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+<!--
+Open-H Embodiment Dataset README Template (v1.0)
+Please fill out this template and include it in the ./metadata directory of your LeRobot dataset.
+This file helps others understand the context and details of your contribution.
+-->
+
+# Tissue Retraction in Laparoscopic Cholecystectomy - README
+
+---
+
+## 📋 At a Glance
+
+Programmatically generated demonstration trajectories of modified-dVRK robot performing gallbladder tissue retraction in simulated laparoscopic cholecystectomy environment.
+
+---
+
+## 📖 Dataset Overview
+
+This dataset contains trajectories for tissue retraction in laparoscopic cholecystectomy, specifically focusing on exposing the hepatocystic triangle during Step 1 of the procedure. The dataset demonstrates the core maneuver of selecting suitable grasping points on the gallbladder tissue and retracting it to proper configurations to expose the cystic duct and artery for subsequent clipping. Data is collected in NVIDIA Isaac Sim physics simulation environment using programmatic trajectory generation. The initial release includes 5 example trajectories, with plans to expand to over 10,000 trajectories in future releases.
+
+| | |
+| :--- | :--- |
+| **Total Trajectories** | 5 (Initial release, target >10,000) |
+| **Total Hours** | TBD |
+| **Data Type** | `[X]` Digital Simulation |
+| **License** | CC BY 4.0 |
+| **Version** | 1.0 |
+
+---
+
+## 🎯 Tasks & Domain
+
+### Domain
+
+- [✔] **Surgical Robotics**
+- [ ] **Ultrasound Robotics**
+- [ ] **Other Healthcare Robotics**
+
+### Demonstrated Skills
+
+- Gallbladder tissue retraction
+- Hepatocystic triangle exposure
+
+
+---
+
+## 🔬 Data Collection Details
+
+### Collection Method
+
+- [ ] **Human Teleoperation**
+- [✔] **Programmatic/State-Machine**
+- [ ] **AI Policy / Autonomous**
+- [ ] **Other**
+
+### Operator Details
+
+| | Description |
+| :--- | :--- |
+| **Operator Count** | N/A (Programmatically generated) |
+| **Operator Skill Level** | `[X]` N/A |
+| **Collection Period** | From 2025-11 to 2025-12 |
+
+### Recovery Demonstrations
+
+- [ ] **Yes**
+- [✔] **No**
+
+---
+
+## 💡 Diversity Dimensions
+
+- [✔] **Camera Position / Angle**
+- [✔] **Lighting Conditions**
+- [✔] **Target Object** (different gallbladder conditions)
+- [✔] **Spatial Layout** (various intra-abdominal environments)
+- [ ] **Robot Embodiment**
+- [✔] **Task Execution** (different tissue retraction techniques)
+- [ ] **Background / Scene**
+- [ ] **Other**
+
+**Elaboration:** To enhance generalization, we vary demonstration scenarios including different intra-abdominal environments, gallbladder conditions, camera views, and lighting strength. Data collection frequency is maintained above 20Hz.
+
+---
+
+## 🛠️ Equipment & Setup
+
+### Robotic Platform(s)
+
+- **Robot 1:** Modified-dVRK 
+
+### Sensors & Cameras
+
+| Type | Model/Details |
+| :--- | :--- |
+| **Primary Camera** | Laparoscopic RGB Camera, 1280x720 @ 30fps |
+| **Room/3rd Person Camera** | N/A (Simulation environment) |
+| **Force/Torque Sensor** | N/A |
+| **Medical Imager** | N/A |
+| **Other** | N/A |
+
+---
+
+## 🎯 Action & State Space Representation
+
+### Action Space Representation
+
+**Primary Action Representation:**
+- [] **Absolute Cartesian** (position/orientation relative to robot base)
+- [ ] **Relative Cartesian**
+- [ ] **Joint Space**
+- [✔] **Relative Joint Space**(delta joint angle commands)
+
+**Orientation Representation:**
+- [✔] **Quaternions** (x, y, z, w)
+- [ ] **Euler Angles**
+- [ ] **Axis-Angle**
+- [ ] **Rotation Matrix**
+- [ ] **Other**
+
+**Reference Frame:**
+- [ ] **Robot Base Frame**
+- [ ] **Tool/End-Effector Frame**
+- [✔] **World/Global Frame**
+- [ ] **Camera Frame**
+- [ ] **Other**
+
+**Action Dimensions:**
+
+```
+action: [joint1_delta, joint2_delta, joint3_delta, joint4_delta, joint5_delta, joint6_delta, joint7_delta, joint8_delta, joint9_delta, joint10_delta, gripper]
+- joint1_delta to joint10_delta: 10 active joint position increments (radians)
+- gripper: Gripper state (close)
+```
+
+### State Space Representation
+
+**State Information Included:**
+- [✔] **Joint Positions** (all articulated joints)
+- [ ] **Joint Velocities**
+- [✔] **End-Effector Pose** (Cartesian position/orientation)
+- [ ] **Force/Torque Readings**
+- [ ] **Gripper State** (position, force, etc.)
+- [ ] **Other**
+
+**State Dimensions:**
+
+```
+observation.state: [joint_positions]
+observation.cartesian_state: [end_effector_pose]
+
+- joint_positions: Robot joint positions
+- end_effector_pose: Cartesian position and orientation represented with quaternion orientation. The rotation-matrix-to-quaternion conversion issue in earlier sample recordings has been fixed.
+```
+
+
+## ⏱️ Data Synchronization Approach
+
+All data is collected within the NVIDIA Isaac Sim physics simulation environment with a unified simulation clock. Multi-modal data streams including laparoscopic RGB image sequences, robot joint states, end-effector poses, and gripper actions are recorded synchronously at each simulation timestep (>20Hz). The simulation environment ensures perfect temporal alignment across all modalities, with synchronized timestamps recorded in the LeRobot data format. Each data point is timestamped with the simulation time, eliminating inter-sensor skew issues present in real-world data collection.
+
+---
+
+## 👥 Attribution & Contact
+
+| | |
+| :--- | :--- |
+| **Dataset Lead** | Wanli LIUCHEN, Qihan CHEN, Anqing DUAN, Peng ZHOU, David NAVARRO-ALARCON |
+| **Institution** | The Hong Kong Polytechnic University, The Great Bay University, Mohamed bin Zayed University of Artificial Intelligence |
+| **Contact Email** | david.navarro-alarcon@polyu.edu.hk |
+| **Citation (BibTeX)** | N/A |
+
+---