diff --git a/Surgical/obuda/frs_dome_1/meta/README.md b/Surgical/obuda/frs_dome_1/meta/README.md
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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.
+-->
+
+# README
+
+---
+
+## 📋 At a Glance
+
+Teleoperated demonstrations of a da Vinci robot performing knot tying and suturing tasks on the FRS Dome phantom.
+
+---
+
+## 📖 Dataset Overview
+
+This dataset contains trajectories of a laparoscopic surgeon using the dVRK to perform knot tying and suturing practice tasks on the FRS Dome (phantom info: https://www.surgicalexcellence.org/frs-dome). It includes successful trials, failures, and recovery attempts as well. 
+
+| | |
+| :--- | :--- |
+| **Total Trajectories** | `102` |
+| **Total Hours** | `01:18:23` |
+| **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
+
+- Knot tying
+- Suturing (stitching)
+
+---
+
+## 🔬 Data Collection Details
+
+### Collection Method
+
+
+- [X] **Human Teleoperation**
+- [ ] **Programmatic/State-Machine**
+- [ ] **AI Policy / Autonomous**
+- [ ] **Other** (Please specify)
+
+### Operator Details
+
+| | Description |
+| :--- | :--- |
+| **Operator Count** | `3` |
+| **Operator Skill Level** | `[X] Expert (Laparoscopic surgeon)` <br> `[ ] Intermediate (e.g., Trained Researcher)` <br> `[X] Novice (e.g., ML Researcher with minimal experience)` <br> `[ ] N/A` |
+| **Collection Period** | From `[2026-01-27]` to `[2026-01-28]` |
+
+### Recovery Demonstrations
+
+
+- [X] **Yes**
+- [ ] **No**
+
+**If yes, please briefly describe the recovery process:**
+
+
+- Knot tying:
+  - Re-grasping of the thread
+  - Thread stuck on the tool but recovered
+
+-  Suturing: not distinguished
+
+
+### Failure Demonstrations
+
+
+- [X] **Yes**
+- [ ] **No**
+
+**If yes, please briefly describe the recovery process:**
+
+
+- Knot tying:
+  - Thread stuck on tool
+  
+- Suturing: not distinguished
+
+
+---
+
+## 💡 Diversity Dimensions
+
+
+- [X] **Camera Position / Angle**
+- [X] **Lighting Conditions** 
+- [ ] **Target Object** 
+- [ ] **Spatial Layout** 
+- [ ] **Robot Embodiment** 
+- [ ] **Task Execution** 
+- [X] **Background / Scene** 
+- [X] **Other** (Please specify: `Setup joints`, `Thread length`, `Technique`)
+  
+
+
+Details:
+
+- Endoscope lighting was changed throughout the trials (all tasks)
+- Natural and ceiling background light changed (all tasks)
+- Camera positon was varied (all tasks)
+- Set up joint configuration was varied (all tasks)
+- Thread length was varied (suturing) 
+- Different stitching techniques (suturing)
+
+
+---
+
+## 🛠️ 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, Kristóf Móga, Tamás Haidegger]` |
+| **Institution** | `[Obuda University]` |
+| **Contact Email** | `[krsitof.takacs@irob.uni-obuda.hu, eszter.lukacs@irob.uni-obuda.hu, kristof.moga@irob.uni-obuda.hu, haidegger@irob.uni-obuda.hu]` |
+| **Citation (BibTeX)** | |
diff --git a/Surgical/obuda/frs_dome_1/meta/episodes.jsonl b/Surgical/obuda/frs_dome_1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7d37b961acd03751dcbcb3f9dd611168dbb5d09d
--- /dev/null
+++ b/Surgical/obuda/frs_dome_1/meta/episodes.jsonl
@@ -0,0 +1,102 @@
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diff --git a/Surgical/obuda/frs_dome_1/meta/episodes_stats.jsonl b/Surgical/obuda/frs_dome_1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f8933ea04815fcb8a8fb2e33b21f168db17db622
--- /dev/null
+++ b/Surgical/obuda/frs_dome_1/meta/episodes_stats.jsonl
@@ -0,0 +1,102 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..a414fda77b73e8a7f2d74d10785eefacca85e278
--- /dev/null
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diff --git a/Surgical/obuda/frs_dome_1/meta/info_ORIGINAL.json b/Surgical/obuda/frs_dome_1/meta/info_ORIGINAL.json
new file mode 100644
index 0000000000000000000000000000000000000000..17a9f8bcfa8b8789520f2683d690d81a23d012d1
--- /dev/null
+++ b/Surgical/obuda/frs_dome_1/meta/info_ORIGINAL.json
@@ -0,0 +1,324 @@
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+}
\ No newline at end of file
diff --git a/Surgical/obuda/frs_dome_1/meta/modality.json b/Surgical/obuda/frs_dome_1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dd8fbc49eb7288eadc67efb000f08a608e7193f
--- /dev/null
+++ b/Surgical/obuda/frs_dome_1/meta/modality.json
@@ -0,0 +1,49 @@
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diff --git a/Surgical/obuda/frs_dome_1/meta/percentile_stats.json b/Surgical/obuda/frs_dome_1/meta/percentile_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..73fbe90969bf8176f652cfdf5a064cca3574192c
--- /dev/null
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\ No newline at end of file
diff --git a/Surgical/obuda/frs_dome_1/meta/relative_stats.json b/Surgical/obuda/frs_dome_1/meta/relative_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e26dfeeb6e641a33dae4961196235bdb965b21b
--- /dev/null
+++ b/Surgical/obuda/frs_dome_1/meta/relative_stats.json
@@ -0,0 +1 @@
+{}
\ No newline at end of file
diff --git a/Surgical/obuda/frs_dome_1/meta/stats.json b/Surgical/obuda/frs_dome_1/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1a93886574e8c52fb86c6a4455dc131925f7b13
--- /dev/null
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diff --git a/Surgical/obuda/frs_dome_1/meta/tasks.jsonl b/Surgical/obuda/frs_dome_1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..69c747cf62cf2e806be02405bd6b70f9064a5747
--- /dev/null
+++ b/Surgical/obuda/frs_dome_1/meta/tasks.jsonl
@@ -0,0 +1,2 @@
+{"task_index": 0, "task": "Knot tying"}
+{"task_index": 1, "task": "Suturing"}
diff --git a/Surgical/obuda/frs_dome_1/meta/temporal_stats.json b/Surgical/obuda/frs_dome_1/meta/temporal_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9d2657ed86ecff50703099cf525b550f86c6993
--- /dev/null
+++ b/Surgical/obuda/frs_dome_1/meta/temporal_stats.json
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\ No newline at end of file
diff --git a/Surgical/obuda/needlethreading_1/meta/README.md b/Surgical/obuda/needlethreading_1/meta/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..552377c2b98e760ec15864edcf3434b091b4c935
--- /dev/null
+++ b/Surgical/obuda/needlethreading_1/meta/README.md
@@ -0,0 +1,201 @@
+<!--
+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 "needle threading" surgical practice task.
+
+---
+
+## 📖 Dataset Overview
+
+This dataset contains trajectories of novices using the dVRK to perform the "needle threading" surgical practice task. It includes successful trials, failures, and recovery attempts as well. One episode is defined as the threading of a string through the loop of an eye bolt. 
+
+| | |
+| :--- | :--- |
+| **Total Trajectories** | `196` |
+| **Total Hours** | `00:57:16` |
+| **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
+
+- String threading
+
+---
+
+## 🔬 Data Collection Details
+
+### Collection Method
+
+
+- [X] **Human Teleoperation**
+- [ ] **Programmatic/State-Machine**
+- [ ] **AI Policy / Autonomous**
+- [ ] **Other** (Please specify)
+
+### Operator Details
+
+| | Description |
+| :--- | :--- |
+| **Operator Count** | `3` |
+| **Operator Skill Level** | `[ ] Expert (e.g., Surgeon, Sonographer)` <br> `[ ] Intermediate (e.g., Trained Researcher)` <br> `[X] Novice (e.g., ML Researcher with minimal experience)` <br> `[ ] N/A` |
+| **Collection Period** | From `[2026-01-23]` to `[2026-01-26]` |
+
+### Recovery Demonstrations
+
+
+- [X] **Yes**
+- [ ] **No**
+
+**If yes, please briefly describe the recovery process:**
+
+- The string misses the ye of the bolt on the 1st attempt
+- String is not grasped on 1st attempt during handover
+
+
+### Failure Demonstrations
+
+
+- [X] **Yes**
+- [ ] **No**
+
+**If yes, please briefly describe the failures:**
+
+- Tool collision
+- Pushing the board by hitting the bolts with a tool
+- Repeatedly missing the eye of the bolt
+
+---
+
+## 💡 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
+- The board and the string position at start were 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, Tamás Haidegger]` |
+| **Institution** | `[Obuda University]` |
+| **Contact Email** | `[krsitof.takacs@irob.uni-obuda.hu, eszter.lukacs@irob.uni-obuda.hu, haidegger@irob.uni-obuda.hu]` |
+| **Citation (BibTeX)** | |
diff --git a/Surgical/obuda/needlethreading_1/meta/episodes.jsonl b/Surgical/obuda/needlethreading_1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3189ef6fd21c6e76fb2d99a83bdf9e19059ab800
--- /dev/null
+++ b/Surgical/obuda/needlethreading_1/meta/episodes.jsonl
@@ -0,0 +1,196 @@
+{"episode_index": 0, "tasks": ["NeedleThreading"], "length": 474}
+{"episode_index": 1, "tasks": ["NeedleThreading"], "length": 546}
+{"episode_index": 2, "tasks": ["NeedleThreading"], "length": 513}
+{"episode_index": 3, "tasks": ["NeedleThreading"], "length": 333}
+{"episode_index": 4, "tasks": ["NeedleThreading"], "length": 334}
+{"episode_index": 5, "tasks": ["NeedleThreading"], "length": 467}
+{"episode_index": 6, "tasks": ["NeedleThreading"], "length": 332}
+{"episode_index": 7, "tasks": ["NeedleThreading"], "length": 347}
+{"episode_index": 8, "tasks": ["NeedleThreading"], "length": 370}
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diff --git a/Surgical/obuda/needlethreading_1/meta/episodes_stats.jsonl b/Surgical/obuda/needlethreading_1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4c15bec98e36224bbb596689f86c88e1a6345602
--- /dev/null
+++ b/Surgical/obuda/needlethreading_1/meta/episodes_stats.jsonl
@@ -0,0 +1,196 @@
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diff --git a/Surgical/obuda/needlethreading_1/meta/info.json b/Surgical/obuda/needlethreading_1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..722ece097c93eab2807d6c816d8e08b5b4ce8c30
--- /dev/null
+++ b/Surgical/obuda/needlethreading_1/meta/info.json
@@ -0,0 +1,324 @@
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+}
diff --git a/Surgical/obuda/needlethreading_1/meta/info_ORIGINAL.json b/Surgical/obuda/needlethreading_1/meta/info_ORIGINAL.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b153c22378c5194378a2b8536e934365ba17635
--- /dev/null
+++ b/Surgical/obuda/needlethreading_1/meta/info_ORIGINAL.json
@@ -0,0 +1,324 @@
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+}
\ No newline at end of file
diff --git a/Surgical/obuda/needlethreading_1/meta/modality.json b/Surgical/obuda/needlethreading_1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dd8fbc49eb7288eadc67efb000f08a608e7193f
--- /dev/null
+++ b/Surgical/obuda/needlethreading_1/meta/modality.json
@@ -0,0 +1,49 @@
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+}
diff --git a/Surgical/obuda/needlethreading_1/meta/percentile_stats.json b/Surgical/obuda/needlethreading_1/meta/percentile_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1be6c9a827719d057720ae251ce978bcc8d0d9e
--- /dev/null
+++ b/Surgical/obuda/needlethreading_1/meta/percentile_stats.json
@@ -0,0 +1,6678 @@
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\ No newline at end of file
diff --git a/Surgical/obuda/needlethreading_1/meta/relative_stats.json b/Surgical/obuda/needlethreading_1/meta/relative_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e26dfeeb6e641a33dae4961196235bdb965b21b
--- /dev/null
+++ b/Surgical/obuda/needlethreading_1/meta/relative_stats.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/Surgical/obuda/needlethreading_1/meta/stats.json b/Surgical/obuda/needlethreading_1/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..a65fdd5bca56e5781ea27052643358bdc27aeba6
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diff --git a/Surgical/obuda/needlethreading_1/meta/tasks.jsonl b/Surgical/obuda/needlethreading_1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5316c4e8938f71c8c39c957a4b79c71ec83eafaa
--- /dev/null
+++ b/Surgical/obuda/needlethreading_1/meta/tasks.jsonl
@@ -0,0 +1 @@
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diff --git a/Surgical/obuda/needlethreading_1/meta/temporal_stats.json b/Surgical/obuda/needlethreading_1/meta/temporal_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..39fa919ce81cc945c3f3f755860bb74bc7e0ae28
--- /dev/null
+++ b/Surgical/obuda/needlethreading_1/meta/temporal_stats.json
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diff --git a/Surgical/obuda/pegtransfer_1/meta/README.md b/Surgical/obuda/pegtransfer_1/meta/README.md
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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.
+-->
+
+# README
+
+---
+
+## 📋 At a Glance
+
+Teleoperated demonstrations of a da Vinci robot performing peg transfer on a 3D printed model with silicone pegs.
+
+---
+
+## 📖 Dataset Overview
+
+This dataset contains trajectories of novices using the dVRK to perform peg transfer. It includes successful trials, failures, and recovery attempts as well. One episode demonstrates the transfer of 1 peg.
+
+| | |
+| :--- | :--- |
+| **Total Trajectories** | `216` |
+| **Total Hours** | `01:14:54` |
+| **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
+
+- Peg transfer
+
+---
+
+## 🔬 Data Collection Details
+
+### Collection Method
+
+
+- [X] **Human Teleoperation**
+- [ ] **Programmatic/State-Machine**
+- [ ] **AI Policy / Autonomous**
+- [ ] **Other** (Please specify)
+
+### Operator Details
+
+| | Description |
+| :--- | :--- |
+| **Operator Count** | `3` |
+| **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 `[2026-01-22]` to `[2026-01-23]` |
+
+### Recovery Demonstrations
+
+
+- [X] **Yes**
+- [ ] **No**
+
+**If yes, please briefly describe the recovery process:**
+
+
+- The peg is not grasped accurately, the operator has to re-grasp the peg. 
+- Pegs are placed incorrectly onto the rods, the operator has to reposition.
+
+
+### Failure Demonstrations
+
+
+- [X] **Yes**
+- [ ] **No**
+
+**If yes, please briefly describe the recovery process:**
+
+
+- The peg falls out of the grasp.
+- The tools hit the board and push it extensively.
+
+
+---
+
+## 💡 Diversity Dimensions
+
+
+- [X] **Camera Position / Angle**
+- [X] **Lighting Conditions** 
+- [ ] **Target Object** 
+- [ ] **Spatial Layout** 
+- [ ] **Robot Embodiment** 
+- [ ] **Task Execution** 
+- [X] **Background / Scene** 
+- [X] **Other** (Please specify: `Setup joints`)
+  
+
+
+Details:
+
+- Endoscope lighting was changed throughout the trials
+- Natural and ceiling background light changed
+- Camera positon was varied
+- Set up joint configuration 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)** | |
diff --git a/Surgical/obuda/pegtransfer_1/meta/episodes.jsonl b/Surgical/obuda/pegtransfer_1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..67b63e036c8a025b828873c8b378fe72a4ae2d0b
--- /dev/null
+++ b/Surgical/obuda/pegtransfer_1/meta/episodes.jsonl
@@ -0,0 +1,216 @@
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diff --git a/Surgical/obuda/pegtransfer_1/meta/episodes_stats.jsonl b/Surgical/obuda/pegtransfer_1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dba86b1a0fb962a4b3e8912f3a929e2cf1967a87
--- /dev/null
+++ b/Surgical/obuda/pegtransfer_1/meta/episodes_stats.jsonl
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diff --git a/Surgical/obuda/pegtransfer_1/meta/info.json b/Surgical/obuda/pegtransfer_1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2029ecae677121a6ad8f1f680f4f8e73d9ed26d
--- /dev/null
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diff --git a/Surgical/obuda/pegtransfer_1/meta/info_ORIGINAL.json b/Surgical/obuda/pegtransfer_1/meta/info_ORIGINAL.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1853f43f41487a63a4047b4c764c5862c61b8df
--- /dev/null
+++ b/Surgical/obuda/pegtransfer_1/meta/info_ORIGINAL.json
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+}
\ No newline at end of file
diff --git a/Surgical/obuda/pegtransfer_1/meta/modality.json b/Surgical/obuda/pegtransfer_1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dd8fbc49eb7288eadc67efb000f08a608e7193f
--- /dev/null
+++ b/Surgical/obuda/pegtransfer_1/meta/modality.json
@@ -0,0 +1,49 @@
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+}
diff --git a/Surgical/obuda/pegtransfer_1/meta/percentile_stats.json b/Surgical/obuda/pegtransfer_1/meta/percentile_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..a32273a06904219b574650e84e4e1e65bbe20f39
--- /dev/null
+++ b/Surgical/obuda/pegtransfer_1/meta/percentile_stats.json
@@ -0,0 +1,6678 @@
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diff --git a/Surgical/obuda/pegtransfer_1/meta/relative_stats.json b/Surgical/obuda/pegtransfer_1/meta/relative_stats.json
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diff --git a/Surgical/obuda/pegtransfer_1/meta/stats.json b/Surgical/obuda/pegtransfer_1/meta/stats.json
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diff --git a/Surgical/obuda/pegtransfer_1/meta/tasks.jsonl b/Surgical/obuda/pegtransfer_1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..259a35f87be60b117e10bbb0c7b9b549ce12eddc
--- /dev/null
+++ b/Surgical/obuda/pegtransfer_1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Peg Transfer"}
diff --git a/Surgical/obuda/pegtransfer_1/meta/temporal_stats.json b/Surgical/obuda/pegtransfer_1/meta/temporal_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..b123d51e8b28808c9653bafbc949b8c0facc7d39
--- /dev/null
+++ b/Surgical/obuda/pegtransfer_1/meta/temporal_stats.json
@@ -0,0 +1,6678 @@
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+}
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diff --git a/Surgical/obuda/pork_1/meta/README.md b/Surgical/obuda/pork_1/meta/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..87ac8c1663102f1f936d43cced17f5bca2fd4024
--- /dev/null
+++ b/Surgical/obuda/pork_1/meta/README.md
@@ -0,0 +1,204 @@
+<!--
+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 of cutting small tissue samples from a fresh pork shoulder using the da Vinci robot.
+
+---
+
+## 📖 Dataset Overview
+
+This dataset contains trajectories of novice operators using the dVRK to excise small tissue samples from fresh porcine shoulder. It includes successful trials, failures, and recovery attempts. One episode consists of tissue grasping, complete excision, and lifting of the resected sample.
+
+| | |
+| :--- | :--- |
+| **Total Trajectories** | `318` |
+| **Total Hours** | `01:31:56` |
+| **Data Type** | `[ ] Clinical` `[X] Ex-Vivo` `[ ] 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
+
+- Tissue grasping
+- Tissue excision
+
+---
+
+## 🔬 Data Collection Details
+
+### Collection Method
+
+
+- [X] **Human Teleoperation**
+- [ ] **Programmatic/State-Machine**
+- [ ] **AI Policy / Autonomous**
+- [ ] **Other** (Please specify)
+
+### Operator Details
+
+| | Description |
+| :--- | :--- |
+| **Operator Count** | `3` |
+| **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 `[2026-02-11]` to `[2026-02-13]` |
+
+### Recovery Demonstrations
+
+
+- [X] **Yes**
+- [ ] **No**
+
+**If yes, please briefly describe the recovery process:**
+
+
+- The tissue has to be re-grasped during the episode
+
+
+### Failure Demonstrations
+
+
+- [X] **Yes**
+- [ ] **No**
+
+**If yes, please briefly describe the recovery process:**
+
+
+- The tissue tears at an unintended location away from the intended cutting line.
+
+---
+
+## 💡 Diversity Dimensions
+
+
+- [X] **Camera Position / Angle**
+- [X] **Lighting Conditions** 
+- [ ] **Target Object** 
+- [ ] **Spatial Layout** 
+- [ ] **Robot Embodiment** 
+- [ ] **Task Execution** 
+- [ ] **Background / Scene** 
+- [X] **Other** (Please specify: `Setup joints`)
+  
+
+
+Details:
+
+- Endoscope lighting was changed throughout the trials
+- Natural and ceiling background light changed
+- Camera positon was varied
+- Set up joint configuration 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, Tamás Haidegger]` |
+| **Institution** | `[Obuda University]` |
+| **Contact Email** | `[krsitof.takacs@irob.uni-obuda.hu, eszter.lukacs@irob.uni-obuda.hu, haidegger@irob.uni-obuda.hu]` |
+| **Citation (BibTeX)** | |
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new file mode 100644
index 0000000000000000000000000000000000000000..a2aa790f70c7373fa349eb4bbe58685a2916ed14
--- /dev/null
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diff --git a/Surgical/obuda/pork_1/meta/episodes_stats.jsonl b/Surgical/obuda/pork_1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ffa3605265a8d7c0a24278bad4647711a34ea822
--- /dev/null
+++ b/Surgical/obuda/pork_1/meta/episodes_stats.jsonl
@@ -0,0 +1,318 @@
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diff --git a/Surgical/obuda/pork_1/meta/info.json b/Surgical/obuda/pork_1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2204bfb441555e248aeca40b135ede905900112e
--- /dev/null
+++ b/Surgical/obuda/pork_1/meta/info.json
@@ -0,0 +1,324 @@
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diff --git a/Surgical/obuda/pork_1/meta/info_ORIGINAL.json b/Surgical/obuda/pork_1/meta/info_ORIGINAL.json
new file mode 100644
index 0000000000000000000000000000000000000000..d644c7dfbfa78bf2d6bb36e42f47a9fce3255be3
--- /dev/null
+++ b/Surgical/obuda/pork_1/meta/info_ORIGINAL.json
@@ -0,0 +1,324 @@
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+                    "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",
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+                    "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",
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+                1
+            ],
+            "description": "Grasp the tissue, excise a small sample along the intended cutting line"
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
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+            "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": "275",
+        "recovery": "38",
+        "failure": "5",
+        "total": "318"
+    }
+}
\ No newline at end of file
diff --git a/Surgical/obuda/pork_1/meta/modality.json b/Surgical/obuda/pork_1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dd8fbc49eb7288eadc67efb000f08a608e7193f
--- /dev/null
+++ b/Surgical/obuda/pork_1/meta/modality.json
@@ -0,0 +1,49 @@
+{
+    "state": {
+        "psm1_pose": {
+            "start": 0,
+            "end": 7
+        },
+        "psm1_gripper": {
+            "start": 7,
+            "end": 8
+        },
+        "psm2_pose": {
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+            "end": 15
+        },
+        "psm2_gripper": {
+            "start": 15,
+            "end": 16
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+    "action": {
+        "psm1_pose": {
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+        },
+        "psm1_gripper": {
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+        "psm2_pose": {
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+            "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"
+        }
+    }
+}
diff --git a/Surgical/obuda/pork_1/meta/percentile_stats.json b/Surgical/obuda/pork_1/meta/percentile_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a6c710ed71fa0b65313cabf7cd464d49fbb04e3
--- /dev/null
+++ b/Surgical/obuda/pork_1/meta/percentile_stats.json
@@ -0,0 +1,6678 @@
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new file mode 100644
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diff --git a/Surgical/obuda/pork_1/meta/tasks.jsonl b/Surgical/obuda/pork_1/meta/tasks.jsonl
new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..dff3930a9f101af86fff54b866986df53d37a1f1
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