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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 (c1_p003_e033 .. c9_p006_e016); total 1255 {'v1': 1088, 'v2': 167}

Browse files
Files changed (43) hide show
  1. episodes/c1_p003_e033/data.npz +3 -0
  2. episodes/c1_p003_e033/device_events.jsonl +36 -0
  3. episodes/c1_p003_e033/env.mp4 +3 -0
  4. episodes/c1_p003_e033/meta.json +32 -0
  5. episodes/c1_p003_e033/scene_snapshot.json +1558 -0
  6. episodes/c1_p003_e033/wrist.mp4 +3 -0
  7. episodes/c1_p003_e034/data.npz +3 -0
  8. episodes/c1_p003_e034/device_events.jsonl +35 -0
  9. episodes/c1_p003_e034/env.mp4 +3 -0
  10. episodes/c1_p003_e034/meta.json +32 -0
  11. episodes/c1_p003_e034/scene_snapshot.json +1558 -0
  12. episodes/c1_p003_e034/wrist.mp4 +3 -0
  13. episodes/c6_p004_e015/data.npz +3 -0
  14. episodes/c6_p004_e015/device_events.jsonl +35 -0
  15. episodes/c6_p004_e015/env.mp4 +3 -0
  16. episodes/c6_p004_e015/meta.json +32 -0
  17. episodes/c6_p004_e015/scene_snapshot.json +1558 -0
  18. episodes/c6_p004_e015/wrist.mp4 +3 -0
  19. episodes/c7_p004_e012/data.npz +3 -0
  20. episodes/c7_p004_e012/device_events.jsonl +39 -0
  21. episodes/c7_p004_e012/env.mp4 +3 -0
  22. episodes/c7_p004_e012/meta.json +32 -0
  23. episodes/c7_p004_e012/scene_snapshot.json +1558 -0
  24. episodes/c7_p004_e012/wrist.mp4 +3 -0
  25. episodes/c8_p004_e012/data.npz +3 -0
  26. episodes/c8_p004_e012/device_events.jsonl +35 -0
  27. episodes/c8_p004_e012/env.mp4 +3 -0
  28. episodes/c8_p004_e012/meta.json +32 -0
  29. episodes/c8_p004_e012/scene_snapshot.json +1558 -0
  30. episodes/c8_p004_e012/wrist.mp4 +3 -0
  31. episodes/c8_p004_e013/data.npz +3 -0
  32. episodes/c8_p004_e013/device_events.jsonl +35 -0
  33. episodes/c8_p004_e013/env.mp4 +3 -0
  34. episodes/c8_p004_e013/meta.json +32 -0
  35. episodes/c8_p004_e013/scene_snapshot.json +1558 -0
  36. episodes/c8_p004_e013/wrist.mp4 +3 -0
  37. episodes/c9_p006_e016/data.npz +3 -0
  38. episodes/c9_p006_e016/device_events.jsonl +39 -0
  39. episodes/c9_p006_e016/env.mp4 +3 -0
  40. episodes/c9_p006_e016/meta.json +32 -0
  41. episodes/c9_p006_e016/scene_snapshot.json +1558 -0
  42. episodes/c9_p006_e016/wrist.mp4 +3 -0
  43. index/episodes.csv +7 -0
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+ 1.9621446132659912,
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+ 0.02684497833251953,
1550
+ 0.025139518082141876,
1551
+ 0.2612457275390625,
1552
+ 0.9645714163780212
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c9_p006_e016/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:27b750377726ca2a185aa60dd57903b44aae986da3a0353c0ae5214a81bde5cc
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+ size 6311312
index/episodes.csv CHANGED
@@ -1247,3 +1247,10 @@ c9_p006_e012,1,True,-0.10471153259277344,0.45000171661376953,-0.0015268306599747
1247
  c9_p006_e013,0,True,-0.02176952362060547,0.45000171661376953,-0.0023823250209671584,0.0006139855585844056,-11.343950568799642,deep_well_96_2ml,0.4781017303466797,0.06663703918457031,-87.10194016556967,0.19247307834239688,778.6113024913559,rect,-0.4303712516079704,-0.09119530779981916,3.0767060277341125,14589.53435443848,5712.205151959677,disk,-0.02355547677383063,1.1249013233862757,2.0726190712737984,4503.471291474593,3916.107196730043,0.051521047949790955,-0.00046178055345080793,-0.025097569450736046,-0.27157631516456604,0.655108630657196,0.652187168598175,-0.26782625913619995,0.07226336002349854,0.5966304540634155,1.9701932668685913,0.03033432364463806,0.02220972254872322,0.25962740182876587,0.9649767875671387,1325,1,,2.086522340774536,0.2657996829112992,0.0,0.007467192597687244,0.5305660377358491,12,release,0.04302406311035156,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
1248
  c9_p006_e014,3,True,-0.03202056884765625,0.45000267028808594,-0.0033995840802760633,0.005680625735599805,4.57620323621822,plate_48_clear,0.4984111785888672,0.10499954223632812,-94.88015299755519,0.2856786890478314,778.6113024913559,rect,-0.2916178424024072,-0.06205045278921717,2.697064656016137,8134.562702098364,4999.253680722532,disk,1.178773834005825,0.12506164630750072,2.3578769729864075,10222.851553130207,6973.404973945031,0.04807204008102417,-0.0027299325447529554,-0.03455214947462082,-0.27968117594718933,0.6508266925811768,0.6514708399772644,-0.27164095640182495,0.0660848319530487,0.5574593544006348,1.9621446132659912,0.02684497833251953,0.025139518082141876,0.2612457275390625,0.9645714163780212,1255,1,,2.0693395137786865,0.2921151931396323,0.0,0.007336486596614122,0.5139442231075697,12,release,0.04222613573074341,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
1249
  c9_p006_e015,2,True,-0.1332254409790039,0.45000362396240234,-0.00826150898731837,0.011433036304765255,11.844248057941257,plate_384_black,0.49117279052734375,0.08234405517578125,-88.8944599767783,0.2783015570351744,778.6113024913559,rect,-0.5745856244065419,-0.20813528053285296,2.8785673630845907,4775.257993411217,4614.935976982084,disk,-0.33537936728158035,1.313330455018465,1.7520475150168537,8076.614940474986,5541.257984386684,0.0501958504319191,-0.001042408519424498,-0.027692347764968872,-0.28844577074050903,0.6456879377365112,0.6468513607978821,-0.28542855381965637,0.05406195670366287,0.5961319208145142,1.9503631591796875,0.031295694410800934,0.011234232224524021,0.2545004189014435,0.9665008783340454,1182,1,,2.0811970233917236,0.2989805168478473,0.0,0.007425551302731037,0.5346869712351946,12,release,0.04213160276412964,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
 
 
 
 
 
 
 
 
1247
  c9_p006_e013,0,True,-0.02176952362060547,0.45000171661376953,-0.0023823250209671584,0.0006139855585844056,-11.343950568799642,deep_well_96_2ml,0.4781017303466797,0.06663703918457031,-87.10194016556967,0.19247307834239688,778.6113024913559,rect,-0.4303712516079704,-0.09119530779981916,3.0767060277341125,14589.53435443848,5712.205151959677,disk,-0.02355547677383063,1.1249013233862757,2.0726190712737984,4503.471291474593,3916.107196730043,0.051521047949790955,-0.00046178055345080793,-0.025097569450736046,-0.27157631516456604,0.655108630657196,0.652187168598175,-0.26782625913619995,0.07226336002349854,0.5966304540634155,1.9701932668685913,0.03033432364463806,0.02220972254872322,0.25962740182876587,0.9649767875671387,1325,1,,2.086522340774536,0.2657996829112992,0.0,0.007467192597687244,0.5305660377358491,12,release,0.04302406311035156,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
1248
  c9_p006_e014,3,True,-0.03202056884765625,0.45000267028808594,-0.0033995840802760633,0.005680625735599805,4.57620323621822,plate_48_clear,0.4984111785888672,0.10499954223632812,-94.88015299755519,0.2856786890478314,778.6113024913559,rect,-0.2916178424024072,-0.06205045278921717,2.697064656016137,8134.562702098364,4999.253680722532,disk,1.178773834005825,0.12506164630750072,2.3578769729864075,10222.851553130207,6973.404973945031,0.04807204008102417,-0.0027299325447529554,-0.03455214947462082,-0.27968117594718933,0.6508266925811768,0.6514708399772644,-0.27164095640182495,0.0660848319530487,0.5574593544006348,1.9621446132659912,0.02684497833251953,0.025139518082141876,0.2612457275390625,0.9645714163780212,1255,1,,2.0693395137786865,0.2921151931396323,0.0,0.007336486596614122,0.5139442231075697,12,release,0.04222613573074341,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
1249
  c9_p006_e015,2,True,-0.1332254409790039,0.45000362396240234,-0.00826150898731837,0.011433036304765255,11.844248057941257,plate_384_black,0.49117279052734375,0.08234405517578125,-88.8944599767783,0.2783015570351744,778.6113024913559,rect,-0.5745856244065419,-0.20813528053285296,2.8785673630845907,4775.257993411217,4614.935976982084,disk,-0.33537936728158035,1.313330455018465,1.7520475150168537,8076.614940474986,5541.257984386684,0.0501958504319191,-0.001042408519424498,-0.027692347764968872,-0.28844577074050903,0.6456879377365112,0.6468513607978821,-0.28542855381965637,0.05406195670366287,0.5961319208145142,1.9503631591796875,0.031295694410800934,0.011234232224524021,0.2545004189014435,0.9665008783340454,1182,1,,2.0811970233917236,0.2989805168478473,0.0,0.007425551302731037,0.5346869712351946,12,release,0.04213160276412964,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
1250
+ c1_p003_e033,0,True,-0.07568931579589844,0.4500007629394531,0.0009511141646067116,-0.008886305082748205,-0.2982380011188468,plate_96_black,0.5021162033081055,0.09942340850830078,-92.51474547683448,0.18601227950856347,914.1544563936353,rect,0.3215416454012606,0.11829664142424212,2.972087849424407,15403.87502569836,3502.683751796943,disk,1.2139104698758345,1.1958014690956287,1.7488028543723422,6805.372593758678,4286.017979536592,0.04588088020682335,-0.0005021604592911899,-0.02643781155347824,-0.2893524169921875,0.6511467695236206,0.6439606547355652,-0.2785637080669403,0.0739227682352066,0.5987211465835571,1.9576306343078613,0.030391300097107887,-0.00021971120440866798,0.2598612606525421,0.9651675820350647,1238,1,,2.0833992958068848,0.2475271120727186,0.0,0.00730537623167038,0.5638126009693053,12,release,0.042263031005859375,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
1251
+ c1_p003_e034,3,True,0.03778553009033203,0.45000553131103516,0.010231842722379625,-0.010657472499954641,-0.638811020333037,plate_96_clear,0.4877500534057617,0.10293388366699219,-92.28249091729678,0.2101485274689986,914.1544563936353,rect,-0.5095796794354319,-0.016540204312242845,2.914382229475385,11642.36462040576,3352.867801512143,sphere,-0.39717762576465643,-0.14084200944257796,2.2860986819325477,5870.507159200182,3698.1119253117254,0.04709227383136749,-0.0008051663753576577,-0.033446814864873886,-0.2771765887737274,0.6463900208473206,0.649084210395813,-0.28990134596824646,0.07104700803756714,0.596416175365448,1.9572830200195312,0.0355842150747776,0.012282251380383968,0.2853972911834717,0.957669734954834,1159,1,,2.0622379779815674,0.2728148503611126,0.0,0.007257092744112015,0.5470232959447799,12,release,0.042284488677978516,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
1252
+ c6_p004_e015,1,True,0.07109260559082031,0.4475698471069336,-0.011332764678396121,0.004535898585579989,-1.158679205975318,plate_96_white,0.4748668670654297,0.09039306640625,-92.62509431410274,0.2921358902296624,936.2325568707984,rect,0.32217237784978825,-0.37423175740440495,2.6319163016095004,7537.296003666196,7101.007755816594,disk,-0.7628072520725729,0.33653737437753306,2.0872521414130887,9486.311359587893,3563.510313984953,0.047329649329185486,-0.0025293075013905764,-0.029057789593935013,-0.27593910694122314,0.6426800489425659,0.6564546227455139,-0.2826433479785919,0.03240494057536125,0.5766613483428955,1.9704608917236328,0.036964911967515945,0.004306484013795853,0.26098355650901794,0.9646256566047668,1214,1,,2.0943679809570312,0.30601943728555403,0.0,0.007256192620843649,0.5263591433278418,12,release,0.04237079620361328,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
1253
+ c7_p004_e012,3,True,-0.13994693756103516,0.4500007629394531,-0.013295219217390878,0.0015932095305751116,5.943900638981432,reservoir_12ch,0.5010499954223633,0.1187429428100586,-88.53705766770034,0.2067687246914299,1371.944202425589,rect,0.4560898006442541,0.5345393076966454,2.797863614166069,6189.194111409349,3487.1821877006505,disk,-1.1762648153280169,-0.3931617185045644,2.4931497399513716,5297.1678570272115,6358.32023920146,0.05075300484895706,0.0034901457838714123,-0.03194883093237877,-0.28635403513908386,0.6448496580123901,0.6530402898788452,-0.2751521170139313,0.036713361740112305,0.6048383712768555,1.9277572631835938,0.0541534498333931,0.017991725355386734,0.27592387795448303,0.9594841003417969,1170,1,,2.074528932571411,0.32471928499835245,0.0,0.0074448417872190475,0.541025641025641,12,release,0.04240846633911133,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
1254
+ c8_p004_e012,0,True,0.11828327178955078,0.4499959945678711,0.004736352471448417,0.009658128491509821,-2.197257587290494,plate_96_black,0.48504161834716797,0.08316230773925781,-92.94365989847441,0.15603302348684614,1177.4671684571335,rect,0.740042167976429,0.0033810790050580186,3.117458136406012,5828.923548433023,6899.282281097894,sphere,0.9630553942735176,0.2871706113306949,2.013998590258099,2913.2833001197796,4277.170832126207,0.04963410645723343,0.0007314233225770295,-0.02966642752289772,-0.2737813889980316,0.6511983871459961,0.6516501307487488,-0.276290625333786,0.04611996188759804,0.5834895372390747,1.95169997215271,0.03559565171599388,0.02410910092294216,0.2687774896621704,0.9622423648834229,1197,1,,2.0739457607269287,0.2591281348793788,0.0,0.0072909193113446236,0.5413533834586466,12,release,0.04222726821899414,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
1255
+ c8_p004_e013,3,True,-0.0017910003662109375,0.4500007629394531,-0.015174625174959015,0.0021608086113875007,-5.964559767372975,reservoir_12ch,0.4953346252441406,0.08161735534667969,-94.7172394143877,0.23707417813043985,591.427297554714,rect,0.34199221801061486,-0.023420403261387335,3.136330982692132,12886.453828762043,5616.273223455067,sphere,0.827693600583054,0.8606977720898346,2.0350551306196882,6377.844417527014,6016.080040669658,0.047715168446302414,-2.3281634639715776e-05,-0.031654439866542816,-0.278483510017395,0.6532652378082275,0.651197612285614,-0.2676435708999634,0.06417601555585861,0.5707449316978455,1.957521915435791,0.052445948123931885,0.010326766408979893,0.2646195590496063,0.9628703594207764,1300,1,,2.154977321624756,0.2924507320369804,0.0,0.007444942370057106,0.5392307692307692,12,release,0.04278206825256348,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
1256
+ c9_p006_e016,1,True,0.043755531311035156,0.44727325439453125,0.012954769421710824,-0.012951956037651004,-5.224142248415291,deep_well_96_1ml,0.4788179397583008,0.09220218658447266,-87.35510062205685,0.2982299493641718,778.6113024913559,rect,0.49319298448507876,-0.2177492315750335,2.612166019026241,5363.25435744516,5902.619927295455,sphere,1.7545445340890913,-1.1575690615423895,2.3663721532623674,5163.870354963179,5117.792604963062,0.05231616646051407,-0.0019374630646780133,-0.030650494620203972,-0.2865111827850342,0.6527578830718994,0.6439594030380249,-0.2777315378189087,0.05064068362116814,0.5991924405097961,1.947489857673645,0.03621496260166168,0.026556367054581642,0.25698667764663696,0.9653709530830383,1229,1,,2.127502202987671,0.2661115015270931,0.0,0.007470589596778154,0.5223759153783564,12,release,0.042236924171447754,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False