diff --git a/Ultrasound/cuhk/xiangyu_chu/bmt_insertion_dataset/bmt_insertion_dataset/meta/README.md b/Ultrasound/cuhk/xiangyu_chu/bmt_insertion_dataset/bmt_insertion_dataset/meta/README.md new file mode 100644 index 0000000000000000000000000000000000000000..e140051b5d388309dbe66b9f7d89a746fc49ad29 --- /dev/null +++ b/Ultrasound/cuhk/xiangyu_chu/bmt_insertion_dataset/bmt_insertion_dataset/meta/README.md @@ -0,0 +1,234 @@ + + +# [Dataset Name] - README + +--- + +## ๐Ÿ“‹ At a Glance + +Static dual-arm in-plane needle insertion with interferences + +--- + +## ๐Ÿ“– Dataset Overview + +*This dataset contains 2000 trajectories of a trained researcher using the dual-arm UR5e to perform needle insertion tasks on ex-vivo tissues include objects: mimicked vessel, different simulated tumors (grape, blueberry and fish ball), pork lean, bone ,liver, kidney.* + + +| | | +| :--- | :--- | +| **Total Trajectories** | `[2000]` | +| **Total Hours** | `[25]` | +| **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]` | + +--- + +## ๐ŸŽฏ Tasks & Domain + +### Domain + +*Select the primary domain for this dataset.* + +- [ ] **Surgical Robotics** +- [x] **Ultrasound Robotics** +- [ ] **Other Healthcare Robotics** (Please specify: `[Your Domain]`) + +### Demonstrated Skills + +*Autonomous dual-arm robotic needle insertion.* + + + +--- + +## ๐Ÿ”ฌ Data Collection Details + +### Collection Method + +*How was the data collected?* + +- [ ] **Human Teleoperation** +- [x] **Programmatic/State-Machine** +- [ ] **AI Policy / Autonomous** +- [ ] **Other** (Please specify: `[Your Method]`) + +### Operator Details + +| | Description | +| :--- | :--- | +| **Operator Count** | `[1]` | +| **Operator Skill Level** | `[ ] Expert (e.g., Surgeon, Sonographer)`
`[x] Intermediate (e.g., Trained Researcher)`
`[ ] Novice (e.g., ML Researcher with minimal experience)`
`[ ] N/A` | +| **Collection Period** | From `[2025-12-26]` to `[2026-01-07]` | + +### Recovery Demonstrations + +*Does this dataset include examples of recovering from failure?* + +- [ ] **Yes** +- [x] **No** + + + +--- + +## ๐Ÿ’ก Diversity Dimensions + +*Check all dimensions that were intentionally varied during data collection.* + +- [ ] **Camera Position / Angle** +- [ ] **Lighting Conditions** +- [x] **Target Object** (e.g., different phantom models, suture types) +- [x] **Spatial Layout** (e.g., placing the target suture needle in various locations) +- [ ] **Robot Embodiment** (if multiple robots were used) +- [ ] **Task Execution** (e.g., different techniques for the same task) +- [ ] **Background / Scene** +- [ ] **Other** (Please specify: `[Your Dimension]`) + +*If you checked any of the above please briefly elaborate below.* + +After each demonstration, we adjust the initial position of at least one of the robotic arm, ultrasonic probe, and target object (phantom). + +--- + +## ๐Ÿ› ๏ธ Equipment & Setup + +### Robotic Platform(s) + +*List the primary robot(s) used.* + +- **Robot 1:** `[UR5e]` +- **Robot 2:** `[UR5e]` + +### Sensors & Cameras + +*List the sensors and cameras used. Specify model names where possible. (Add and remove rows as needed)* + +| Type | Model/Details | +| :--- | :--- | +| **Room/3rd Person Camera** | `[Intel RealSense D435i @ 30fps]` | +| **Medical Imager** | `[Siemens ACUSON Juniper Ultrasound System with 12L3 Transducer, B-Mode]` | + + +--- + +## ๐ŸŽฏ Action & State Space Representation + +*Describe how actions and robot states are represented in your dataset. This is crucial for understanding data compatibility and enabling effective policy learning.* + +### Action Space Representation + +**Primary Action Representation:** +- [] **Absolute Cartesian** (position/orientation relative to robot base) +- [ ] **Relative Cartesian** (delta position/orientation from current pose) +- [x] **Joint Space** (direct joint angle commands) +- [ ] **Other** (Please specify: `[Your Representation]`) + +**Orientation Representation:** +- [] **Quaternions** (x, y, z, w) +- [ ] **Euler Angles** (roll, pitch, yaw) +- [x] **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: [j1, j2, j3, j4, j5, j6, j7, j8, j9, j10, j11, j12] +- 'L_Base', 'L_Shoulder', 'L_Elbow', 'L_Wrist1', 'L_Wrist2' 'L_Wrist3' 'R_Base', 'R_Shoulder', 'R_Elbow', 'R_Wrist1', 'R_Wrist2', 'R_Wrist3' : Absolute joint positions for two 6-DOF arms (radians) +action.left: [j1, j2, j3, j4, j5, j6] +- 'L_Base', 'L_Shoulder', 'L_Elbow', 'L_Wrist1', 'L_Wrist2' 'L_Wrist3' : Absolute joint positions for 6-DOF arm (radians) +action.right: [j1, j2, j3, j4, j5, j6] +- 'R_Base', 'R_Shoulder', 'R_Elbow', 'R_Wrist1', 'R_Wrist2', 'R_Wrist3' : Absolute joint positions for 6-DOF arm (radians) +``` + + +### State Space Representation + +**State Information Included:** +- [ ] **Joint Positions** (all articulated joints) +- [ ] **Joint Velocities** +- [x] **End-Effector Pose** (Cartesian position/orientation) +- [ ] **Force/Torque Readings** +- [ ] **Gripper State** (position, force, etc.) +- [ ] **Other** (Please specify: `[Your State Info]`) + + + +**Example:** +``` +observation.state: ["left_x", "left_y", "left_z", "left_qx", "left_qy", "left_qz", "left_qw", "right_x", "right_y", "right_z", "right_qx", "right_qy", "right_qz", "right_qw"] +- left_x, left_y, left_z, right_x, right_y, right_z: Absolute position in left and right robot base frame (meters) +- left_qx, left_qy, left_qz, left_qw, right_qx, "right_qy, right_qz, right_qw: Absolute orientation as quaternion +observation.state.left: [x, y, z, qx, qy, qz, qw] +- x, y, z: Absolute position in left robot base frame (meters) +- qx, qy, qz, qw: Absolute orientation as quaternion +observation.state.right: [x, y, z, qx, qy, qz, qw] +- x, y, z: Absolute position in right robot base frame (meters) +- qx, qy, qz, qw: Absolute orientation as quaternion +``` + +### ๐Ÿ“‹ Recommended Additional Representations +**Step Information Included:** +- [x] **Step Labels** + +**Example:** +``` +observation.step_label: ["label"] +- label: step labels represent the robot motion state, for each trajectory includes 3 labels and 5 motion sequences ('hold - alignment - hold - insertion - hold'). +``` + + + +--- + +## โฑ๏ธ Data Synchronization Approach + + +*We collect joint kinematics from our UR5e, RGB-D frames from Intel RealSense D435 cameras and US images from Siemens Acuson Juniper with 12L3 transducer, all running in ROS 1 Noetic on the same workstation clocked with ROS Time. Both drivers stamp their outgoing messagesโ€™ header.stamp fields with the shared system clock, and we record /joint_states, /frame_grabber/us_img, /camera_top/color/image_raw, /right_tcp_pos, and /left_tcp_pos in a single rosbag session. During export to LeRobot, each data pointโ€™s ROS header.stamp is written verbatim into the timestamp attribute. Offline checks show inter-sensor skew stays below ยฑ100 ms across a 2-minute capture.* + +--- + +## ๐Ÿ‘ฅ Attribution & Contact + +*Please provide attribution for the dataset creators and a point of contact.* + +| | | +| :--- | :--- | +| **Dataset Lead** | `[Zhongyu Chen, Yunxi Tang, Tianqi Yang, Xiangyu Chu]` | +| **Institution** | `[Bioinspired Robotics and Medical Technology (BMT) Lab, Department of Mechanical and Automation Engineering (MAE), The Chinese University of Hong Kong (CUHK) ]` | +| **Contact Email** | `[zhongyuchen001@cuhk.edu.hk, 1155245457@link.cuhk.edu.hk, tianqiyang@cuhk.edu.hk, xychu@mae.cuhk.edu.hk]` | + \ No newline at end of file diff --git a/Ultrasound/cuhk/xiangyu_chu/bmt_insertion_dataset/bmt_insertion_dataset/meta/episodes.jsonl b/Ultrasound/cuhk/xiangyu_chu/bmt_insertion_dataset/bmt_insertion_dataset/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ba335494427cb2a6c0f43cd646a256370d0395fa --- /dev/null +++ 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