134322166443,0.6442419290542603,0.653349757194519,-0.2819766402244568,0.064628466963768,0.5756595134735107,1.9533066749572754,0.05198948457837105,0.0011623696191236377,0.25886502861976624,0.9645126461982727,1230,1,,2.1171951293945312,0.26674131735619494,0.0,0.007289541885256767,0.5154471544715448,12,release,0.04235553741455078,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
2739
+ c9_p010_e024,2,True,-0.09734344482421875,0.4499969482421875,-0.012091967352634039,-0.006450986922012159,4.219410371699723,plate_384_black,0.5227231979370117,0.11492919921875,-88.80199811353675,0.1728519190800549,562.6404143562437,rect,0.3524436819657538,-0.3985091677207265,3.030812219376281,7197.215185039551,6077.620162138692,disk,1.3276504931644668,0.6159111188687365,1.8316750330716298,8773.887562921189,6949.117484705279,0.05235034599900246,-0.0017065033316612244,-0.02790822647511959,-0.2819778323173523,0.6475343108177185,0.6500016450881958,-0.28050968050956726,0.066231869161129,0.5981859564781189,1.9701941013336182,0.060862280428409576,0.019380828365683556,0.2757524847984314,0.9591041207313538,1194,1,,2.0623769760131836,0.2813840999923223,0.0,0.007418219931423664,0.5318257956448911,12,release,0.042342185974121094,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False