dataset card

README.md

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+---
+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, env-camera pose and a4S pose every
+episode. **v1** episodes (the first ~950) drew these three once per simulator process and environment
+(116 distinct values in v1); all other DR is per episode in both versions.
+
+## 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).