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Surgical/turin/mitic_lerobot_ex_vivo/meta/README.md

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+# DVRK Suturing Subtasks Dataset - README
+
+---
+
+## At a Glance
+
+Teleoperated demonstrations of a dVRK robot performing suturing subtasksk, like tissue lifting, needle insertion, needle extraction, knot tying on ex vivo porcine colon and stomach. 
+
+---
+
+## Dataset Overview
+
+| | |
+| :--- | :--- |
+| **Total Trajectories** | 800 |
+| **Total Hours** | [TO be filled] |
+| **Data Type** | Ex-Vivo |
+| **License** | CC BY 4.0 |
+| **Version** | 1.0 |
+
+---
+
+## Tasks & Domain
+
+### Domain
+
+- [x] **Surgical Robotics**
+- [ ] **Ultrasound Robotics**
+- [ ] **Other Healthcare Robotics**
+
+### Demonstrated Skills
+
+- Bimanual manipulation
+- Pick and place
+- Needle handling
+- Knot tying
+- Soft and ex-vivo tissue manipulation
+
+---
+
+## Data Collection Details
+
+### Collection Method
+
+- [x] **Human Teleoperation**
+- [ ] **Programmatic/State-Machine**
+- [ ] **AI Policy / Autonomous**
+- [ ] **Other**
+
+### Operator Details
+
+| | Description |
+| :--- | :--- |
+| **Operator Count** | 5 operators |
+| **Operator Skill Level** | Expert (Surgeons) and Novice (ML researchers with minimal surgical experience) |
+| **Collection Period** | [To be filled] |
+
+### Recovery Demonstrations
+
+- [x] **Yes**
+- [] **No**
+
+For each task, recovery demonstrations and errors are recorded.
+
+---
+
+## Diversity Dimensions
+
+- [x] **Target Object** (different wounds for suturing and different anatomical specimens)
+- [] **Spatial Layout** 
+- [x] **Camera Position / Angle** (different position and orientations)
+- [x] **Lighting Conditions**
+- [ ] **Robot Embodiment**
+- [x] **Task Execution** (different operators performed the tasks differently)
+- [x] **Background / Scene** (different background conditions)
+
+We have recorded tasks both on porcine colon and stomach. Camera position and lighting condition were changed after every 20 episodes circa. We recruited 3 expert surgeons and 2 ML researchers that performed the tasks according to their expertise and own techniques. The background conditions change between colon and stomach episodes.
+
+---
+
+## Equipment & Setup
+
+### Robotic Platform(s)
+
+- **Robot 1:** dVRK (da Vinci Research Kit)
+
+### Sensors & Cameras
+
+| Type | Model/Details |
+| :--- | :--- |
+| **Primary Camera** | Stereo Endoscope (left), 1920x1080 @ 30 fps |
+| **Secondary Camera** | Stereo Endoscope (right), 1920x1080 @ 30 fps |
+
+---
+
+## Action & State Space Representation
+
+### Action Space Representation
+
+**Primary Action Representation:**
+- [x] **Absolute Cartesian** (position/orientation relative to robot base)
+
+**Orientation Representation:**
+- [x] **Quaternions** (x, y, z, w)
+
+**Action Dimensions:**
+```
+action: [psm1_x, psm1_y, psm1_z, psm1_qx, psm1_qy, psm1_qz, psm1_qw,
+         psm2_x, psm2_y, psm2_z, psm2_qx, psm2_qy, psm2_qz, psm2_qw]
+- psm1_x, psm1_y, psm1_z: PSM1 absolute cartesian positions 
+- psm1_qx, psm1_qy, psm1_qz, psm1_qw: PSM1 absolute cartesian orientations
+- psm2_x, psm2_y, psm2_z: PSM2 absolute cartesian positions 
+- psm2_qx, psm2_qy, psm2_qz, psm2_qw: PSM2 absolute cartesian orientations
+```
+
+### State Space Representation
+
+**State Information Included:**
+- [x] **Joint Positions** (all articulated joints)
+
+**State Dimensions:**
+```
+observation.state: [psm1_j1, psm1_j2, psm1_j3, psm1_j4, psm1_j5, psm1_j6,
+                   psm2_j1, psm2_j2, psm2_j3, psm2_j4, psm2_j5, psm2_j6]
+- psm1_j1-j6: PSM1 6-DOF joint positions (radians)
+- psm2_j1-j6: PSM2 6-DOF joint positions (radians)
+```
+
+---
+
+## Data Synchronization Approach
+
+All data are acquired using rosbag and all ROS messages are stamped with their header.stamp fields. 
+Data is synchronized offline post collection. The right camera serves as the reference timestamp source. For each frame acquired, only the (time) closest data is saved from robot kinematics, with a tolerance of 0.1 secs.
+
+**Synchronization Method:**
+- Reference stream: `/decklink/right/image_raw/compressed` (right stereo camera)
+- Tolerance: 0.1 seconds
+- Framework: ROS (Robot Operating System)
+
+Messages from the following topics are synchronized:
+- `/decklink/left/image_raw/compressed` - Left camera images
+- `/decklink/right/image_raw/compressed` - Right camera images
+- `/PSM1/measured_js` - PSM1 joint states
+- `/PSM1/measured_cp` - PSM1 absolute cartesian position
+- `/PSM2/measured_js` - PSM2 joint states
+- `/PSM2/measured_cp` - PSM2 absolute cartesian position
+
+---
+
+## Attribution & Contact
+
+| | |
+| :--- | :--- |
+| **Dataset Lead** | Matteo Pescio, Francesco Marzola, Luigi Muratore, Federica Barontini, Giovanni Distefano, Federico Lavagno, Giulio Dagnino, Alberto Arezzo  |
+| **Institution** | MITIC Lab - Università degli Studi di Torino |
+| **Contact Email** | matteo.pescio@unito.it, francesco.marzola@unito.it, luigi.muratore@studenti.polito.it, federica.barontini@unito.it, giovanni.distefano@unito.it, federico.lavagno@unito.it, giulio.dagnino@unito.it, alberto.arezzo@unito.it |
+| **Citation (BibTeX)** | <pre>@misc{dvrk_suturing_subtasks_2025,<br>  author = {Pescio, Matteo and Marzola, Francesco and Muratore, Luigi and Barontini, Federica and Distefano, Giovanni and Lavagno, Federico and Dagnino, Giulio and Arezzo, Alberto},<br>  title = {DVRK Suturing Subtasks Dataset},<br>  year = {2025},<br>  publisher = {Open-H-Embodiment},<br>}</pre> |
+
+---

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Surgical/turin/mitic_lerobot_ex_vivo/meta/modality.json

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Surgical/turin/mitic_lerobot_ex_vivo/meta/relative_stats.json

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