Add files using upload-large-folder tool

Surgical/obuda/rollercoaster_1/data/chunk-000/episode_000006.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:043f2214c1aa430cc8bb18ca4dce689ee955bfaf555609436bed99c3c1588ef9
+size 340865

Surgical/obuda/rollercoaster_1/data/chunk-000/episode_000007.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7cc40e53b4692fb956e20897cf8ed2ebb171a17a8f3777bad6d3cf16ba5f167
+size 260843

Surgical/obuda/rollercoaster_1/data/chunk-000/episode_000017.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c63f9e1c69b9b0485dab2ad3cdbfc02ceda5c3553b941b6965b1116144bf90c1
+size 299368

Surgical/obuda/rollercoaster_1/data/chunk-000/episode_000031.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76ccb75fc746d5305314fd5d0b47b8e7d8fb567dcb61590fe0e4b7ca00eb30f7
+size 232061

Surgical/obuda/rollercoaster_1/data/chunk-000/episode_000049.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:364fbf190cfc0216bd75ffd683882c95085ba03f09d10ce188e5089b2764e37c
+size 281500

Surgical/obuda/rollercoaster_1/data/chunk-000/episode_000058.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74e2e0aebb3cebf625448d0020c371086fa3ee62f994368c468459b891eadbef
+size 303548

Surgical/obuda/rollercoaster_1/data/chunk-000/episode_000062.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b33a85ea59a54fefbae0c0e6c01c99161236da2e90db2cd97f1f753b60218527
+size 217515

Surgical/obuda/rollercoaster_1/data/chunk-000/episode_000071.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ad1a58a86413af38805f2bb66262360628510ed09b5118b91518499180d851a
+size 205129

Surgical/obuda/rollercoaster_1/data/chunk-000/episode_000078.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b67179d196c3100754e8bc016cca346f1293b718039415e7214119a508dd7444
+size 333937

Surgical/obuda/rollercoaster_1/data/chunk-000/episode_000083.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e8ce42e3da5a5dd908e4c6847bf77c55ed6fbf9090e0364186d5a035f73fea5
+size 319947

Surgical/obuda/rollercoaster_1/data/chunk-000/episode_000087.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aab58bf0219ee7f8f6cec06b7589bfbfcefd52135c85b499c999b523811e0124
+size 312115

Surgical/obuda/rollercoaster_1/data/chunk-000/episode_000094.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6191c77aff4393d79fc8489320bd074f291c67e7db143e2bd31fe2a053d5fcc9
+size 276937

Surgical/obuda/rollercoaster_1/t5_embeddings.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:524f2ef0e7da561b02cc27654dcde88fa144289d8a441733337c5472a7528456
+size 1049011

Surgical/obuda/seaspike_1/videos/chunk-000/observation.images.realsense.color/episode_000005.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a9cdb098ff4683c412d37eaec22d5b6ada4482222ac69463dd0078ff1545aec
+size 5712551

Surgical/obuda/seaspike_1/videos/chunk-000/observation.images.realsense.color/episode_000014.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d72ce8a2d5563af236ebaaad934c08de6572699bb855641eaddb8c118ec11f7
+size 5081479

Surgical/obuda/seaspike_1/videos/chunk-000/observation.images.realsense.color/episode_000017.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d20dbb68c5f054bedf4bd02182627113a3307ced974477de9e1bb9efd6872838
+size 6013022

Surgical/obuda/seaspike_1/videos/chunk-000/observation.images.realsense.color/episode_000026.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a14988d20323c7fb9c1ba8392acab0ae6ebae5730266a3ebd5e4ba7b892b7760
+size 4194755

Surgical/obuda/seaspike_1/videos/chunk-000/observation.images.realsense.color/episode_000036.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9dadb7c7492bec777e01f348b73fe44afb3a528190d937c6a316d34037fec4e
+size 3874982

Surgical/obuda/seaspike_1/videos/chunk-000/observation.images.realsense.color/episode_000059.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6bd48958f8227ce5612c0683f13ab62728e74a6001c0ab5949ee56bac92c7b1
+size 6749485

Surgical/obuda/seaspike_1/videos/chunk-000/observation.images.realsense.color/episode_000062.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6060ddd4b51c52b39095151f7a23126c2130c8642a1ebda665aa306ac538a2f3
+size 12770017

Surgical/obuda/seaspike_1/videos/chunk-000/observation.images.realsense.color/episode_000066.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b76ca188b691989c82d1f6f113fcb7e84146a27c217dbb6df8f90e258536269
+size 8695261

Surgical/obuda/seaspike_1/videos/chunk-000/observation.images.realsense.color/episode_000068.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9908b0113efcd67d07be4dafd7434f663c1312593a0293dcbfa138020a3a46d
+size 10925835

Surgical/obuda/seaspike_1/videos/chunk-000/observation.images.realsense.color/episode_000071.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c9d208fb253c07f9dc0d4b6d4d233720d78c87a77cb4bef47da4bac883ce9a4
+size 10477465

Surgical/obuda/seaspike_1/videos/chunk-000/observation.images.realsense.color/episode_000075.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6754504df28727920108a2180836b68acbf41a24aefbb2ee8a87488fc54e437
+size 6172214

Surgical/obuda/seaspike_1/videos/chunk-000/observation.images.realsense.color/episode_000080.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12de1987ccada380af7ac5d2e5e081bd3ff0b6b411c0afecff0f4bce7e9c1560
+size 7204367

Surgical/obuda/seaspike_1/videos/chunk-000/observation.images.realsense.color/episode_000083.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e1808a3a5c5f4804d3da2fd4b842d0ac89c67346f86e7b322f4c640e0cda1b1
+size 7807555

Surgical/obuda/seaspike_1/videos/chunk-000/observation.images.realsense.color/episode_000098.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffd4ba32aed0db63960fd0e748cd208c4d652eee116ce28c3791103eafd31802
+size 5687671

Surgical/obuda/seaspike_1/videos/chunk-000/observation.images.realsense.color/episode_000102.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b9c027e40bbb5b104cd3a402f3d094d670275f950604937e0b40177b54f3c07
+size 7136837

Surgical/obuda/seaspike_1/videos/chunk-000/observation.images.realsense.color/episode_000114.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ace368b9223f9d43da450d8804bb042f10b68dc6d4cc08e417b67f89e4a6bf3f
+size 10068780

Surgical/obuda/seaspike_1/videos/chunk-000/observation.images.realsense.color/episode_000124.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1dbe6a36d079cf1d854adcf0a91a7f2b4f61ae78183582e75f1f88972357597
+size 9086075

Surgical/obuda/seaspike_1/videos/chunk-000/observation.images.realsense.color/episode_000132.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc340b9652f2b9fcb43452ee3bd68ca4985b2e49e63d4381f3caee1a9a255f37
+size 6648012

Surgical/obuda/seaspike_1/videos/chunk-000/observation.images.realsense.color/episode_000137.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d30f4d4118870aa9c58c8df6ea2ec561a72eb683ba0863e90449ebad27e8695b
+size 6112373

Surgical/obuda/seaspike_1/videos/chunk-000/observation.images.realsense.color/episode_000158.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:511e8d09c1db284b395cc97cc6597c621016c0c1bb64fc3e38681bfc9765f387
+size 9294899

Surgical/obuda/seaspike_1/videos/chunk-000/observation.images.realsense.color/episode_000169.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3326a422ab179d9cdca450d22a1cce496184ee26adb22a61316a09e3caaa3885
+size 8274125

Surgical/obuda/seaspike_1/videos/chunk-000/observation.images.realsense.color/episode_000174.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:563c25dfe81a05452875e391329f8f875161f028ada3f8aa8acc9348f5c4973e
+size 10146156

Surgical/obuda/seaspike_1/videos/chunk-000/observation.images.realsense.color/episode_000188.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6212dee968f732ce063d44dcc5def440db4ecf2df139273ca1c554134c6751cd
+size 8385342

Surgical/obuda/seaspike_1/videos/chunk-000/observation.images.realsense.color/episode_000198.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d7b3ec393194d4feb331ad12fe5c2e414c43972ae22fc76eb8f9b8ed67c3bda
+size 18584215

Surgical/obuda/seaspike_1/videos/chunk-000/observation.images.realsense.color/episode_000199.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1015f407ca873031be4c6905ed8efe3f643ffb9c38f8443d8b6b4842819c285
+size 9693114

Surgical/obuda/seaspike_1/videos/chunk-000/observation.images.realsense.color/episode_000200.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee791f308986215c566623ee83ebc0d76f41dfaacc0be2d2a3655ad960694fd8
+size 9605645

Surgical/obuda/seaspike_2/meta/README.md

@@ -0,0 +1,200 @@
+<!--
+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.
+-->
+
+# README
+
+---
+
+## 📋 At a Glance
+
+Teleoperated demonstrations with a da Vinci robot performing the "seaspike" surgical practice task.
+
+---
+
+## 📖 Dataset Overview
+
+This dataset contains trajectories of novices using the dVRK to perform the "seaspike" surgical practice task. It includes successful trials, failures, and recovery attempts as well. One episode lasts from picking up a ring until placing it on a spike.
+
+| | |
+| :--- | :--- |
+| **Total Trajectories** | `153` |
+| **Total Hours** | `00:37:35` |
+| **Data Type** | `[ ] Clinical` `[ ] Ex-Vivo` `[X] Table-Top Phantom` `[ ] Digital Simulation` `[ ] Physical Simulation` `[ ] Other (If checked, update "Other")` |
+| **License** | CC BY 4.0 |
+| **Version** | `[1.0]` |
+
+---
+
+## 🎯 Tasks & Domain
+
+### Domain
+
+
+- [X] **Surgical Robotics**
+- [ ] **Ultrasound Robotics**
+- [ ] **Other Healthcare Robotics** 
+
+### Demonstrated Skills
+
+- Ring transfer
+
+---
+
+## 🔬 Data Collection Details
+
+### Collection Method
+
+
+- [X] **Human Teleoperation**
+- [ ] **Programmatic/State-Machine**
+- [ ] **AI Policy / Autonomous**
+- [ ] **Other** (Please specify)
+
+### Operator Details
+
+| | Description |
+| :--- | :--- |
+| **Operator Count** | `2` |
+| **Operator Skill Level** | `[ ] Expert (e.g., Surgeon, Sonographer)` <br> `[X] Intermediate (e.g., Trained Researcher)` <br> `[X] Novice (e.g., ML Researcher with minimal experience)` <br> `[ ] N/A` |
+| **Collection Period** | From `[2026-02-04]` to `[2026-02-06]` |
+
+### Recovery Demonstrations
+
+
+- [X] **Yes**
+- [ ] **No**
+
+**If yes, please briefly describe the recovery process:**
+
+- The ring has to be re-grasped at pickup
+- The ring misses the peak of the spike for the first try, but is not dropped down
+
+
+### Failure Demonstrations
+
+
+- [X] **Yes**
+- [ ] **No**
+
+**If yes, please briefly describe the failures:**
+
+- The ring is misplaced, dropped down
+
+---
+
+## 💡 Diversity Dimensions
+
+
+- [X] **Camera Position / Angle**
+- [X] **Lighting Conditions**
+- [ ] **Target Object** (e.g., different phantom models, suture types)
+- [X] **Spatial Layout** (Varying starting positions and board placement )
+- [ ] **Robot Embodiment** (if multiple robots were used)
+- [ ] **Task Execution** (e.g., different techniques for the same task)
+- [X] **Background / Scene** (different colors in the background)
+- [X] **Other** (Please specify: `[Setup joints]`)
+
+*If you checked any of the above please briefly elaborate below.*
+
+- Endoscope lighting was changed throughout the trials
+- Camera positon was varied
+- Set up joint configuration was varied
+- Background changes
+- The board's orientation (i.e., the position of the spikes) was varied
+
+
+---
+
+## 🛠️ Equipment & Setup
+
+### Robotic Platform(s)
+
+- **Robot 1:** da Vinci Classic (with da Vinci Research Kit)
+
+### Sensors & Cameras
+
+
+| Type | Model/Details |
+| :--- | :--- |
+| **Primary Camera** | `Stereo Endoscopic Camera, 720x576 @ 30fps` |
+| **Wrist Camera** | `Endoscopic Camera (x2), 640x480 @ 30fps` |
+| **Realsense Camera** | `Realsense RGB + D Camera, 1280x720 @ 30fps` |
+
+---
+
+## 🎯 Action & State Space Representation
+
+
+### Action Space Representation
+
+**Primary Action Representation:**
+- [x] **Absolute Cartesian** (position/orientation relative to robot base)
+- [ ] **Relative Cartesian** (delta position/orientation from current pose)
+- [ ] **Joint Space** (direct joint angle commands)
+- [ ] **Other** (Please specify: `[Your Representation]`)
+
+**Orientation Representation:**
+- [x] **Quaternions** (x, y, z, w)
+- [ ] **Euler Angles** (roll, pitch, yaw)
+- [ ] **Axis-Angle** (rotation vector)
+- [ ] **Rotation Matrix** (3x3 matrix)
+- [ ] **Other** (Please specify: `[Your Representation]`)
+
+**Reference Frame:**
+- [x] **Robot Base Frame**
+- [ ] **Tool/End-Effector Frame**
+- [ ] **World/Global Frame**
+- [ ] **Camera Frame**
+- [ ] **Other** (Please specify: `[Your Frame]`)
+
+**Action Dimensions:**
+
+```
+action: [x, y, z, qx, qy, qz, qw, gripper]
+- x, y, z: Absolute position in robot base frame (meters)
+- qx, qy, qz, qw: Absolute orientation as quaternion
+- gripper: Gripper opening angle (radians)
+```
+
+### State Space Representation
+
+**State Information Included:**
+- [ ] **Joint Positions** (all articulated joints)
+- [ ] **Joint Velocities**
+- [x] **End-Effector Pose** (Cartesian position/orientation)
+- [ ] **Force/Torque Readings**
+- [x] **Gripper State** (position, force, etc.)
+- [x] **Other** (Please specify: `[Set Up Joints Configuration], [Camera Pose]`)
+
+**State Dimensions:**
+
+```
+observation.state: [x, y, z, qx, qy, qz, qw, gripper]
+- x, y, z: Absolute position in robot base frame (meters)
+- qx, qy, qz, qw: Absolute orientation as quaternion
+- gripper: Gripper opening angle (radians)
+```
+
+### 📋 Additional Representations
+
+---
+
+## ⏱️ Data Synchronization Approach
+
+
+*Each modality (DeckLink cameras, USB cameras, and robotic kinematics) was recorded time-stamped on the same PC. A post-processing synchronization script segmented trials using explicit start/end markers and used the kinematic time series as the reference timeline. For each kinematic timestamp, the temporally nearest image frame from each camera stream was selected. The original stereoendoscope of the system is capable of only ~20FPS, thus the <50ms delay can not always be ensured.* 
+
+---
+
+## 👥 Attribution & Contact
+
+
+| | |
+| :--- | :--- |
+| **Dataset Lead** | `[Kristóf Takács, Eszter Lukács, Lóránt Domokos, Tamás Haidegger]` |
+| **Institution** | `[Obuda University]` |
+| **Contact Email** | `[krsitof.takacs@irob.uni-obuda.hu, eszter.lukacs@irob.uni-obuda.hu, lorant.domokos@irob.uni-obuda.hu, haidegger@irob.uni-obuda.hu]` |
+| **Citation (BibTeX)** | |

Surgical/obuda/seaspike_2/meta/episodes.jsonl

@@ -0,0 +1,153 @@
+{"episode_index": 0, "tasks": ["Seaspike"], "length": 348}
+{"episode_index": 1, "tasks": ["Seaspike"], "length": 487}
+{"episode_index": 2, "tasks": ["Seaspike"], "length": 498}
+{"episode_index": 3, "tasks": ["Seaspike"], "length": 548}
+{"episode_index": 4, "tasks": ["Seaspike"], "length": 405}
+{"episode_index": 5, "tasks": ["Seaspike"], "length": 439}
+{"episode_index": 6, "tasks": ["Seaspike"], "length": 396}
+{"episode_index": 7, "tasks": ["Seaspike"], "length": 540}
+{"episode_index": 8, "tasks": ["Seaspike"], "length": 270}
+{"episode_index": 9, "tasks": ["Seaspike"], "length": 441}
+{"episode_index": 10, "tasks": ["Seaspike"], "length": 312}
+{"episode_index": 11, "tasks": ["Seaspike"], "length": 370}
+{"episode_index": 12, "tasks": ["Seaspike"], "length": 381}
+{"episode_index": 13, "tasks": ["Seaspike"], "length": 566}
+{"episode_index": 14, "tasks": ["Seaspike"], "length": 450}
+{"episode_index": 15, "tasks": ["Seaspike"], "length": 273}
+{"episode_index": 16, "tasks": ["Seaspike"], "length": 282}
+{"episode_index": 17, "tasks": ["Seaspike"], "length": 326}
+{"episode_index": 18, "tasks": ["Seaspike"], "length": 286}
+{"episode_index": 19, "tasks": ["Seaspike"], "length": 313}
+{"episode_index": 20, "tasks": ["Seaspike"], "length": 318}
+{"episode_index": 21, "tasks": ["Seaspike"], "length": 428}
+{"episode_index": 22, "tasks": ["Seaspike"], "length": 401}
+{"episode_index": 23, "tasks": ["Seaspike"], "length": 476}
+{"episode_index": 24, "tasks": ["Seaspike"], "length": 214}
+{"episode_index": 25, "tasks": ["Seaspike"], "length": 349}
+{"episode_index": 26, "tasks": ["Seaspike"], "length": 344}
+{"episode_index": 27, "tasks": ["Seaspike"], "length": 301}
+{"episode_index": 28, "tasks": ["Seaspike"], "length": 361}
+{"episode_index": 29, "tasks": ["Seaspike"], "length": 361}
+{"episode_index": 30, "tasks": ["Seaspike"], "length": 328}
+{"episode_index": 31, "tasks": ["Seaspike"], "length": 498}
+{"episode_index": 32, "tasks": ["Seaspike"], "length": 293}
+{"episode_index": 33, "tasks": ["Seaspike"], "length": 555}
+{"episode_index": 34, "tasks": ["Seaspike"], "length": 282}
+{"episode_index": 35, "tasks": ["Seaspike"], "length": 328}
+{"episode_index": 36, "tasks": ["Seaspike"], "length": 416}
+{"episode_index": 37, "tasks": ["Seaspike"], "length": 480}
+{"episode_index": 38, "tasks": ["Seaspike"], "length": 600}
+{"episode_index": 39, "tasks": ["Seaspike"], "length": 344}
+{"episode_index": 40, "tasks": ["Seaspike"], "length": 337}
+{"episode_index": 41, "tasks": ["Seaspike"], "length": 396}
+{"episode_index": 42, "tasks": ["Seaspike"], "length": 341}
+{"episode_index": 43, "tasks": ["Seaspike"], "length": 387}
+{"episode_index": 44, "tasks": ["Seaspike"], "length": 402}
+{"episode_index": 45, "tasks": ["Seaspike"], "length": 413}
+{"episode_index": 46, "tasks": ["Seaspike"], "length": 651}
+{"episode_index": 47, "tasks": ["Seaspike"], "length": 523}
+{"episode_index": 48, "tasks": ["Seaspike"], "length": 522}
+{"episode_index": 49, "tasks": ["Seaspike"], "length": 663}
+{"episode_index": 50, "tasks": ["Seaspike"], "length": 241}
+{"episode_index": 51, "tasks": ["Seaspike"], "length": 523}
+{"episode_index": 52, "tasks": ["Seaspike"], "length": 484}
+{"episode_index": 53, "tasks": ["Seaspike"], "length": 455}
+{"episode_index": 54, "tasks": ["Seaspike"], "length": 337}
+{"episode_index": 55, "tasks": ["Seaspike"], "length": 407}
+{"episode_index": 56, "tasks": ["Seaspike"], "length": 391}
+{"episode_index": 57, "tasks": ["Seaspike"], "length": 489}
+{"episode_index": 58, "tasks": ["Seaspike"], "length": 665}
+{"episode_index": 59, "tasks": ["Seaspike"], "length": 371}
+{"episode_index": 60, "tasks": ["Seaspike"], "length": 502}
+{"episode_index": 61, "tasks": ["Seaspike"], "length": 422}
+{"episode_index": 62, "tasks": ["Seaspike"], "length": 443}
+{"episode_index": 63, "tasks": ["Seaspike"], "length": 264}
+{"episode_index": 64, "tasks": ["Seaspike"], "length": 442}
+{"episode_index": 65, "tasks": ["Seaspike"], "length": 477}
+{"episode_index": 66, "tasks": ["Seaspike"], "length": 328}
+{"episode_index": 67, "tasks": ["Seaspike"], "length": 288}
+{"episode_index": 68, "tasks": ["Seaspike"], "length": 256}
+{"episode_index": 69, "tasks": ["Seaspike"], "length": 351}
+{"episode_index": 70, "tasks": ["Seaspike"], "length": 404}
+{"episode_index": 71, "tasks": ["Seaspike"], "length": 424}
+{"episode_index": 72, "tasks": ["Seaspike"], "length": 322}
+{"episode_index": 73, "tasks": ["Seaspike"], "length": 368}
+{"episode_index": 74, "tasks": ["Seaspike"], "length": 344}
+{"episode_index": 75, "tasks": ["Seaspike"], "length": 252}
+{"episode_index": 76, "tasks": ["Seaspike"], "length": 501}
+{"episode_index": 77, "tasks": ["Seaspike"], "length": 295}
+{"episode_index": 78, "tasks": ["Seaspike"], "length": 321}
+{"episode_index": 79, "tasks": ["Seaspike"], "length": 410}
+{"episode_index": 80, "tasks": ["Seaspike"], "length": 435}
+{"episode_index": 81, "tasks": ["Seaspike"], "length": 269}
+{"episode_index": 82, "tasks": ["Seaspike"], "length": 1683}
+{"episode_index": 83, "tasks": ["Seaspike"], "length": 427}
+{"episode_index": 84, "tasks": ["Seaspike"], "length": 375}
+{"episode_index": 85, "tasks": ["Seaspike"], "length": 292}
+{"episode_index": 86, "tasks": ["Seaspike"], "length": 292}
+{"episode_index": 87, "tasks": ["Seaspike"], "length": 396}
+{"episode_index": 88, "tasks": ["Seaspike"], "length": 497}
+{"episode_index": 89, "tasks": ["Seaspike"], "length": 387}
+{"episode_index": 90, "tasks": ["Seaspike"], "length": 484}
+{"episode_index": 91, "tasks": ["Seaspike"], "length": 425}
+{"episode_index": 92, "tasks": ["Seaspike"], "length": 366}
+{"episode_index": 93, "tasks": ["Seaspike"], "length": 416}
+{"episode_index": 94, "tasks": ["Seaspike"], "length": 379}
+{"episode_index": 95, "tasks": ["Seaspike"], "length": 264}
+{"episode_index": 96, "tasks": ["Seaspike"], "length": 704}
+{"episode_index": 97, "tasks": ["Seaspike"], "length": 398}
+{"episode_index": 98, "tasks": ["Seaspike"], "length": 211}
+{"episode_index": 99, "tasks": ["Seaspike"], "length": 223}
+{"episode_index": 100, "tasks": ["Seaspike"], "length": 245}
+{"episode_index": 101, "tasks": ["Seaspike"], "length": 168}
+{"episode_index": 102, "tasks": ["Seaspike"], "length": 267}
+{"episode_index": 103, "tasks": ["Seaspike"], "length": 501}
+{"episode_index": 104, "tasks": ["Seaspike"], "length": 474}
+{"episode_index": 105, "tasks": ["Seaspike"], "length": 486}
+{"episode_index": 106, "tasks": ["Seaspike"], "length": 408}
+{"episode_index": 107, "tasks": ["Seaspike"], "length": 762}
+{"episode_index": 108, "tasks": ["Seaspike"], "length": 846}
+{"episode_index": 109, "tasks": ["Seaspike"], "length": 577}
+{"episode_index": 110, "tasks": ["Seaspike"], "length": 465}
+{"episode_index": 111, "tasks": ["Seaspike"], "length": 528}
+{"episode_index": 112, "tasks": ["Seaspike"], "length": 394}
+{"episode_index": 113, "tasks": ["Seaspike"], "length": 306}
+{"episode_index": 114, "tasks": ["Seaspike"], "length": 384}
+{"episode_index": 115, "tasks": ["Seaspike"], "length": 462}
+{"episode_index": 116, "tasks": ["Seaspike"], "length": 736}
+{"episode_index": 117, "tasks": ["Seaspike"], "length": 393}
+{"episode_index": 118, "tasks": ["Seaspike"], "length": 444}
+{"episode_index": 119, "tasks": ["Seaspike"], "length": 602}
+{"episode_index": 120, "tasks": ["Seaspike"], "length": 291}
+{"episode_index": 121, "tasks": ["Seaspike"], "length": 386}
+{"episode_index": 122, "tasks": ["Seaspike"], "length": 426}
+{"episode_index": 123, "tasks": ["Seaspike"], "length": 426}
+{"episode_index": 124, "tasks": ["Seaspike"], "length": 536}
+{"episode_index": 125, "tasks": ["Seaspike"], "length": 520}
+{"episode_index": 126, "tasks": ["Seaspike"], "length": 656}
+{"episode_index": 127, "tasks": ["Seaspike"], "length": 721}
+{"episode_index": 128, "tasks": ["Seaspike"], "length": 485}
+{"episode_index": 129, "tasks": ["Seaspike"], "length": 606}
+{"episode_index": 130, "tasks": ["Seaspike"], "length": 808}
+{"episode_index": 131, "tasks": ["Seaspike"], "length": 651}
+{"episode_index": 132, "tasks": ["Seaspike"], "length": 836}
+{"episode_index": 133, "tasks": ["Seaspike"], "length": 570}
+{"episode_index": 134, "tasks": ["Seaspike"], "length": 610}
+{"episode_index": 135, "tasks": ["Seaspike"], "length": 440}
+{"episode_index": 136, "tasks": ["Seaspike"], "length": 555}
+{"episode_index": 137, "tasks": ["Seaspike"], "length": 700}
+{"episode_index": 138, "tasks": ["Seaspike"], "length": 400}
+{"episode_index": 139, "tasks": ["Seaspike"], "length": 719}
+{"episode_index": 140, "tasks": ["Seaspike"], "length": 435}
+{"episode_index": 141, "tasks": ["Seaspike"], "length": 712}
+{"episode_index": 142, "tasks": ["Seaspike"], "length": 579}
+{"episode_index": 143, "tasks": ["Seaspike"], "length": 357}
+{"episode_index": 144, "tasks": ["Seaspike"], "length": 578}
+{"episode_index": 145, "tasks": ["Seaspike"], "length": 672}
+{"episode_index": 146, "tasks": ["Seaspike"], "length": 348}
+{"episode_index": 147, "tasks": ["Seaspike"], "length": 287}
+{"episode_index": 148, "tasks": ["Seaspike"], "length": 335}
+{"episode_index": 149, "tasks": ["Seaspike"], "length": 408}
+{"episode_index": 150, "tasks": ["Seaspike"], "length": 402}
+{"episode_index": 151, "tasks": ["Seaspike"], "length": 380}
+{"episode_index": 152, "tasks": ["Seaspike"], "length": 432}

Surgical/obuda/seaspike_2/meta/info.json

@@ -0,0 +1,324 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "dvrk",
+  "total_episodes": 153,
+  "total_frames": 67658,
+  "total_tasks": 1,
+  "total_videos": 918,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:7, 8:14, 15:29, 30:31, 32:33, 34:38, 39:41, 42:48, 49:54, 55:56, 57:59, 60:63, 64:69, 70:73, 74:76, 80:91, 93:95, 96:105, 107:110, 111:114, 116:118, 119:126, 128:142",
+    "val": "7:8, 14:15, 31:32, 38:39, 48:49, 73:74, 76:78, 91:93, 105:107, 114:116",
+    "test": "29:30, 33:34, 41:42, 54:55, 56:57, 59:60, 63:64, 69:70, 78:80, 95:96, 110:111, 118:119, 126:128",
+    "perfect": "0:103",
+    "recovery": "103:142",
+    "failure": "142:153"
+  },
+  "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+  "features": {
+    "observation.images.endoscope.left": {
+      "dtype": "video",
+      "shape": [
+        576,
+        720,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "info": {
+        "video.height": 576,
+        "video.width": 720,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 30,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "observation.images.endoscope.right": {
+      "dtype": "video",
+      "shape": [
+        576,
+        720,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "info": {
+        "video.height": 576,
+        "video.width": 720,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 30,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "observation.images.wrist.left": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "info": {
+        "video.height": 480,
+        "video.width": 640,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 30,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "observation.images.wrist.right": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "info": {
+        "video.height": 480,
+        "video.width": 640,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 30,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "observation.images.realsense.color": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "info": {
+        "video.height": 720,
+        "video.width": 1280,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 30,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "observation.images.realsense.depth": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "info": {
+        "video.height": 720,
+        "video.width": 1280,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 30,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        23
+      ],
+      "names": [
+        [
+          "psm1_pose.position.x",
+          "psm1_pose.position.y",
+          "psm1_pose.position.z",
+          "psm1_pose.orientation.x",
+          "psm1_pose.orientation.y",
+          "psm1_pose.orientation.z",
+          "psm1_pose.orientation.w",
+          "psm1_jaw",
+          "psm2_pose.position.x",
+          "psm2_pose.position.y",
+          "psm2_pose.position.z",
+          "psm2_pose.orientation.x",
+          "psm2_pose.orientation.y",
+          "psm2_pose.orientation.z",
+          "psm2_pose.orientation.w",
+          "psm2_jaw",
+          "ecm_pose.position.x",
+          "ecm_pose.position.y",
+          "ecm_pose.position.z",
+          "ecm_pose.orientation.x",
+          "ecm_pose.orientation.y",
+          "ecm_pose.orientation.z",
+          "ecm_pose.orientation.w"
+        ]
+      ]
+    },
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        23
+      ],
+      "names": [
+        [
+          "psm1_sp.position.x",
+          "psm1_sp.position.y",
+          "psm1_sp.position.z",
+          "psm1_sp.orientation.x",
+          "psm1_sp.orientation.y",
+          "psm1_sp.orientation.z",
+          "psm1_sp.orientation.w",
+          "psm1_jaw_sp",
+          "psm2_sp.position.x",
+          "psm2_sp.position.y",
+          "psm2_sp.position.z",
+          "psm2_sp.orientation.x",
+          "psm2_sp.orientation.y",
+          "psm2_sp.orientation.z",
+          "psm2_sp.orientation.w",
+          "psm2_jaw_sp",
+          "ecm_sp.position.x",
+          "ecm_sp.position.y",
+          "ecm_sp.position.z",
+          "ecm_sp.orientation.x",
+          "ecm_sp.orientation.y",
+          "ecm_sp.orientation.z",
+          "ecm_sp.orientation.w"
+        ]
+      ]
+    },
+    "observation.meta.tool.psm1": {
+      "dtype": "string",
+      "shape": [
+        1
+      ],
+      "names": [
+        "psm1_tool_type"
+      ]
+    },
+    "observation.meta.tool.psm2": {
+      "dtype": "string",
+      "shape": [
+        1
+      ],
+      "names": [
+        "psm2_tool_type"
+      ]
+    },
+    "observation.meta.suj": {
+      "dtype": "float32",
+      "shape": [
+        21
+      ],
+      "names": [
+        [
+          "suj_psm1_pose.position.x",
+          "suj_psm1_pose.position.y",
+          "suj_psm1_pose.position.z",
+          "suj_psm1_pose.orientation.x",
+          "suj_psm1_pose.orientation.y",
+          "suj_psm1_pose.orientation.z",
+          "suj_psm1_pose.orientation.w",
+          "suj_psm2_pose.position.x",
+          "suj_psm2_pose.position.y",
+          "suj_psm2_pose.position.z",
+          "suj_psm2_pose.orientation.x",
+          "suj_psm2_pose.orientation.y",
+          "suj_psm2_pose.orientation.z",
+          "suj_psm2_pose.orientation.w",
+          "suj_ecm_pose.position.x",
+          "suj_ecm_pose.position.y",
+          "suj_ecm_pose.position.z",
+          "suj_ecm_pose.orientation.x",
+          "suj_ecm_pose.orientation.y",
+          "suj_ecm_pose.orientation.z",
+          "suj_ecm_pose.orientation.w"
+        ]
+      ]
+    },
+    "instruction.text": {
+      "dtype": "string",
+      "shape": [
+        1
+      ],
+      "description": "Grasp a ring and place it on a spike of the same color."
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  },
+  "episode_count": {
+    "perfect": "103",
+    "recovery": "39",
+    "failure": "11",
+    "total": "153"
+  }
+}

Surgical/obuda/seaspike_2/meta/info_ORIGINAL.json

@@ -0,0 +1,324 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "dvrk",
+    "total_episodes": 153,
+    "total_frames": 67658,
+    "total_tasks": 1,
+    "total_videos": 918,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:7, 8:14, 15:29, 30:31, 32:33, 34:38, 39:41, 42:48, 49:54, 55:56, 57:59, 60:63, 64:69, 70:73, 74:76, 80:91, 93:95, 96:105, 107:110, 111:114, 116:118, 119:126, 128:142, 143:145, 146:149, 150:153",
+        "val": "7:8, 14:15, 31:32, 38:39, 48:49, 73:74, 76:78, 91:93, 105:107, 114:116, 149:150",
+        "test": "29:30, 33:34, 41:42, 54:55, 56:57, 59:60, 63:64, 69:70, 78:80, 95:96, 110:111, 118:119, 126:128, 142:143, 145:146",
+        "perfect": "0:103",
+        "recovery": "103:142",
+        "failure": "142:153"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.images.endoscope.left": {
+            "dtype": "video",
+            "shape": [
+                576,
+                720,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 576,
+                "video.width": 720,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.endoscope.right": {
+            "dtype": "video",
+            "shape": [
+                576,
+                720,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 576,
+                "video.width": 720,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist.left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist.right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.realsense.color": {
+            "dtype": "video",
+            "shape": [
+                720,
+                1280,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 720,
+                "video.width": 1280,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.realsense.depth": {
+            "dtype": "video",
+            "shape": [
+                720,
+                1280,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 720,
+                "video.width": 1280,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                23
+            ],
+            "names": [
+                [
+                    "psm1_pose.position.x",
+                    "psm1_pose.position.y",
+                    "psm1_pose.position.z",
+                    "psm1_pose.orientation.x",
+                    "psm1_pose.orientation.y",
+                    "psm1_pose.orientation.z",
+                    "psm1_pose.orientation.w",
+                    "psm1_jaw",
+                    "psm2_pose.position.x",
+                    "psm2_pose.position.y",
+                    "psm2_pose.position.z",
+                    "psm2_pose.orientation.x",
+                    "psm2_pose.orientation.y",
+                    "psm2_pose.orientation.z",
+                    "psm2_pose.orientation.w",
+                    "psm2_jaw",
+                    "ecm_pose.position.x",
+                    "ecm_pose.position.y",
+                    "ecm_pose.position.z",
+                    "ecm_pose.orientation.x",
+                    "ecm_pose.orientation.y",
+                    "ecm_pose.orientation.z",
+                    "ecm_pose.orientation.w"
+                ]
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                23
+            ],
+            "names": [
+                [
+                    "psm1_sp.position.x",
+                    "psm1_sp.position.y",
+                    "psm1_sp.position.z",
+                    "psm1_sp.orientation.x",
+                    "psm1_sp.orientation.y",
+                    "psm1_sp.orientation.z",
+                    "psm1_sp.orientation.w",
+                    "psm1_jaw_sp",
+                    "psm2_sp.position.x",
+                    "psm2_sp.position.y",
+                    "psm2_sp.position.z",
+                    "psm2_sp.orientation.x",
+                    "psm2_sp.orientation.y",
+                    "psm2_sp.orientation.z",
+                    "psm2_sp.orientation.w",
+                    "psm2_jaw_sp",
+                    "ecm_sp.position.x",
+                    "ecm_sp.position.y",
+                    "ecm_sp.position.z",
+                    "ecm_sp.orientation.x",
+                    "ecm_sp.orientation.y",
+                    "ecm_sp.orientation.z",
+                    "ecm_sp.orientation.w"
+                ]
+            ]
+        },
+        "observation.meta.tool.psm1": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": [
+                "psm1_tool_type"
+            ]
+        },
+        "observation.meta.tool.psm2": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": [
+                "psm2_tool_type"
+            ]
+        },
+        "observation.meta.suj": {
+            "dtype": "float32",
+            "shape": [
+                21
+            ],
+            "names": [
+                [
+                    "suj_psm1_pose.position.x",
+                    "suj_psm1_pose.position.y",
+                    "suj_psm1_pose.position.z",
+                    "suj_psm1_pose.orientation.x",
+                    "suj_psm1_pose.orientation.y",
+                    "suj_psm1_pose.orientation.z",
+                    "suj_psm1_pose.orientation.w",
+                    "suj_psm2_pose.position.x",
+                    "suj_psm2_pose.position.y",
+                    "suj_psm2_pose.position.z",
+                    "suj_psm2_pose.orientation.x",
+                    "suj_psm2_pose.orientation.y",
+                    "suj_psm2_pose.orientation.z",
+                    "suj_psm2_pose.orientation.w",
+                    "suj_ecm_pose.position.x",
+                    "suj_ecm_pose.position.y",
+                    "suj_ecm_pose.position.z",
+                    "suj_ecm_pose.orientation.x",
+                    "suj_ecm_pose.orientation.y",
+                    "suj_ecm_pose.orientation.z",
+                    "suj_ecm_pose.orientation.w"
+                ]
+            ]
+        },
+        "instruction.text": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "description": "Grasp a ring and place it on a spike of the same color."
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    },
+    "episode_count": {
+        "perfect": "103",
+        "recovery": "39",
+        "failure": "11",
+        "total": "153"
+    }
+}

Surgical/obuda/seaspike_2/meta/modality.json

@@ -0,0 +1,49 @@
+{
+    "state": {
+        "psm1_pose": {
+            "start": 0,
+            "end": 7
+        },
+        "psm1_gripper": {
+            "start": 7,
+            "end": 8
+        },
+        "psm2_pose": {
+            "start": 8,
+            "end": 15
+        },
+        "psm2_gripper": {
+            "start": 15,
+            "end": 16
+        }
+    },
+    "action": {
+        "psm1_pose": {
+            "start": 0,
+            "end": 7
+        },
+        "psm1_gripper": {
+            "start": 7,
+            "end": 8
+        },
+        "psm2_pose": {
+            "start": 8,
+            "end": 15
+        },
+        "psm2_gripper": {
+            "start": 15,
+            "end": 16
+        }
+    },
+    "video": {
+        "endoscope_left": {
+            "original_key": "observation.images.endoscope.left"
+        },
+        "wrist_left": {
+            "original_key": "observation.images.wrist.left"
+        },
+        "wrist_right": {
+            "original_key": "observation.images.wrist.right"
+        }
+    }
+}

Surgical/obuda/seaspike_2/meta/relative_stats.json

@@ -0,0 +1 @@
+{}

Surgical/obuda/seaspike_2/meta/stats.json

@@ -0,0 +1,466 @@
+{
+    "observation.state": {
+        "mean": [
+            0.0727146714925766,
+            0.04486440494656563,
+            -0.1601981520652771,
+            0.9168081879615784,
+            0.1465299129486084,
+            0.25010156631469727,
+            -0.0136340307071805,
+            0.5444620251655579,
+            -0.10881295055150986,
+            -0.01928112655878067,
+            -0.11455957591533661,
+            0.03136814385652542,
+            0.8487570285797119,
+            -0.04730905592441559,
+            -0.4192885458469391,
+            0.7608258724212646,
+            -0.007193364668637514,
+            0.021505767479538918,
+            -0.10601731389760971,
+            0.9738611578941345,
+            -0.17958968877792358,
+            -0.050905708223581314,
+            -0.09076665341854095
+        ],
+        "std": [
+            0.03451302647590637,
+            0.027945246547460556,
+            0.03729964420199394,
+            0.048210885375738144,
+            0.15615136921405792,
+            0.18284575641155243,
+            0.12267933040857315,
+            0.7440856695175171,
+            0.014975116588175297,
+            0.02350078709423542,
+            0.026299836114048958,
+            0.13034877181053162,
+            0.15412314236164093,
+            0.13470040261745453,
+            0.20428615808486938,
+            0.8575252890586853,
+            0.002346741734072566,
+            0.008954689837992191,
+            0.007372092921286821,
+            0.015333915129303932,
+            0.08168360590934753,
+            0.011640496551990509,
+            0.038810066878795624
+        ],
+        "min": [
+            0.020350897684693336,
+            -0.03651871904730797,
+            -0.21124625205993652,
+            0.7271806001663208,
+            -0.28703218698501587,
+            -0.27953600883483887,
+            -0.4291394054889679,
+            -0.6664437055587769,
+            -0.17266729474067688,
+            -0.1014576405286789,
+            -0.16017797589302063,
+            -0.5550894737243652,
+            -0.7046047449111938,
+            -0.5225095152854919,
+            -0.7031846642494202,
+            -0.6643202304840088,
+            -0.01475251279771328,
+            0.009646653197705746,
+            -0.11787495762109756,
+            0.9574041366577148,
+            -0.2670260965824127,
+            -0.07050573825836182,
+            -0.1320018768310547
+        ],
+        "max": [
+            0.16797447204589844,
+            0.10122430324554443,
+            -0.05984165892004967,
+            0.9992112517356873,
+            0.6363314986228943,
+            0.6399595737457275,
+            0.30498695373535156,
+            1.403125286102295,
+            -0.07817309349775314,
+            0.024084465578198433,
+            -0.03236661106348038,
+            0.6840003132820129,
+            0.9980124831199646,
+            0.3532316982746124,
+            0.7732070684432983,
+            1.4106391668319702,
+            -0.004875992890447378,
+            0.030337775126099586,
+            -0.09247072041034698,
+            0.9954075813293457,
+            -0.053393181413412094,
+            -0.03144118934869766,
+            -0.032100941985845566
+        ],
+        "q01": [
+            0.033676053173840044,
+            -0.02335966758430004,
+            -0.20520023703575135,
+            0.7501935130357742,
+            -0.21242835521697997,
+            -0.12688571974635124,
+            -0.2977956083416939,
+            -0.663666844367981,
+            -0.15303700774908066,
+            -0.08536999478936196,
+            -0.15422283247113228,
+            -0.24264949753880502,
+            0.7052626603841782,
+            -0.3388551476597786,
+            -0.6492563146352768,
+            -0.6608899831771851,
+            -0.01475251279771328,
+            0.009646653197705746,
+            -0.11787495762109756,
+            0.9574041366577148,
+            -0.2670260965824127,
+            -0.07050573825836182,
+            -0.1320018768310547
+        ],
+        "q99": [
+            0.15984587192535388,
+            0.1001566995680332,
+            -0.07270078428089626,
+            0.992714763879776,
+            0.569316391944885,
+            0.605210175514221,
+            0.24266522586345662,
+            1.395448088645935,
+            -0.08627219617366795,
+            0.011893872823566198,
+            -0.044498457349836824,
+            0.4123314628004994,
+            0.989784054160118,
+            0.20409585535526276,
+            0.11828978359699244,
+            1.4075355529785156,
+            -0.004875992890447378,
+            0.030337775126099586,
+            -0.09247072041034698,
+            0.9954075813293457,
+            -0.053393181413412094,
+            -0.03144118934869766,
+            -0.032100941985845566
+        ]
+    },
+    "action": {
+        "mean": [
+            0.07276084274053574,
+            0.04499078541994095,
+            -0.16016550362110138,
+            0.9167728424072266,
+            0.14632707834243774,
+            0.24949140846729279,
+            -0.01463654451072216,
+            0.5376461744308472,
+            -0.10869638621807098,
+            -0.01916453056037426,
+            -0.11471566557884216,
+            0.030926397070288658,
+            0.848978579044342,
+            -0.04676126688718796,
+            -0.41860634088516235,
+            0.7510496973991394,
+            -0.007135952357202768,
+            0.021663304418325424,
+            -0.10606949776411057,
+            0.9738445281982422,
+            -0.17936843633651733,
+            -0.050673238933086395,
+            -0.09150558710098267
+        ],
+        "std": [
+            0.03445681557059288,
+            0.028187571093440056,
+            0.03737112134695053,
+            0.04832012206315994,
+            0.15623006224632263,
+            0.18368293344974518,
+            0.12304376810789108,
+            0.7565619945526123,
+            0.015013343654572964,
+            0.023652352392673492,
+            0.026359841227531433,
+            0.1307581216096878,
+            0.153961643576622,
+            0.13511604070663452,
+            0.20440642535686493,
+            0.8753934502601624,
+            0.0023905662819743156,
+            0.008797472342848778,
+            0.0072467140853405,
+            0.015324664302170277,
+            0.08193541318178177,
+            0.012026038020849228,
+            0.0382041335105896
+        ],
+        "min": [
+            0.02043783850967884,
+            -0.03727177903056145,
+            -0.21205715835094452,
+            0.7269462943077087,
+            -0.2872083783149719,
+            -0.2820112109184265,
+            -0.4303921163082123,
+            -0.6981319785118103,
+            -0.17274649441242218,
+            -0.10193925350904465,
+            -0.16093513369560242,
+            -0.5550593733787537,
+            -0.7001761794090271,
+            -0.5258927345275879,
+            -0.7053809762001038,
+            -0.6981319785118103,
+            -0.014639720320701599,
+            0.010053329169750214,
+            -0.11787684261798859,
+            0.9574032425880432,
+            -0.26687055826187134,
+            -0.07009060680866241,
+            -0.13200265169143677
+        ],
+        "max": [
+            0.16814833879470825,
+            0.10185471922159195,
+            -0.059879906475543976,
+            0.9991905689239502,
+            0.6354115605354309,
+            0.639395534992218,
+            0.3051144480705261,
+            1.4041205644607544,
+            -0.07831690460443497,
+            0.024529526010155678,
+            -0.03213445097208023,
+            0.6849456429481506,
+            0.9981656670570374,
+            0.35173481702804565,
+            0.7735610008239746,
+            1.4146482944488525,
+            -0.0038175221998244524,
+            0.030342083424329758,
+            -0.0930403470993042,
+            0.9952033758163452,
+            -0.05341280251741409,
+            -0.02786261960864067,
+            -0.03374249488115311
+        ],
+        "q01": [
+            0.033653127253055574,
+            -0.023746172543615104,
+            -0.20550823256373404,
+            0.7502696818113327,
+            -0.21231544703245162,
+            -0.12994248077273368,
+            -0.29973539024591445,
+            -0.6981319785118103,
+            -0.15299667656421662,
+            -0.08562350884079933,
+            -0.15475802302360533,
+            -0.24374388948082923,
+            0.705383203625679,
+            -0.33985875636339186,
+            -0.6501312851905823,
+            -0.6981319785118103,
+            -0.014639720320701599,
+            0.010053329169750214,
+            -0.11787684261798859,
+            0.9574032425880432,
+            -0.26687055826187134,
+            -0.07009060680866241,
+            -0.13200265169143677
+        ],
+        "q99": [
+            0.15985311701893798,
+            0.10079019807279109,
+            -0.07258760273456595,
+            0.992804182767868,
+            0.569218566417694,
+            0.6068328237533551,
+            0.24161096513271318,
+            1.395810842514038,
+            -0.08596827082335956,
+            0.012171670692041517,
+            -0.04460130259394646,
+            0.4127045568823803,
+            0.9896325224637985,
+            0.20648108422756195,
+            0.12039803713560104,
+            1.4096332788467407,
+            -0.0038175221998244524,
+            0.030342083424329758,
+            -0.0930403470993042,
+            0.9952033758163452,
+            -0.05341280251741409,
+            -0.02786261960864067,
+            -0.03374249488115311
+        ]
+    },
+    "observation.meta.suj": {
+        "mean": [
+            0.05056457594037056,
+            0.8302839398384094,
+            1.0735421180725098,
+            0.19010606408119202,
+            0.2842475473880768,
+            -0.2360173612833023,
+            0.9082717299461365,
+            0.12578360736370087,
+            0.8319297432899475,
+            0.9154256582260132,
+            -0.07189838588237762,
+            0.08463752269744873,
+            0.10029471665620804,
+            0.9845017790794373,
+            0.21420522034168243,
+            0.9041617512702942,
+            0.4067893922328949,
+            -0.3826506733894348,
+            0.00876446720212698,
+            -0.02115437760949135,
+            0.9231619834899902
+        ],
+        "std": [
+            0.016124321147799492,
+            0.02170426771044731,
+            0.0341779962182045,
+            0.02973310463130474,
+            0.016422728076577187,
+            0.025118503719568253,
+            0.003711049910634756,
+            0.012753091752529144,
+            0.008025648072361946,
+            0.04009837284684181,
+            0.047454021871089935,
+            0.05024741590023041,
+            0.051326412707567215,
+            0.006344722583889961,
+            0.011746404692530632,
+            0.012049397453665733,
+            0.0012843223521485925,
+            0.00019471358973532915,
+            0.004896745551377535,
+            0.011822734028100967,
+            0.0005239665042608976
+        ],
+        "min": [
+            0.014791002497076988,
+            0.7828457355499268,
+            1.0582112073898315,
+            0.17662546038627625,
+            0.24780191481113434,
+            -0.24746549129486084,
+            0.9069145321846008,
+            0.11991684883832932,
+            0.8137741088867188,
+            0.8967432975769043,
+            -0.09333449602127075,
+            -0.026735858991742134,
+            -0.013525726273655891,
+            0.9821106791496277,
+            0.20045408606529236,
+            0.8924848437309265,
+            0.40495339035987854,
+            -0.3826265037059784,
+            0.0029753309208899736,
+            -0.04213911294937134,
+            0.9229368567466736
+        ],
+        "max": [
+            0.05781695619225502,
+            0.8407483696937561,
+            1.149346947669983,
+            0.25598832964897156,
+            0.29164692759513855,
+            -0.18044352531433105,
+            0.916790246963501,
+            0.15401746332645416,
+            0.8352121710777283,
+            1.0037156343460083,
+            0.03330281004309654,
+            0.10730259120464325,
+            0.12343304604291916,
+            0.9989960789680481,
+            0.2351038157939911,
+            0.9187936782836914,
+            0.40778809785842896,
+            -0.38223981857299805,
+            0.017453573644161224,
+            -0.0071806879714131355,
+            0.9238703846931458
+        ],
+        "q01": [
+            0.014791002497076988,
+            0.7828457355499268,
+            1.0582112073898315,
+            0.17662546038627625,
+            0.24780191481113434,
+            -0.24746549129486084,
+            0.9069145321846008,
+            0.11991684883832932,
+            0.8137741088867188,
+            0.8967432975769043,
+            -0.09333449602127075,
+            -0.026735858991742134,
+            -0.013525726273655891,
+            0.9821106791496277,
+            0.20045408606529236,
+            0.8924848437309265,
+            0.40495339035987854,
+            -0.3826265037059784,
+            0.0029753309208899736,
+            -0.04213911294937134,
+            0.9229368567466736
+        ],
+        "q99": [
+            0.05781695619225502,
+            0.8407483696937561,
+            1.149346947669983,
+            0.25598832964897156,
+            0.29164692759513855,
+            -0.18044352531433105,
+            0.916790246963501,
+            0.15401746332645416,
+            0.8352121710777283,
+            1.0037156343460083,
+            0.03330281004309654,
+            0.10730259120464325,
+            0.12343304604291916,
+            0.9989960789680481,
+            0.2351038157939911,
+            0.9187936782836914,
+            0.40778809785842896,
+            -0.38223981857299805,
+            0.017453573644161224,
+            -0.0071806879714131355,
+            0.9238703846931458
+        ]
+    },
+    "timestamp": {
+        "mean": [
+            8.418333053588867
+        ],
+        "std": [
+            6.666897773742676
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            56.06652069091797
+        ],
+        "q01": [
+            0.13332976669073104
+        ],
+        "q99": [
+            33.51431488037086
+        ]
+    }
+}

Surgical/obuda/seaspike_2/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Seaspike"}