args dict | episodes list |
|---|---|
{
"port": 8765,
"width": 480,
"height": 360,
"baseline": 0.5,
"z0": 8,
"mono": false,
"scale": 0.5,
"lowpass": 0.5,
"scripted_surgeon": false,
"orient": true,
"vmax": 10,
"jaw_radius": 0.15,
"skin_radius": 0.2,
"quality": 80,
"seed": 0,
"scene_seed": 0,
"session": "vr_session_09",
"o... | [
{
"i": 0,
"seed": 0,
"outcome": "reset",
"utility": -1.954014663399278,
"t": 189.79999999999436,
"asks": 0,
"slips": 0,
"strain_max": 5.110807418823242,
"n_frames": 2847,
"wall_s": 189.86451292037964,
"persona": {
"exposure_need": 0.5582834868446472,
"strain_t... |
jiggle2 — VR teleoperation sessions (organ scene)
Full-state recordings of teleoperated cholecystectomy-like manipulation in the jiggle2 organ scene
(surgsim.scene.organ.OrganScene: liver + gallbladder tissue model, dVRK arms, stereo scope), recorded with a VR
headset. Every frame stores the complete simulator state (all particles, rigid bodies, attachment strengths, grasps), so
an episode can be replayed, re-rendered from any camera and continued with the code in
jiggle2. Used by the JIGGLE boundary-estimation experiment (jiggle_rep, branch
jiggle-rep).
Contents
sessions/vr_session_09/session.json scene construction arguments + per-episode summary
sessions/vr_session_09/state/ep_XXX_cCCCC.npz full-state chunks of 150 frames (episodes 0 and 1: 2847 and 2449 frames)
assets/bp3d/ BodyParts3D meshes the scene is built from (+ ATTRIBUTION.txt)
Field-level layout: surgsim/data/schema.md ("Organ-scene state recordings and exports") in the code repository.
Not included: audio and controller logs of the collection, and rendered exports (regenerate them with
python -m surgsim.data.replay <session> --ep 0 --labels).
Use
export JIGGLE2_DATA=/big/disk/jiggle2 # the data root that run.sh mounts at /data
docker run --rm --user $(id -u):$(id -g) -v $JIGGLE2_DATA:/data -e HF_HOME=/data/cache/hf x5liang/jiggle2-sim:v0.2.1 \
hf download x5liang/jiggle2-vr-sessions --repo-type dataset --revision v1 --local-dir /data/vr_sessions
mkdir -p $JIGGLE2_DATA/assets
ln -s ../vr_sessions/assets/bp3d $JIGGLE2_DATA/assets/bp3d # scene meshes (relative links resolve in the container too)
ln -s vr_sessions/sessions $JIGGLE2_DATA/vr_session_data # default session path
Inside the jiggle2 container ($JIGGLE2_DATA = /data) the scene then finds its meshes in /data/assets/bp3d and the
session in /data/vr_session_data/vr_session_09.
License
CC BY-SA 4.0. The anatomy is derived from BodyParts3D / Anatomography 4.3, (c) The Database Center for Life Science
(DBCLS), CC BY-SA 2.1 JP (see assets/bp3d/ATTRIBUTION.txt).
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