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Ultrasound/imfusion/imfusion_dataset/meta/README.md

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+# IT2S Dataset - README
+---
+## Overview
+*The ImFusion Talk2Scan (IT2S) dataset is a multimodal robotic sonography dataset integrating synchronized ultrasound imaging, external visual sensing, robot motion data, and textual instructions. Collected on an abdominal phantom, it supports research on language-conditioned autonomous scanning, perception, and learning-driven ultrasound systems.*
+
+*The ImFusion Dataset is a multimodal robotic ultrasound dataset centered on abdominal scanning, featuring over 1,000 demonstrations across placement, scanning, and navigation tasks. Paired with diverse task instructions, it provides a scalable benchmark for training language-conditioned autonomous ultrasound systems.*
+---
+
+## File Structure
+The file structure of this directory is shown below:
+```text
+./
+├── ImFusionDataset_*/
+│   └── ...
+├── dataset
+└── README.md
+```
+
+## Attribution & Contact
+| | |
+| :--- | :--- |
+| **Dataset Lead** | `Nikola Budjak` |
+| **Institution** | `ImFusion GmbH Munich Germany` |
+| **Contact Email** | `budjak@imfusion.com` |
+| **Citation (BibTeX)** | <pre><code>@misc{robosono_2025,<br>  author = {Nikola Budjak, Yunye Xiao, Marco Esposito},<br>  title = {IT2S: Imfusion's Talk2Scan Language-to-Action Dataset for Robotic Ultrasound Scanning},<br>  year = {2026},<br>  publisher = {Open-H-Embodiment},<br>  note = {}<br>}</code></pre> |
+<!-- | **Citation (BibTeX)** | note = {https://hrpp.research.virginia.edu/teams/irb-sbs/researcher-guide-irb-sbs/identifiers}<br>}| -->

Ultrasound/imfusion/imfusion_dataset/meta/episodes.jsonl

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+{"episode_index": 106, "length": 296, "tasks": ["Make contact with the surface, pull the tool upward to break contact, then touch again without tilting the tool."], "task_descriptions": "Make contact with the surface, pull the tool upward to break contact, then touch again without tilting the tool.", "episode_type": "recovery"}
+{"episode_index": 107, "length": 323, "tasks": ["Approach and touch the object straight-on, lift the tool to lose contact, then return to the same point keeping the pose fixed."], "task_descriptions": "Approach and touch the object straight-on, lift the tool to lose contact, then return to the same point keeping the pose fixed.", "episode_type": "recovery"}
+{"episode_index": 108, "length": 223, "tasks": ["Touch the surface normally, move the tool up to lose contact, and recontact at the same spot with no rotation."], "task_descriptions": "Touch the surface normally, move the tool up to lose contact, and recontact at the same spot with no rotation.", "episode_type": "recovery"}
+{"episode_index": 109, "length": 183, "tasks": ["Move to the object and touch it, retract upward briefly, then touch again at the same location maintaining tool alignment."], "task_descriptions": "Move to the object and touch it, retract upward briefly, then touch again at the same location maintaining tool alignment.", "episode_type": "recovery"}
+{"episode_index": 110, "length": 270, "tasks": ["Bring the tool into contact, lift slightly to break contact, and return to the same point without changing orientation."], "task_descriptions": "Bring the tool into contact, lift slightly to break contact, and return to the same point without changing orientation.", "episode_type": "recovery"}
+{"episode_index": 112, "length": 94, "tasks": ["Approach the surface, make contact, lift the tool up, then touch down again at the same spot keeping orientation constant."], "task_descriptions": "Approach the surface, make contact, lift the tool up, then touch down again at the same spot keeping orientation constant.", "episode_type": "recovery"}
+{"episode_index": 113, "length": 115, "tasks": ["Touch the object straight-on, move upward to break contact, then come back to the same contact point unchanged."], "task_descriptions": "Touch the object straight-on, move upward to break contact, then come back to the same contact point unchanged.", "episode_type": "recovery"}
+{"episode_index": 114, "length": 258, "tasks": ["Make contact with the tool upright, lift slightly to lose contact, and recontact at the same location without tilting."], "task_descriptions": "Make contact with the tool upright, lift slightly to lose contact, and recontact at the same location without tilting.", "episode_type": "recovery"}
+{"episode_index": 115, "length": 227, "tasks": ["Move in with the tool normal, touch the surface, pull up briefly, then reapply contact at the same place."], "task_descriptions": "Move in with the tool normal, touch the surface, pull up briefly, then reapply contact at the same place.", "episode_type": "recovery"}
+{"episode_index": 116, "length": 153, "tasks": ["Touch the object head-on, retract upward to lose contact, and return to the same spot with fixed orientation."], "task_descriptions": "Touch the object head-on, retract upward to lose contact, and return to the same spot with fixed orientation.", "episode_type": "recovery"}
+{"episode_index": 117, "length": 319, "tasks": ["Approach and touch the surface, lift the tool to simulate contact loss, then touch again without changing pose."], "task_descriptions": "Approach and touch the surface, lift the tool to simulate contact loss, then touch again without changing pose.", "episode_type": "recovery"}
+{"episode_index": 118, "length": 178, "tasks": ["Move to the object and make contact, move upward to break contact, then recontact at the same point."], "task_descriptions": "Move to the object and make contact, move upward to break contact, then recontact at the same point.", "episode_type": "recovery"}
+{"episode_index": 119, "length": 118, "tasks": ["Touch the surface with the tool perpendicular, lift slightly, then return to the same contact location unchanged."], "task_descriptions": "Touch the surface with the tool perpendicular, lift slightly, then return to the same contact location unchanged.", "episode_type": "recovery"}
+{"episode_index": 120, "length": 173, "tasks": ["Make contact with the object, raise the tool to lose contact, then come back down to the same spot."], "task_descriptions": "Make contact with the object, raise the tool to lose contact, then come back down to the same spot.", "episode_type": "recovery"}
+{"episode_index": 121, "length": 125, "tasks": ["Touch the object normally, move the tool up to break contact, then recontact at the same location."], "task_descriptions": "Touch the object normally, move the tool up to break contact, then recontact at the same location.", "episode_type": "recovery"}
+{"episode_index": 122, "length": 334, "tasks": ["Approach the object, touch it, lift upward briefly, and touch again at the same point keeping orientation fixed."], "task_descriptions": "Approach the object, touch it, lift upward briefly, and touch again at the same point keeping orientation fixed.", "episode_type": "recovery"}
+{"episode_index": 123, "length": 162, "tasks": ["Move in and touch the surface, pull up to lose contact, then return to the same contact point."], "task_descriptions": "Move in and touch the surface, pull up to lose contact, then return to the same contact point.", "episode_type": "recovery"}
+{"episode_index": 124, "length": 411, "tasks": ["Touch the object straight-on, lift the tool slightly, then recontact at the same location without rotation."], "task_descriptions": "Touch the object straight-on, lift the tool slightly, then recontact at the same location without rotation.", "episode_type": "recovery"}
+{"episode_index": 125, "length": 432, "tasks": ["Make contact while the tool is upright, raise it to lose contact, then touch again at the same spot."], "task_descriptions": "Make contact while the tool is upright, raise it to lose contact, then touch again at the same spot.", "episode_type": "recovery"}
+{"episode_index": 126, "length": 109, "tasks": ["Approach and touch the object, retract upward briefly, then recontact without changing orientation."], "task_descriptions": "Approach and touch the object, retract upward briefly, then recontact without changing orientation.", "episode_type": "recovery"}
+{"episode_index": 127, "length": 268, "tasks": ["Touch the surface normally, lift the tool to break contact, and return to the same point unchanged."], "task_descriptions": "Touch the surface normally, lift the tool to break contact, and return to the same point unchanged.", "episode_type": "recovery"}
+{"episode_index": 132, "length": 101, "tasks": ["Touch the object normally, raise the tool to lose contact, and touch again at the same location."], "task_descriptions": "Touch the object normally, raise the tool to lose contact, and touch again at the same location.", "episode_type": "recovery"}
+{"episode_index": 133, "length": 245, "tasks": ["Move in with the tool straight, make contact, lift slightly, then return to the same spot."], "task_descriptions": "Move in with the tool straight, make contact, lift slightly, then return to the same spot.", "episode_type": "recovery"}
+{"episode_index": 134, "length": 108, "tasks": ["Touch the surface, retract upward briefly, then reapply contact at the same location."], "task_descriptions": "Touch the surface, retract upward briefly, then reapply contact at the same location.", "episode_type": "recovery"}
+{"episode_index": 135, "length": 508, "tasks": ["Make contact with the tool upright, lift to lose contact, then touch again without changing orientation."], "task_descriptions": "Make contact with the tool upright, lift to lose contact, then touch again without changing orientation.", "episode_type": "recovery"}
+{"episode_index": 136, "length": 356, "tasks": ["Approach the object, touch it, move up slightly, and return to the same contact point."], "task_descriptions": "Approach the object, touch it, move up slightly, and return to the same contact point.", "episode_type": "recovery"}
+{"episode_index": 137, "length": 339, "tasks": ["Touch the object straight-on, lift the tool to break contact, then recontact unchanged."], "task_descriptions": "Touch the object straight-on, lift the tool to break contact, then recontact unchanged.", "episode_type": "recovery"}
+{"episode_index": 138, "length": 565, "tasks": ["Move to the object and touch it, pull up briefly, then touch again at the same place."], "task_descriptions": "Move to the object and touch it, pull up briefly, then touch again at the same place.", "episode_type": "recovery"}
+{"episode_index": 139, "length": 329, "tasks": ["Touch the surface normally, lift upward to lose contact, then return to the same spot."], "task_descriptions": "Touch the surface normally, lift upward to lose contact, then return to the same spot.", "episode_type": "recovery"}

Ultrasound/imfusion/imfusion_dataset/meta/info.json

@@ -0,0 +1,280 @@
+{
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+}

Ultrasound/imfusion/imfusion_dataset/meta/modality.json

@@ -0,0 +1,18 @@
+{
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+    "wrist_camera": {"original_key": "observation.images.wrist_camera"},
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+  "action": {
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+}

Ultrasound/imfusion/imfusion_dataset/meta/percentile_stats.json

@@ -0,0 +1,2246 @@
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+}

Ultrasound/imfusion/imfusion_dataset/meta/tasks.jsonl

@@ -0,0 +1,134 @@
+{"task_index": 0, "task": "Move to the object and touch it while keeping the tool perpendicular to the surface.", "task_name": "Move to the object and touch it while keeping the tool perpendicular to the surface.", "task_descriptions": "task_name: Move to the object and touch it while keeping the tool perpendicular to the surface.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 1, "task": "While keeping the tool vertical, move to the object and touch it.", "task_name": "While keeping the tool vertical, move to the object and touch it.", "task_descriptions": "task_name: While keeping the tool vertical, move to the object and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 2, "task": "Keeping the tool straight, move to the object and make a contact.", "task_name": "Keeping the tool straight, move to the object and make a contact.", "task_descriptions": "task_name: Keeping the tool straight, move to the object and make a contact.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 3, "task": "Move to the object, then come into contact with the tool held perpendicular.", "task_name": "Move to the object, then come into contact with the tool held perpendicular.", "task_descriptions": "task_name: Move to the object, then come into contact with the tool held perpendicular.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 4, "task": "With the tool vertical, move to the object and touch the surface.", "task_name": "With the tool vertical, move to the object and touch the surface.", "task_descriptions": "task_name: With the tool vertical, move to the object and touch the surface.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 5, "task": "Touch the object by moving to the object while maintaining a normal tool orientation.", "task_name": "Touch the object by moving to the object while maintaining a normal tool orientation.", "task_descriptions": "task_name: Touch the object by moving to the object while maintaining a normal tool orientation.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 6, "task": "Move to the object and make contact while keeping the tool straight-on.", "task_name": "Move to the object and make contact while keeping the tool straight-on.", "task_descriptions": "task_name: Move to the object and make contact while keeping the tool straight-on.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 7, "task": "Touch the object once you move to the object with the tool upright.", "task_name": "Touch the object once you move to the object with the tool upright.", "task_descriptions": "task_name: Touch the object once you move to the object with the tool upright.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 0, "task": "As the tool stays vertical, move to the object and touch it.", "task_name": "As the tool stays vertical, move to the object and touch it.", "task_descriptions": "task_name: As the tool stays vertical, move to the object and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 1, "task": "unknown", "task_name": "unknown", "task_descriptions": ""}
+{"task_index": 1, "task": "unknown", "task_name": "unknown", "task_descriptions": ""}
+{"task_index": 1, "task": "unknown", "task_name": "unknown", "task_descriptions": ""}
+{"task_index": 1, "task": "unknown", "task_name": "unknown", "task_descriptions": ""}
+{"task_index": 1, "task": "unknown", "task_name": "unknown", "task_descriptions": ""}
+{"task_index": 2, "task": "Move to the object and touch it while holding the tool normal to the surface.", "task_name": "Move to the object and touch it while holding the tool normal to the surface.", "task_descriptions": "task_name: Move to the object and touch it while holding the tool normal to the surface.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 3, "task": "Touch the object after moving to the object with a perpendicular tool.", "task_name": "Touch the object after moving to the object with a perpendicular tool.", "task_descriptions": "task_name: Touch the object after moving to the object with a perpendicular tool.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 4, "task": "Keeping the tool upright, move to the object and touch it.", "task_name": "Keeping the tool upright, move to the object and touch it.", "task_descriptions": "task_name: Keeping the tool upright, move to the object and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 5, "task": "Move to the object while maintaining a straight tool orientation and touch it.", "task_name": "Move to the object while maintaining a straight tool orientation and touch it.", "task_descriptions": "task_name: Move to the object while maintaining a straight tool orientation and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 0, "task": "unknown", "task_name": "unknown", "task_descriptions": ""}
+{"task_index": 0, "task": "unknown", "task_name": "unknown", "task_descriptions": ""}
+{"task_index": 1, "task": "With the tool normal to the surface, move to the object and touch it.", "task_name": "With the tool normal to the surface, move to the object and touch it.", "task_descriptions": "task_name: With the tool normal to the surface, move to the object and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 2, "task": "Move to the object and touch it without tilting the tool.", "task_name": "Move to the object and touch it without tilting the tool.", "task_descriptions": "task_name: Move to the object and touch it without tilting the tool.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 3, "task": "Maintain tool verticality while you move to the object and touch it.", "task_name": "Maintain tool verticality while you move to the object and touch it.", "task_descriptions": "task_name: Maintain tool verticality while you move to the object and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 4, "task": "Touch the object after moving to the object with the tool straight.", "task_name": "Touch the object after moving to the object with the tool straight.", "task_descriptions": "task_name: Touch the object after moving to the object with the tool straight.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 5, "task": "Without tilting the tool, move to the object and touch it.", "task_name": "Without tilting the tool, move to the object and touch it.", "task_descriptions": "task_name: Without tilting the tool, move to the object and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 6, "task": "Move to the object and touch it as the tool remains perpendicular.", "task_name": "Move to the object and touch it as the tool remains perpendicular.", "task_descriptions": "task_name: Move to the object and touch it as the tool remains perpendicular.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 7, "task": "Touch the object once the tool is vertical and you move to the object.", "task_name": "Touch the object once the tool is vertical and you move to the object.", "task_descriptions": "task_name: Touch the object once the tool is vertical and you move to the object.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 0, "task": "Move to the object and touch it without tilting the tool.", "task_name": "Move to the object and touch it without tilting the tool.", "task_descriptions": "task_name: Move to the object and touch it without tilting the tool.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 1, "task": "Keeping alignment normal to the surface, move to the object and touch it.", "task_name": "Keeping alignment normal to the surface, move to the object and touch it.", "task_descriptions": "task_name: Keeping alignment normal to the surface, move to the object and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 2, "task": "Move to the object and touch it while the tool stays upright.", "task_name": "Move to the object and touch it while the tool stays upright.", "task_descriptions": "task_name: Move to the object and touch it while the tool stays upright.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 3, "task": "Touch the object after moving to the object with the tool aligned straight-on.", "task_name": "Touch the object after moving to the object with the tool aligned straight-on.", "task_descriptions": "task_name: Touch the object after moving to the object with the tool aligned straight-on.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 4, "task": "Maintain a perpendicular orientation as you move to the object and touch it.", "task_name": "Maintain a perpendicular orientation as you move to the object and touch it.", "task_descriptions": "task_name: Maintain a perpendicular orientation as you move to the object and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 5, "task": "Move to the object while keeping the tool vertical, then touch it.", "task_name": "Move to the object while keeping the tool vertical, then touch it.", "task_descriptions": "task_name: Move to the object while keeping the tool vertical, then touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 6, "task": "Touch the object by moving to the object with a normal tool pose.", "task_name": "Touch the object by moving to the object with a normal tool pose.", "task_descriptions": "task_name: Touch the object by moving to the object with a normal tool pose.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 7, "task": "Move to the object and touch it, ensuring the tool is perpendicular.", "task_name": "Move to the object and touch it, ensuring the tool is perpendicular.", "task_descriptions": "task_name: Move to the object and touch it, ensuring the tool is perpendicular.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 8, "task": "As the tool stays straight, move to the object and touch it.", "task_name": "As the tool stays straight, move to the object and touch it.", "task_descriptions": "task_name: As the tool stays straight, move to the object and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 9, "task": "Move to the object and touch it while maintaining vertical tool alignment.", "task_name": "Move to the object and touch it while maintaining vertical tool alignment.", "task_descriptions": "task_name: Move to the object and touch it while maintaining vertical tool alignment.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 10, "task": "Touch the object after moving to the object with the tool facing the surface directly.", "task_name": "Touch the object after moving to the object with the tool facing the surface directly.", "task_descriptions": "task_name: Touch the object after moving to the object with the tool facing the surface directly.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 11, "task": "Keep the tool normal as you move to the object and touch it.", "task_name": "Keep the tool normal as you move to the object and touch it.", "task_descriptions": "task_name: Keep the tool normal as you move to the object and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 12, "task": "Move to the object, maintaining perpendicular alignment, and touch it.", "task_name": "Move to the object, maintaining perpendicular alignment, and touch it.", "task_descriptions": "task_name: Move to the object, maintaining perpendicular alignment, and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 13, "task": "Touch the object once you move to the object with the tool upright.", "task_name": "Touch the object once you move to the object with the tool upright.", "task_descriptions": "task_name: Touch the object once you move to the object with the tool upright.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 14, "task": "Move to the object and touch it while the tool remains straight-on.", "task_name": "Move to the object and touch it while the tool remains straight-on.", "task_descriptions": "task_name: Move to the object and touch it while the tool remains straight-on.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 15, "task": "Maintain a vertical tool orientation while moving to the object and touching it.", "task_name": "Maintain a vertical tool orientation while moving to the object and touching it.", "task_descriptions": "task_name: Maintain a vertical tool orientation while moving to the object and touching it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 0, "task": "Touch the object by moving to the object with the tool perpendicular to the surface.", "task_name": "Touch the object by moving to the object with the tool perpendicular to the surface.", "task_descriptions": "task_name: Touch the object by moving to the object with the tool perpendicular to the surface.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 1, "task": "Move to the object and touch it with the tool held normal.", "task_name": "Move to the object and touch it with the tool held normal.", "task_descriptions": "task_name: Move to the object and touch it with the tool held normal.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 2, "task": "Before touching, move to the object while keeping the tool vertical.", "task_name": "Before touching, move to the object while keeping the tool vertical.", "task_descriptions": "task_name: Before touching, move to the object while keeping the tool vertical.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 3, "task": "Touch the object after moving to the object with a straight tool orientation.", "task_name": "Touch the object after moving to the object with a straight tool orientation.", "task_descriptions": "task_name: Touch the object after moving to the object with a straight tool orientation.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 4, "task": "Move to the object and touch it as the tool remains normal to the surface.", "task_name": "Move to the object and touch it as the tool remains normal to the surface.", "task_descriptions": "task_name: Move to the object and touch it as the tool remains normal to the surface.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 5, "task": "Keeping the tool perpendicular, move to the object and touch it.", "task_name": "Keeping the tool perpendicular, move to the object and touch it.", "task_descriptions": "task_name: Keeping the tool perpendicular, move to the object and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 6, "task": "Move to the object and touch it while preserving tool verticality.", "task_name": "Move to the object and touch it while preserving tool verticality.", "task_descriptions": "task_name: Move to the object and touch it while preserving tool verticality.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 7, "task": "Touch the object once the tool is upright and you move to the object.", "task_name": "Touch the object once the tool is upright and you move to the object.", "task_descriptions": "task_name: Touch the object once the tool is upright and you move to the object.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 8, "task": "Move to the object and touch it without changing the tool’s normal alignment.", "task_name": "Move to the object and touch it without changing the tool’s normal alignment.", "task_descriptions": "task_name: Move to the object and touch it without changing the tool’s normal alignment.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 9, "task": "Maintain a straight tool pose while moving to the object and touching it.", "task_name": "Maintain a straight tool pose while moving to the object and touching it.", "task_descriptions": "task_name: Maintain a straight tool pose while moving to the object and touching it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 10, "task": "Touch the object by moving to the object with the tool vertical to the surface.", "task_name": "Touch the object by moving to the object with the tool vertical to the surface.", "task_descriptions": "task_name: Touch the object by moving to the object with the tool vertical to the surface.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 11, "task": "Move to the object and touch it, keeping the tool perpendicular throughout.", "task_name": "Move to the object and touch it, keeping the tool perpendicular throughout.", "task_descriptions": "task_name: Move to the object and touch it, keeping the tool perpendicular throughout.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 12, "task": "Adjust the tool rotation first, then move to the object and touch it while keeping the tool perpendicular.", "task_name": "Adjust the tool rotation first, then move to the object and touch it while keeping the tool perpendicular.", "task_descriptions": "task_name: Adjust the tool rotation first, then move to the object and touch it while keeping the tool perpendicular.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 13, "task": "Change the rotation to make the tool vertical, move to the object, and touch it.", "task_name": "Change the rotation to make the tool vertical, move to the object, and touch it.", "task_descriptions": "task_name: Change the rotation to make the tool vertical, move to the object, and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 14, "task": "After adjusting the tool orientation, move to the object and touch it with the tool normal to the surface.", "task_name": "After adjusting the tool orientation, move to the object and touch it with the tool normal to the surface.", "task_descriptions": "task_name: After adjusting the tool orientation, move to the object and touch it with the tool normal to the surface.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 15, "task": "Move the tool so that it's rotation faces the surface directly, move to the object, and touch it.", "task_name": "Move the tool so that it's rotation faces the surface directly, move to the object, and touch it.", "task_descriptions": "task_name: Move the tool so that it's rotation faces the surface directly, move to the object, and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 16, "task": "Adjust the tool alignment first, then move to the object and touch it while keeping it perpendicular.", "task_name": "Adjust the tool alignment first, then move to the object and touch it while keeping it perpendicular.", "task_descriptions": "task_name: Adjust the tool alignment first, then move to the object and touch it while keeping it perpendicular.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 17, "task": "Adjust the rotation to align the tool upright, move to the object, and touch it.", "task_name": "Adjust the rotation to align the tool upright, move to the object, and touch it.", "task_descriptions": "task_name: Adjust the rotation to align the tool upright, move to the object, and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 18, "task": "After adjusting the rotation, move to the object and touch it with the tool held vertical.", "task_name": "After adjusting the rotation, move to the object and touch it with the tool held vertical.", "task_descriptions": "task_name: After adjusting the rotation, move to the object and touch it with the tool held vertical.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 19, "task": "Adjust the tool to a straight-on orientation, move to the object, and touch it.", "task_name": "Adjust the tool to a straight-on orientation, move to the object, and touch it.", "task_descriptions": "task_name: Adjust the tool to a straight-on orientation, move to the object, and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 20, "task": "Adjust the tool rotation before moving to the object and touching it with a normal orientation.", "task_name": "Adjust the tool rotation before moving to the object and touching it with a normal orientation.", "task_descriptions": "task_name: Adjust the tool rotation before moving to the object and touching it with a normal orientation.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 0, "task": "First correct the tool’s rotation so it faces the surface, then bring it to the object and touch it straight on.", "task_name": "First correct the tool’s rotation so it faces the surface, then bring it to the object and touch it straight on.", "task_descriptions": "task_name: First correct the tool’s rotation so it faces the surface, then bring it to the object and touch it straight on.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 1, "task": "Rotate the tool into an upright pose, move it to the object, and make contact while keeping it perpendicular.", "task_name": "Rotate the tool into an upright pose, move it to the object, and make contact while keeping it perpendicular.", "task_descriptions": "task_name: Rotate the tool into an upright pose, move it to the object, and make contact while keeping it perpendicular.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 2, "task": "After fixing the tool’s orientation to be normal to the surface, move to the object and touch it.", "task_name": "After fixing the tool’s orientation to be normal to the surface, move to the object and touch it.", "task_descriptions": "task_name: After fixing the tool’s orientation to be normal to the surface, move to the object and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 3, "task": "Set the tool’s rotation so it stays vertical, reach the object, and touch the surface.", "task_name": "Set the tool’s rotation so it stays vertical, reach the object, and touch the surface.", "task_descriptions": "task_name: Set the tool’s rotation so it stays vertical, reach the object, and touch the surface.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 4, "task": "Before moving in, align the tool straight-on, then move to the object and touch it.", "task_name": "Before moving in, align the tool straight-on, then move to the object and touch it.", "task_descriptions": "task_name: Before moving in, align the tool straight-on, then move to the object and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 5, "task": "Correct the tool’s angle to a perpendicular stance, guide it to the object, and make contact.", "task_name": "Correct the tool’s angle to a perpendicular stance, guide it to the object, and make contact.", "task_descriptions": "task_name: Correct the tool’s angle to a perpendicular stance, guide it to the object, and make contact.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 6, "task": "Orient the tool so it stands upright, move it toward the object, and touch it.", "task_name": "Orient the tool so it stands upright, move it toward the object, and touch it.", "task_descriptions": "task_name: Orient the tool so it stands upright, move it toward the object, and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 7, "task": "Once the tool is aligned normally to the surface, move to the object and touch it.", "task_name": "Once the tool is aligned normally to the surface, move to the object and touch it.", "task_descriptions": "task_name: Once the tool is aligned normally to the surface, move to the object and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 8, "task": "Turn the tool until it faces the surface directly, then move to the object and make contact.", "task_name": "Turn the tool until it faces the surface directly, then move to the object and make contact.", "task_descriptions": "task_name: Turn the tool until it faces the surface directly, then move to the object and make contact.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 9, "task": "Adjust orientation first so the tool is straight, then bring it to the object and touch it.", "task_name": "Adjust orientation first so the tool is straight, then bring it to the object and touch it.", "task_descriptions": "task_name: Adjust orientation first so the tool is straight, then bring it to the object and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 10, "task": "With the rotation corrected to vertical, move the tool to the object and touch it.", "task_name": "With the rotation corrected to vertical, move the tool to the object and touch it.", "task_descriptions": "task_name: With the rotation corrected to vertical, move the tool to the object and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 11, "task": "Ensure the tool is perpendicular before moving to the object and making contact.", "task_name": "Ensure the tool is perpendicular before moving to the object and making contact.", "task_descriptions": "task_name: Ensure the tool is perpendicular before moving to the object and making contact.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 12, "task": "After reorienting the tool into a straight pose, move to the object and touch it.", "task_name": "After reorienting the tool into a straight pose, move to the object and touch it.", "task_descriptions": "task_name: After reorienting the tool into a straight pose, move to the object and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 13, "task": "Fix the tool’s alignment so it is normal to the surface, then move in and touch the object.", "task_name": "Fix the tool’s alignment so it is normal to the surface, then move in and touch the object.", "task_descriptions": "task_name: Fix the tool’s alignment so it is normal to the surface, then move in and touch the object.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 14, "task": "Rotate the tool into an upright configuration, approach the object, and touch it.", "task_name": "Rotate the tool into an upright configuration, approach the object, and touch it.", "task_descriptions": "task_name: Rotate the tool into an upright configuration, approach the object, and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 15, "task": "Align the tool face-on to the surface, move to the object, and make contact.", "task_name": "Align the tool face-on to the surface, move to the object, and make contact.", "task_descriptions": "task_name: Align the tool face-on to the surface, move to the object, and make contact.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 16, "task": "Once the tool’s rotation is corrected, move it to the object and touch it perpendicularly.", "task_name": "Once the tool’s rotation is corrected, move it to the object and touch it perpendicularly.", "task_descriptions": "task_name: Once the tool’s rotation is corrected, move it to the object and touch it perpendicularly.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 17, "task": "Bring the tool into a vertical pose first, then move to the object and touch it.", "task_name": "Bring the tool into a vertical pose first, then move to the object and touch it.", "task_descriptions": "task_name: Bring the tool into a vertical pose first, then move to the object and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 18, "task": "Straighten the tool’s orientation, move toward the object, and make contact.", "task_name": "Straighten the tool’s orientation, move toward the object, and make contact.", "task_descriptions": "task_name: Straighten the tool’s orientation, move toward the object, and make contact.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 19, "task": "After setting the tool’s rotation to normal, move to the object and touch it.", "task_name": "After setting the tool’s rotation to normal, move to the object and touch it.", "task_descriptions": "task_name: After setting the tool’s rotation to normal, move to the object and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 20, "task": "Turn the tool until it is upright, guide it to the object, and touch it.", "task_name": "Turn the tool until it is upright, guide it to the object, and touch it.", "task_descriptions": "task_name: Turn the tool until it is upright, guide it to the object, and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 21, "task": "Adjust the tool so it stays perpendicular, then move to the object and make contact.", "task_name": "Adjust the tool so it stays perpendicular, then move to the object and make contact.", "task_descriptions": "task_name: Adjust the tool so it stays perpendicular, then move to the object and make contact.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 22, "task": "Reorient the tool to face the surface head-on before moving to the object and touching it.", "task_name": "Reorient the tool to face the surface head-on before moving to the object and touching it.", "task_descriptions": "task_name: Reorient the tool to face the surface head-on before moving to the object and touching it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 23, "task": "With the tool aligned straight to the surface, move to the object and touch it.", "task_name": "With the tool aligned straight to the surface, move to the object and touch it.", "task_descriptions": "task_name: With the tool aligned straight to the surface, move to the object and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 24, "task": "Correct the rotation to keep the tool vertical, then move to the object and touch it.", "task_name": "Correct the rotation to keep the tool vertical, then move to the object and touch it.", "task_descriptions": "task_name: Correct the rotation to keep the tool vertical, then move to the object and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 25, "task": "Set the tool into a perpendicular pose, move toward the object, and make contact.", "task_name": "Set the tool into a perpendicular pose, move toward the object, and make contact.", "task_descriptions": "task_name: Set the tool into a perpendicular pose, move toward the object, and make contact.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 26, "task": "After rotating the tool into alignment with the surface, move to the object and touch it.", "task_name": "After rotating the tool into alignment with the surface, move to the object and touch it.", "task_descriptions": "task_name: After rotating the tool into alignment with the surface, move to the object and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 27, "task": "Align the tool normally to the surface, bring it to the object, and touch it.", "task_name": "Align the tool normally to the surface, bring it to the object, and touch it.", "task_descriptions": "task_name: Align the tool normally to the surface, bring it to the object, and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 28, "task": "Once the tool is straightened, move to the object and make contact.", "task_name": "Once the tool is straightened, move to the object and make contact.", "task_descriptions": "task_name: Once the tool is straightened, move to the object and make contact.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 29, "task": "Rotate the tool into the correct upright orientation, move to the object, and touch it.", "task_name": "Rotate the tool into the correct upright orientation, move to the object, and touch it.", "task_descriptions": "task_name: Rotate the tool into the correct upright orientation, move to the object, and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 30, "task": "Fix the tool’s rotation first, move it to the object, and touch it while keeping it perpendicular.", "task_name": "Fix the tool’s rotation first, move it to the object, and touch it while keeping it perpendicular.", "task_descriptions": "task_name: Fix the tool’s rotation first, move it to the object, and touch it while keeping it perpendicular.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 31, "task": "After adjusting the tool so it faces the surface evenly, move to the object and touch it.", "task_name": "After adjusting the tool so it faces the surface evenly, move to the object and touch it.", "task_descriptions": "task_name: After adjusting the tool so it faces the surface evenly, move to the object and touch it.\ntask_id: touch_surface_head_on\nepisode_type: perfect"}
+{"task_index": 32, "task": "Rotate the tool so it faces the surface directly, then touch it", "task_name": "Rotate the tool so it faces the surface directly, then touch it", "task_descriptions": "Rotate the tool so it faces the surface directly, then touch it"}
+{"task_index": 0, "task": "Move to the object and touch it, lift slightly to lose contact, then return to the same point without changing the tool orientation.", "task_name": "Move to the object and touch it, lift slightly to lose contact, then return to the same point without changing the tool orientation.", "task_descriptions": "task_name: Move to the object and touch it, lift slightly to lose contact, then return to the same point without changing the tool orientation.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 1, "task": "Touch the object head-on, move upward to break contact, and touch the same location again while keeping the tool perpendicular.", "task_name": "Touch the object head-on, move upward to break contact, and touch the same location again while keeping the tool perpendicular.", "task_descriptions": "task_name: Touch the object head-on, move upward to break contact, and touch the same location again while keeping the tool perpendicular.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 2, "task": "Approach the object with the tool normal, make contact, retract upward briefly, then recontact at the same spot without rotating.", "task_name": "Approach the object with the tool normal, make contact, retract upward briefly, then recontact at the same spot without rotating.", "task_descriptions": "task_name: Approach the object with the tool normal, make contact, retract upward briefly, then recontact at the same spot without rotating.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 3, "task": "Move in and touch the surface, raise the tool to lose contact, then come back down to the same place with unchanged orientation.", "task_name": "Move in and touch the surface, raise the tool to lose contact, then come back down to the same place with unchanged orientation.", "task_descriptions": "task_name: Move in and touch the surface, raise the tool to lose contact, then come back down to the same place with unchanged orientation.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 4, "task": "Touch the object while the tool is perpendicular, lift slightly to simulate contact loss, and reapply contact at the same location.", "task_name": "Touch the object while the tool is perpendicular, lift slightly to simulate contact loss, and reapply contact at the same location.", "task_descriptions": "task_name: Touch the object while the tool is perpendicular, lift slightly to simulate contact loss, and reapply contact at the same location.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 5, "task": "Make contact with the surface, pull the tool upward to break contact, then touch again without tilting the tool.", "task_name": "Make contact with the surface, pull the tool upward to break contact, then touch again without tilting the tool.", "task_descriptions": "task_name: Make contact with the surface, pull the tool upward to break contact, then touch again without tilting the tool.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 0, "task": "Approach and touch the object straight-on, lift the tool to lose contact, then return to the same point keeping the pose fixed.", "task_name": "Approach and touch the object straight-on, lift the tool to lose contact, then return to the same point keeping the pose fixed.", "task_descriptions": "task_name: Approach and touch the object straight-on, lift the tool to lose contact, then return to the same point keeping the pose fixed.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 1, "task": "Touch the surface normally, move the tool up to lose contact, and recontact at the same spot with no rotation.", "task_name": "Touch the surface normally, move the tool up to lose contact, and recontact at the same spot with no rotation.", "task_descriptions": "task_name: Touch the surface normally, move the tool up to lose contact, and recontact at the same spot with no rotation.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 2, "task": "Move to the object and touch it, retract upward briefly, then touch again at the same location maintaining tool alignment.", "task_name": "Move to the object and touch it, retract upward briefly, then touch again at the same location maintaining tool alignment.", "task_descriptions": "task_name: Move to the object and touch it, retract upward briefly, then touch again at the same location maintaining tool alignment.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 3, "task": "Bring the tool into contact, lift slightly to break contact, and return to the same point without changing orientation.", "task_name": "Bring the tool into contact, lift slightly to break contact, and return to the same point without changing orientation.", "task_descriptions": "task_name: Bring the tool into contact, lift slightly to break contact, and return to the same point without changing orientation.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 0, "task": "Approach the surface, make contact, lift the tool up, then touch down again at the same spot keeping orientation constant.", "task_name": "Approach the surface, make contact, lift the tool up, then touch down again at the same spot keeping orientation constant.", "task_descriptions": "task_name: Approach the surface, make contact, lift the tool up, then touch down again at the same spot keeping orientation constant.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 1, "task": "Touch the object straight-on, move upward to break contact, then come back to the same contact point unchanged.", "task_name": "Touch the object straight-on, move upward to break contact, then come back to the same contact point unchanged.", "task_descriptions": "task_name: Touch the object straight-on, move upward to break contact, then come back to the same contact point unchanged.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 2, "task": "Make contact with the tool upright, lift slightly to lose contact, and recontact at the same location without tilting.", "task_name": "Make contact with the tool upright, lift slightly to lose contact, and recontact at the same location without tilting.", "task_descriptions": "task_name: Make contact with the tool upright, lift slightly to lose contact, and recontact at the same location without tilting.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 3, "task": "Move in with the tool normal, touch the surface, pull up briefly, then reapply contact at the same place.", "task_name": "Move in with the tool normal, touch the surface, pull up briefly, then reapply contact at the same place.", "task_descriptions": "task_name: Move in with the tool normal, touch the surface, pull up briefly, then reapply contact at the same place.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 4, "task": "Touch the object head-on, retract upward to lose contact, and return to the same spot with fixed orientation.", "task_name": "Touch the object head-on, retract upward to lose contact, and return to the same spot with fixed orientation.", "task_descriptions": "task_name: Touch the object head-on, retract upward to lose contact, and return to the same spot with fixed orientation.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 5, "task": "Approach and touch the surface, lift the tool to simulate contact loss, then touch again without changing pose.", "task_name": "Approach and touch the surface, lift the tool to simulate contact loss, then touch again without changing pose.", "task_descriptions": "task_name: Approach and touch the surface, lift the tool to simulate contact loss, then touch again without changing pose.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 6, "task": "Move to the object and make contact, move upward to break contact, then recontact at the same point.", "task_name": "Move to the object and make contact, move upward to break contact, then recontact at the same point.", "task_descriptions": "task_name: Move to the object and make contact, move upward to break contact, then recontact at the same point.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 7, "task": "Touch the surface with the tool perpendicular, lift slightly, then return to the same contact location unchanged.", "task_name": "Touch the surface with the tool perpendicular, lift slightly, then return to the same contact location unchanged.", "task_descriptions": "task_name: Touch the surface with the tool perpendicular, lift slightly, then return to the same contact location unchanged.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 8, "task": "Make contact with the object, raise the tool to lose contact, then come back down to the same spot.", "task_name": "Make contact with the object, raise the tool to lose contact, then come back down to the same spot.", "task_descriptions": "task_name: Make contact with the object, raise the tool to lose contact, then come back down to the same spot.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 9, "task": "Touch the object normally, move the tool up to break contact, then recontact at the same location.", "task_name": "Touch the object normally, move the tool up to break contact, then recontact at the same location.", "task_descriptions": "task_name: Touch the object normally, move the tool up to break contact, then recontact at the same location.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 10, "task": "Approach the object, touch it, lift upward briefly, and touch again at the same point keeping orientation fixed.", "task_name": "Approach the object, touch it, lift upward briefly, and touch again at the same point keeping orientation fixed.", "task_descriptions": "task_name: Approach the object, touch it, lift upward briefly, and touch again at the same point keeping orientation fixed.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 11, "task": "Move in and touch the surface, pull up to lose contact, then return to the same contact point.", "task_name": "Move in and touch the surface, pull up to lose contact, then return to the same contact point.", "task_descriptions": "task_name: Move in and touch the surface, pull up to lose contact, then return to the same contact point.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 12, "task": "Touch the object straight-on, lift the tool slightly, then recontact at the same location without rotation.", "task_name": "Touch the object straight-on, lift the tool slightly, then recontact at the same location without rotation.", "task_descriptions": "task_name: Touch the object straight-on, lift the tool slightly, then recontact at the same location without rotation.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 13, "task": "Make contact while the tool is upright, raise it to lose contact, then touch again at the same spot.", "task_name": "Make contact while the tool is upright, raise it to lose contact, then touch again at the same spot.", "task_descriptions": "task_name: Make contact while the tool is upright, raise it to lose contact, then touch again at the same spot.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 14, "task": "Approach and touch the object, retract upward briefly, then recontact without changing orientation.", "task_name": "Approach and touch the object, retract upward briefly, then recontact without changing orientation.", "task_descriptions": "task_name: Approach and touch the object, retract upward briefly, then recontact without changing orientation.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 15, "task": "Touch the surface normally, lift the tool to break contact, and return to the same point unchanged.", "task_name": "Touch the surface normally, lift the tool to break contact, and return to the same point unchanged.", "task_descriptions": "task_name: Touch the surface normally, lift the tool to break contact, and return to the same point unchanged.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 16, "task": "Move to the object, touch it, lift slightly to lose contact, then touch again at the same location.", "task_name": "Move to the object, touch it, lift slightly to lose contact, then touch again at the same location.", "task_descriptions": "task_name: Move to the object, touch it, lift slightly to lose contact, then touch again at the same location.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 17, "task": "Touch the object with a perpendicular tool, pull upward briefly, then recontact at the same place.", "task_name": "Touch the object with a perpendicular tool, pull upward briefly, then recontact at the same place.", "task_descriptions": "task_name: Touch the object with a perpendicular tool, pull upward briefly, then recontact at the same place.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 18, "task": "Make contact with the surface, move upward to lose contact, then return to the same spot without tilting.", "task_name": "Make contact with the surface, move upward to lose contact, then return to the same spot without tilting.", "task_descriptions": "task_name: Make contact with the surface, move upward to lose contact, then return to the same spot without tilting.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 0, "task": "Touch the object normally, raise the tool to lose contact, and touch again at the same location.", "task_name": "Touch the object normally, raise the tool to lose contact, and touch again at the same location.", "task_descriptions": "task_name: Touch the object normally, raise the tool to lose contact, and touch again at the same location.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 1, "task": "Move in with the tool straight, make contact, lift slightly, then return to the same spot.", "task_name": "Move in with the tool straight, make contact, lift slightly, then return to the same spot.", "task_descriptions": "task_name: Move in with the tool straight, make contact, lift slightly, then return to the same spot.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 2, "task": "Touch the surface, retract upward briefly, then reapply contact at the same location.", "task_name": "Touch the surface, retract upward briefly, then reapply contact at the same location.", "task_descriptions": "task_name: Touch the surface, retract upward briefly, then reapply contact at the same location.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 3, "task": "Make contact with the tool upright, lift to lose contact, then touch again without changing orientation.", "task_name": "Make contact with the tool upright, lift to lose contact, then touch again without changing orientation.", "task_descriptions": "task_name: Make contact with the tool upright, lift to lose contact, then touch again without changing orientation.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 4, "task": "Approach the object, touch it, move up slightly, and return to the same contact point.", "task_name": "Approach the object, touch it, move up slightly, and return to the same contact point.", "task_descriptions": "task_name: Approach the object, touch it, move up slightly, and return to the same contact point.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 5, "task": "Touch the object straight-on, lift the tool to break contact, then recontact unchanged.", "task_name": "Touch the object straight-on, lift the tool to break contact, then recontact unchanged.", "task_descriptions": "task_name: Touch the object straight-on, lift the tool to break contact, then recontact unchanged.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 6, "task": "Move to the object and touch it, pull up briefly, then touch again at the same place.", "task_name": "Move to the object and touch it, pull up briefly, then touch again at the same place.", "task_descriptions": "task_name: Move to the object and touch it, pull up briefly, then touch again at the same place.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}
+{"task_index": 7, "task": "Touch the surface normally, lift upward to lose contact, then return to the same spot.", "task_name": "Touch the surface normally, lift upward to lose contact, then return to the same spot.", "task_descriptions": "task_name: Touch the surface normally, lift upward to lose contact, then return to the same spot.\ntask_id: touch_surface_head_on_recontact\nepisode_type: recovery"}

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Ultrasound/imfusion/imfusion_dataset_corrected/ImFusion_dataset/meta/README.md

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+# IT2S Dataset - README
+---
+## Overview
+*
+The ImFusion Talk2Scan (IT2S) dataset is a multimodal robotic ultrasound dataset designed for learning language-conditioned and skill-conditioned ultrasound scanning behaviors. The dataset combines robot motion data, ultrasound imaging, external visual sensing, and structured task annotations.
+
+Rather than focusing on long, monolithic procedures, IT2S emphasizes atomic and reusable scanning skills that commonly occur during abdominal ultrasound examinations. This design aims to support research in imitation learning, skill composition, and visual-language-action models for robotic ultrasound.*
+---
+
+## File Structure
+The file structure of this directory is shown below:
+```
+ImFusionDataset/
+├── data/
+│   ├── chunk-000/
+│   │   ├── episode_0000000.parquet
+│   │   ├── episode_0000001.parquet
+│   │   └── ...
+│   └── chunk-001/
+│       └── ...
+├── videos/
+│   ├── chunk-000/
+│   │   ├── observation.images.tpv_camera/
+│   │   ├── observation.images.ultrasound/
+│   │   └── observation.images.wrist_camera/
+│   └── chunk-001/
+│       └── ...
+├── meta/
+│   ├── episodes.jsonl
+│   ├── episodes_stats.jsonl
+│   ├── tasks.jsonl
+│   ├── info.json
+│   ├── stats.json
+│   └── README.md
+└──
+```
+## ⏱️ Data Synchronization Approach
+All data streams (robot states and camera feeds) are first converted to a common epoch-based time reference. The synchronization window is determined primarily via motion detection, ensuring that alignment is anchored to the onset of robot motion rather than arbitrary timestamps, with the aim to prevent learning idle states at the begining of the motion or at the end of the motion. If motion detection fails, the system falls back to the maximal overlapping interval across all streams. Within this window, the effective sampling rate of each modality is estimated, and a target frame rate is selected based on the slowest sufficiently reliable (>20Hz) stream. A uniform time grid is then generated. Image modalities are resampled using nearest-neighbor selection to preserve raw frame integrity, while continuous robot signals (e.g., joint states and poses) are linearly interpolated to ensure temporal smoothness. This procedure yields a temporally consistent, multi-modal dataset in which all signals correspond to the same physical time points.
+
+*Task Design Philosophy*
+
+The IT2S dataset is intentionally structured around single, well-defined ultrasound skills, rather than full clinical workflows. Each episode typically corresponds to one focused task, enabling precise supervision and compositional learning.
+
+The primary task categories include:
+- Patient approaching
+- Losing and re-establishing contact
+- Intentional probe detachment and safe re-contact with the surface.
+- Horizontal scan
+- Lateral to transversal (and vice-verca) probe motion while maintaining surface contact.
+- Vertical scan
+- Cranio-caudal probe motion with controlled force.
+- Fanning
+## Attribution & Contact
+| | |
+| :--- | :--- |
+| **Dataset Lead** | `Nikola Budjak` |
+| **Institution** | `ImFusion GmbH Munich Germany` |
+| **Contact Email** | `budjak@imfusion.com` |
+| **Citation (BibTeX)** | <pre><code>@misc{robosono_2025,<br>  author = {Nikola Budjak, Yunye Xiao, Pablo David Aranda Rodriguez, Marco Esposito},<br>  title = {IT2S: Imfusion's Talk2Scan Language-to-Action Dataset for Robotic Ultrasound Scanning},<br>  year = {2026},<br>  publisher = {Open-H-Embodiment},<br>  note = {}<br>}</code></pre> |
+<!-- | **Citation (BibTeX)** | note = {https://hrpp.research.virginia.edu/teams/irb-sbs/researcher-guide-irb-sbs/identifiers}<br>}| -->

Ultrasound/imfusion/imfusion_dataset_corrected/ImFusion_dataset/meta/info.json

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+{
+  "codebase_version": "v2.1",
+  "robot_type": "franka",
+  "robot_dof": 7,
+  "fps": 30,
+  "video": true,
+  "enabled_modalities": [
+    "cam_flange_rgb",
+    "cam_base_rgb",
+    "cam_ultrasound",
+    "joint_positions_measured",
+    "joint_velocities_measured",
+    "flange_pose",
+    "end_effector_pose"
+  ],
+  "encoding": {
+    "video": {
+      "codec": "libx264",
+      "pix_fmt": "yuv420p",
+      "g": 2,
+      "crf": 8
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+  },
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+      "names": []
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+      "names": []
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+      "names": []
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+        "joint_2",
+        "joint_3",
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+        "joint_6",
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+      ]
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+        640,
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+      "names": [
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+  },
+  "total_episodes": 1644,
+  "total_frames": 559897,
+  "chunks_size": 1000,
+  "total_chunks": 2,
+  "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",
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+}

Ultrasound/imfusion/imfusion_dataset_corrected/ImFusion_dataset/meta/modality.json

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+{
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+    "tpv_camera": {"original_key": "observation.images.tpv_camera"},
+    "wrist_camera": {"original_key": "observation.images.wrist_camera"},
+    "ultrasound": {"original_key": "observation.images.ultrasound"}
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+}

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