The relay, run as software.

from lerobot.datasets.lerobot_dataset import LeRobotDataset

ds = LeRobotDataset("humanrelay/icu-line-change-v3")

for ep in ds.meta.episodes:
    start, end = ep["dataset_from_index"], ep["dataset_to_index"]
    for i in range(start, end):
        frame = ds[i]
        hands = frame["observation.hands"]  # 2 × 26 joints × xyz
        task  = frame["task"]               # "Change the line dressing"
        why   = frame["why"]                # "Second check before the flush"

import tensorflow_datasets as tfds

builder = tfds.builder_from_directory("gs://your-lab/icu-line-change/rlds/1.0.0")
ds = builder.as_dataset(split="train")

for episode in ds:
    for step in episode["steps"]:
        hands = step["observation"]["hands"]   # 2 × 26 joints × xyz
        task  = step["language_instruction"]   # "Change the line dressing"
        why   = step["why"]                    # "Second check before the flush"

from pathlib import Path
from mcap.reader import make_reader
from mcap_protobuf.decoder import DecoderFactory

for path in sorted(Path("icu-line-change/episodes").glob("*.mcap")):
    with open(path, "rb") as f:
        reader = make_reader(f, decoder_factories=[DecoderFactory()])
        topics = ["/observation/hands", "/task", "/why"]
        for _, channel, msg, data in reader.iter_decoded_messages(topics=topics):
            print(channel.topic, msg.log_time, data)  # hands, task, why