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diff --git a/Surgical/obuda/skinphantom_1/meta/README.md b/Surgical/obuda/skinphantom_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 interrupted suturing on a skin phantom, including needle driving and knot tying.
+
+---
+
+## 📖 Dataset Overview
+
+This dataset contains teleoperated trajectories of an expert operator (da Vinci certified surgeon) performing wound closure on a skin phantom using the da Vinci Robot. The 4 subtasks capture the execution of a single interrupted stitch, including needle insertion (subtask 0), complete suture pull-through (subtask 1), and knot tying consisting of one surgeon’s knot (subtask 2) followed by two securing throws (subtask 3). The dataset includes successful trials, failure cases, and recovery attempts too.
+
+| | |
+| :--- | :--- |
+| **Total Trajectories** | `106` |
+| **Total Hours** | `00:23:19` |
+| **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
+
+- Needle driving
+- Tissue approximation
+- Knot tying
+
+---
+
+## 🔬 Data Collection Details
+
+### Collection Method
+
+
+- [X] **Human Teleoperation**
+- [ ] **Programmatic/State-Machine**
+- [ ] **AI Policy / Autonomous**
+- [ ] **Other** (Please specify)
+
+### Operator Details
+
+| | Description |
+| :--- | :--- |
+| **Operator Count** | `1` |
+| **Operator Skill Level** | `[X] Expert (da Vinci certified surgeon)` <br> `[ ] Intermediate (e.g., Trained Researcher)` <br> `[ ] Novice (e.g., ML Researcher with minimal experience)` <br> `[ ] N/A` |
+| **Collection Period** |  `[2026-02-11]` |
+
+### Recovery Demonstrations
+
+
+- [X] **Yes**
+- [ ] **No**
+
+**If yes, please briefly describe the recovery process:**
+
+- Needle Insertion:
+  - Loss of needle grip (needle dropped)
+  - Needle fails to pass through the tissue on the first attempt
+
+- Suture Pulling:
+  - Misgrasping the suture
+
+ - Single and Double Knot:
+  - Misgrasping the suture
+  - Suture became caught on the tool, but was successfully freed
+  - Dropping the suture
+
+### Failure Demonstrations
+
+- [X] **Yes**
+- [ ] **No**
+
+**If yes, please briefly describe the failure process:**
+
+- Needle Insertion: not distinguished
+
+- Suture Pulling: not distinguished
+
+- Single and Double Knot:
+  - Knot was tied directly onto the suture
+
+
+---
+
+## 💡 Diversity Dimensions
+
+
+- [X] **Camera Position / Angle**
+- [X] **Lighting Conditions** 
+- [ ] **Target Object** 
+- [ ] **Spatial Layout** 
+- [ ] **Robot Embodiment** 
+- [ ] **Task Execution** 
+- [ ] **Background / Scene** 
+- [X] **Other** (Please specify: `Thread length`)
+  
+
+
+Details:
+
+- Endoscope lighting was changed throughout the trials
+- Natural and ceiling background light changed
+- Camera positon was varied
+- Thread length 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, László Piros, 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/skinphantom_1/meta/episodes.jsonl b/Surgical/obuda/skinphantom_1/meta/episodes.jsonl
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+{"episode_index": 35, "tasks": ["DoubleKnot"], "length": 518}
+{"episode_index": 36, "tasks": ["DoubleKnot"], "length": 292}
+{"episode_index": 37, "tasks": ["SingleKnot"], "length": 368}
+{"episode_index": 38, "tasks": ["SingleKnot"], "length": 355}
+{"episode_index": 39, "tasks": ["SingleKnot"], "length": 322}
+{"episode_index": 40, "tasks": ["SingleKnot"], "length": 232}
+{"episode_index": 41, "tasks": ["SingleKnot"], "length": 385}
+{"episode_index": 42, "tasks": ["SingleKnot"], "length": 258}
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diff --git a/Surgical/obuda/skinphantom_1/meta/info.json b/Surgical/obuda/skinphantom_1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2617b3b4db3e9a35400874dd5c7a4d388e6af66f
--- /dev/null
+++ b/Surgical/obuda/skinphantom_1/meta/info.json
@@ -0,0 +1,324 @@
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+}
diff --git a/Surgical/obuda/skinphantom_1/meta/info_ORIGINAL.json b/Surgical/obuda/skinphantom_1/meta/info_ORIGINAL.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac71617a6f6800acfe35fe189708bc5065ec83e5
--- /dev/null
+++ b/Surgical/obuda/skinphantom_1/meta/info_ORIGINAL.json
@@ -0,0 +1,324 @@
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+                    "suj_psm1_pose.orientation.z",
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+                    "suj_psm2_pose.position.y",
+                    "suj_psm2_pose.position.z",
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+                    "suj_psm2_pose.orientation.y",
+                    "suj_psm2_pose.orientation.z",
+                    "suj_psm2_pose.orientation.w",
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+        },
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+        "failure": "3",
+        "total": "106"
+    }
+}
\ No newline at end of file
diff --git a/Surgical/obuda/skinphantom_1/meta/modality.json b/Surgical/obuda/skinphantom_1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dd8fbc49eb7288eadc67efb000f08a608e7193f
--- /dev/null
+++ b/Surgical/obuda/skinphantom_1/meta/modality.json
@@ -0,0 +1,49 @@
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+}
diff --git a/Surgical/obuda/skinphantom_1/meta/percentile_stats.json b/Surgical/obuda/skinphantom_1/meta/percentile_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..db7911755a17081802e33bf5cbf01611942415cd
--- /dev/null
+++ b/Surgical/obuda/skinphantom_1/meta/percentile_stats.json
@@ -0,0 +1,6678 @@
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diff --git a/Surgical/obuda/skinphantom_1/meta/relative_stats.json b/Surgical/obuda/skinphantom_1/meta/relative_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e26dfeeb6e641a33dae4961196235bdb965b21b
--- /dev/null
+++ b/Surgical/obuda/skinphantom_1/meta/relative_stats.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/Surgical/obuda/skinphantom_1/meta/stats.json b/Surgical/obuda/skinphantom_1/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..764a74545da401912d419f3449affc022533b3b2
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\ No newline at end of file
diff --git a/Surgical/obuda/skinphantom_1/meta/tasks.jsonl b/Surgical/obuda/skinphantom_1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cfd5efef8eeb79ac4c5ae86f8c20c16dec9e95a6
--- /dev/null
+++ b/Surgical/obuda/skinphantom_1/meta/tasks.jsonl
@@ -0,0 +1,4 @@
+{"task_index": 0, "task": "NeedleInsertion"}
+{"task_index": 1, "task": "SuturePulling"}
+{"task_index": 2, "task": "DoubleKnot"}
+{"task_index": 3, "task": "SingleKnot"}
diff --git a/Surgical/obuda/skinphantom_1/meta/temporal_stats.json b/Surgical/obuda/skinphantom_1/meta/temporal_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..67dcb327362a2f829ea0ef26101d83c61ce316a2
--- /dev/null
+++ b/Surgical/obuda/skinphantom_1/meta/temporal_stats.json
@@ -0,0 +1,6678 @@
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+}
\ No newline at end of file