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Surgical/moon/moon/.gitattributes

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Surgical/moon/moon/README.md

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+---
+license: apache-2.0
+tags:
+- medical
+- lerobot
+- surgical-robotics
+- imitation-learning
+---
+
+<!--
+Open-H Embodiment Dataset README Template (v1.0)
+-->
+
+# Moon Surgical - README
+
+---
+
+## 📋 At a Glance
+
+*Manually operated demonstrations of a dual-arm surgical robot performing laparoscopic assistant tasks including scope navigation, instrument tracking, and arm coordination.*
+
+---
+
+## 📖 Dataset Overview
+
+This dataset contains 65 trajectories demonstrating various laparoscopic surgical assistant skills, including scope cleaning, anatomical visualization (liver, gallbladder), instrument tracking and following, zoom control, and arm repositioning. The tasks represent common intraoperative commands that a surgeon might give to an assistant during minimally invasive procedures.
+
+| | |
+| :--- | :--- |
+| **Total Trajectories** | 65 |
+| **Total Frames** | 12,020 |
+| **Total Hours** | ~0.11 |
+| **Data Type** | `[x] Clinical` `[ ] Ex-Vivo` `[ ] Table-Top Phantom` `[ ] Digital Simulation` `[ ] Physical Simulation` `[ ] Other` |
+| **License** | Apache 2.0 |
+| **Version** | 2.1 |
+
+---
+
+## 🎯 Tasks & Domain
+
+### Domain
+
+- [x] **Surgical Robotics**
+- [ ] **Ultrasound Robotics**
+- [ ] **Other Healthcare Robotics**
+
+### Demonstrated Skills
+
+This dataset demonstrates 20 unique laparoscopic assistant tasks:
+
+**Arm Positioning:**
+- Move the right arm closer to the upper right port
+- Move the left arm (Arm 1) to the umbilical trocar
+- Bring the right arm (Arm 2) to my hand
+- Bring the left arm (Arm 1) to my hand
+- Clear both arms from the workspace
+- Improve the arm poses
+
+**Scope Maintenance:**
+- Clean my scope
+- Clean my scope on the left arm
+
+**Anatomical Navigation:**
+- Show me the liver
+- Show me the gallbladder
+- Show me the fundus of the gallbladder
+- Show me the neck of the gallbladder
+
+**Instrument Tracking:**
+- Track my hook
+- Follow the hook and keep it centered
+- Follow the grasper and keep it centered
+- Follow my instrument through the trocar
+
+**Zoom Control:**
+- Zoom in on the hook
+- Zoom in on the grasper
+- Zoom out on the hook
+- Zoom out on the grasper
+
+---
+
+## 🔬 Data Collection Details
+
+### Collection Method
+
+- [x] **Human Companipulation**
+- [ ] **Programmatic/State-Machine**
+- [ ] **AI Policy / Autonomous**
+- [ ] **Other**
+
+### Operator Details
+
+| | Description |
+| :--- | :--- |
+| **Operator Count** | `2` |
+| **Operator Skill Level** | `[ ] Expert (e.g., Surgeon, Sonographer)` <br> `[X] Intermediate (e.g., Trained Researcher)` <br> `[ ] Novice (e.g., ML Researcher with minimal experience)` <br> `[ ] N/A` |
+| **Collection Period** | `1 day` |
+
+### Recovery Demonstrations
+
+- [ ] **Yes**
+- [X] **No**
+
+---
+
+## 💡 Diversity Dimensions
+
+- [ ] **Camera Position / Angle**
+- [ ] **Lighting Conditions**
+- [x] **Target Object**
+- [ ] **Spatial Layout**
+- [ ] **Robot Embodiment**
+- [x] **Task Execution** (20 different task types covering arm positioning, scope control, navigation, and tracking)
+- [ ] **Background / Scene**
+- [ ] **Other**
+
+---
+
+## 🛠️ Equipment & Setup
+
+### Robotic Platform(s)
+
+- **Robot 1:** Dual-arm surgical robot (9 DOF per arm, 18 total joints)
+
+### Sensors & Cameras
+
+| Type | Model/Details |
+| :--- | :--- |
+| **Endoscopic Camera (scope)** | 960x540 @ 30fps, AV1 codec |
+| **Top Camera** | 1280x720 @ 30fps, AV1 codec |
+
+---
+
+## 🎯 Action & State Space Representation
+
+### Action Space Representation
+
+**Primary Action Representation:**
+- [ ] **Absolute Cartesian**
+- [x] **Relative Cartesian** (delta position from current pose)
+- [ ] **Joint Space**
+- [ ] **Other**
+
+**Reference Frame:**
+- [x] **Robot Base Frame**
+- [ ] **Tool/End-Effector Frame**
+- [ ] **World/Global Frame**
+- [ ] **Camera Frame**
+- [ ] **Other**
+
+**Action Dimensions (6D):**
+```
+action: [d_tx_arm_0, d_ty_arm_0, d_tz_arm_0, d_tx_arm_1, d_ty_arm_1, d_tz_arm_1]
+- d_tx_arm_0, d_ty_arm_0, d_tz_arm_0: Delta translation for Arm 0 (right arm)
+- d_tx_arm_1, d_ty_arm_1, d_tz_arm_1: Delta translation for Arm 1 (left arm)
+```
+
+### State Space Representation
+
+**State Information Included:**
+- [x] **Joint Positions** (all articulated joints)
+- [ ] **Joint Velocities**
+- [ ] **End-Effector Pose**
+- [ ] **Force/Torque Readings**
+- [ ] **Gripper State**
+- [ ] **Other**
+
+**State Dimensions (18D):**
+```
+observation.state: [joint_0_arm_0, joint_1_arm_0, ..., joint_8_arm_0, 
+                    joint_0_arm_1, joint_1_arm_1, ..., joint_8_arm_1]
+- joint_0 to joint_8 for Arm 0: 9 joint positions for right arm (radians)
+- joint_0 to joint_8 for Arm 1: 9 joint positions for left arm (radians)
+```
+
+---
+
+## ⏱️ Data Synchronization Approach
+
+Data synchronization is achieved via absolute time synchronization between NRTPC (Non-Real-Time PC) and RTPC (Real-Time PC) using UTC timestamps. All sensor streams (endoscopic camera, top camera, and joint states) are aligned using this shared UTC clock reference, with a synchronization tolerance of 100ms.
+
+---
+
+## 📊 Dataset Splits
+
+| Split | Episodes | Range |
+| :--- | :--- | :--- |
+| **Train** | 45 | Episodes 0-44 |
+| **Validation** | 9 | Episodes 45-53 |
+| **Test** | 11 | Episodes 54-64 |
+
+---
+
+## 👥 Attribution & Contact
+
+| | |
+| :--- | :--- |
+| **Dataset Lead** | `Jad Fayad` |
+| **Institution** | `Moon Surgical` |
+| **Contact Email** | `jfayad@moonsurgical.com` |
+| **Citation (BibTeX)** | <pre><code>@misc{moon_dataset_2026,<br>  author = {Jad Fayad},<br>  title = {Moon Surgical: Maestro Laparoscopic Surgical Assistant Dataset},<br>  year = {2026},<br>  publisher = {Open-H-Embodiment}<br>}</code></pre> |

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Surgical/moon/moon/meta/info.json

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+    "robot_type": "surgical_robot",
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+    "total_videos": 130,
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+    "fps": 30,
+    "splits": {
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+        "val": "45:54",
+        "test": "54:65",
+        "missing_scope_videos": "50:63"
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Surgical/moon/moon/meta/modality.json

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Surgical/moon/moon/meta/relative_stats.json

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Surgical/moon/moon/meta/tasks.jsonl

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+{"task_index": 0, "task": "Move the right arm closer to the upper right port"}
+{"task_index": 1, "task": "Move the left arm (Arm 1) to the umbilical trocar"}
+{"task_index": 2, "task": "Clean my scope"}
+{"task_index": 3, "task": "Clean my scope on the left arm"}
+{"task_index": 4, "task": "Bring the right arm (Arm 2) to my hand"}
+{"task_index": 5, "task": "Bring the left arm (Arm 1) to my hand"}
+{"task_index": 6, "task": "Clear both arms from the workspace"}
+{"task_index": 7, "task": "Improve the arm poses"}
+{"task_index": 8, "task": "Show me the liver"}
+{"task_index": 9, "task": "Show me the gallbladder"}
+{"task_index": 10, "task": "Show me the fundus of the gallbladder"}
+{"task_index": 11, "task": "Show me the neck of the gallbladder"}
+{"task_index": 12, "task": "Track my hook"}
+{"task_index": 13, "task": "Follow the hook and keep it centered"}
+{"task_index": 14, "task": "Follow the grasper and keep it centered"}
+{"task_index": 15, "task": "Follow my instrument through the trocar"}
+{"task_index": 16, "task": "Zoom in on the hook"}
+{"task_index": 17, "task": "Zoom in on the grasper"}
+{"task_index": 18, "task": "Zoom out on the hook"}
+{"task_index": 19, "task": "Zoom out on the grasper"}

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