| --- |
| license: other |
| task_categories: |
| - robotics |
| tags: |
| - simulation |
| - isaac-sim |
| - lab-automation |
| - microplate |
| - imitation-learning |
| --- |
| |
| # MagicBioLab — microplate cell (UR5e + plate gripper), simulated demonstrations |
|
|
| Scripted demonstrations of a full lab-automation cycle in a simulated bio-lab enclosure: |
| **conveyor carrier → plate hotel → a4S plate sealer → back onto the carrier**, with a UR5e arm and a |
| parallel plate gripper. Every episode is one complete, successful cycle on one microplate. |
| Data are added continuously while collection runs; `index/episodes.csv` lists every uploaded episode. |
|
|
| ## Layout |
|
|
| ``` |
| episodes/<episode>/ |
| data.npz per-frame arrays (25 Hz) |
| wrist.mp4 env.mp4 640x480, 25 fps, frame-aligned with data.npz |
| meta.json frame count, joint order, frames used, dr_version |
| scene_snapshot.json full scene state at episode start (all DR values: lights, poses, belt speed, cameras) |
| device_events.jsonl conveyor / a4S device events (station arrival, drawer, seal, release) |
| index/episodes.csv one row per episode: DR parameters, plate type, length, checks, dr_version |
| ``` |
|
|
| ## data.npz (T frames, 25 Hz; robot base frame) |
|
|
| | key | shape | meaning | |
| |---|---|---| |
| | joint_pos / joint_vel | (T, 8) | 6 arm joints + 2 finger joints (m) | |
| | eef_pos / eef_quat | (T, 3) / (T, 4) | gripper pose, quat wxyz | |
| | gripper_pos | (T, 2) | finger positions | |
| | camera_pose | (T, 2, 7) | local camera pose (wrist: in the gripper base link; env: in the env frame), pos + quat wxyz | |
| | action_joint_pos | (T, 8) | **joint-position action**: commanded joint targets for the next step | |
| | action_joint_delta | (T, 8) | action_joint_pos − joint_pos | |
| | action_eef_pose | (T, 7) | **EEF-pose action**: forward kinematics of action_joint_pos (pos + quat wxyz) | |
| | action_eef_delta | (T, 6) | EEF delta (translation + rotation vector) | |
| | action_gripper | (T, 1) | finger target (m), 0.018 = open | |
| | movel_goal | (T, 8) | the scripted planner's current Cartesian goal (NaN when none) | |
| | tick / phase / caption | (T,) | 50 Hz control tick, task phase (12 phases), language caption | |
| |
| Open gripper = 0.018 m per finger. The simulation runs a 50 Hz control loop; every other tick is kept. |
| |
| ## Cameras |
| |
| * **wrist** — on the plate gripper, looking past the fingers. Per-episode mount DR (±3 mm, ±1.5°), |
| per-frame shake (OU jitter ~1.2 mm / 0.35°) and sway from the arm's acceleration. |
| * **env** — top-front of the enclosure, looking down at the cell. Per-episode pose DR (±2.5 cm, ±2°); static within an episode. |
| |
| ## Domain randomization (per episode) |
| |
| Lighting (ceiling rect light + a free sphere/disk key light: pose, intensity, colour temperature, colour; |
| dome intensity) · 16 microplate types (SBS 6–1536 well, PCR, deep-well, reservoir; clear/black/white/coloured) · |
| plate offset (±15 / ±12 mm) and yaw (±12°) on the carrier · carrier stop position at the pick station · |
| belt speed (0.15–0.30 m/s) · arrival time of the carrier · a4S sealer pose (7 × 8 cm, ±5°) · |
| seal dwell and hand-off timing · force/torque pulses (5–20 N) on the held plate during every transfer |
| (grip-stability test; the episode is discarded if the plate is lost) · camera poses (above). |
| |
| `dr_version`: **v2** episodes re-draw the wrist-camera mount and the env-camera pose every episode; |
| **v1** episodes (the first ~1050) drew both camera poses once per simulator process and environment |
| (116 distinct values among the first 951). In all versions the a4S sealer pose is drawn once per |
| simulator process and environment (4 values per process). Columns `cam_dr_per_episode` / |
| `a4s_dr_per_episode` in `index/episodes.csv` give the flags per episode. All other DR is per episode. |
|
|
| ## Quality gates (every uploaded episode) |
|
|
| Task succeeded; video frame count = data frame count for both cameras; no NaN in state/action arrays; |
| all 12 phases present and ending in `release`; env camera static within the episode. |
| Replay of recorded actions reproduces the joint trajectories (mean 0.0003 rad) and final plate pose (2.4 mm). |
|
|
