DR_dataset / README.md
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---
license: mit
task_categories:
- robotics
tags:
- robotics
- manipulation
- imitation-learning
- mujoco
- simulation
size_categories:
- 1K<n<10K
---
# DR_dataset
Simulated robot manipulation dataset for imitation learning.
## Dataset Description
This dataset contains **200 episodes** of a Trossen WXAI robotic arm performing food transfer tasks in MuJoCo simulation.
### Task Description
The robot performs a scooping motion to transfer food from a source container to target bowls:
1. **HOME** - Start at home position
2. **APPROACH_CONTAINER** - Move above the source container
3. **REACH_CONTAINER** - Lower into container
4. **SCOOP** - Perform scooping motion (wrist rotation)
5. **LIFT** - Lift from container
6. **APPROACH_BOWL** - Move above target bowl
7. **LOWER_BOWL** - Lower to bowl
8. **DUMP** - Rotate wrist to dump food
9. **RETURN** - Return to home position
## Dataset Structure
```
ganatrask/DR_dataset/
├── README.md
├── manifest.json
└── data/
├── batch_000/
│ ├── episode_0.hdf5
│ ├── episode_1.hdf5
│ ├── ...
│ └── videos/
│ ├── episode_0.mp4
│ ├── episode_1.mp4
│ └── ...
├── batch_001/
└── ...
```
### HDF5 Episode Format
Each `episode_X.hdf5` file contains:
```
episode_X.hdf5
├── observations/
│ ├── images/
│ │ ├── main_view (T, 480, 640, 3) uint8 - overhead camera
│ │ └── cam (T, 480, 640, 3) uint8 - wrist camera
│ ├── qpos (T, 8) float64 - joint positions
│ └── qvel (T, 8) float64 - joint velocities
├── action (T, 8) float64 - joint commands
├── success bool - episode success flag
├── env_state/
│ ├── source_container (7,) float64 - [x,y,z,qw,qx,qy,qz]
│ ├── target_container (7,) float64 - target bowl pose
│ └── bowl_* (7,) float64 - all bowl poses
└── attrs:
├── sim: True
├── source: "food_transfer_ik"
├── target: bowl name
├── dr_enabled: bool
└── dr_config: JSON (if DR enabled)
```
### MP4 Videos
Each episode has a corresponding MP4 video showing both camera views side-by-side at 50 FPS.
## Robot Configuration
- **Robot**: Trossen WXAI 6-DOF robotic arm
- **End-effector**: Spoon attached to wrist
- **Joints**: 6 arm joints + 2 gripper joints
- **Action space**: 8-dimensional joint position commands
- **Cameras**: Overhead (main_view) + Wrist-mounted (cam)
- **Image resolution**: 640x480 RGB
## Domain Randomization
This dataset was generated with geometric domain randomization:
| Parameter | Value |
|-----------|-------|
| Position noise | ±3.0 cm |
| Rotation noise | ±0.10 rad |
| Container rotation | ±0.15 rad |
| Bowl count range | 1 - 8 |
| Min object spacing | 12.0 cm |
| Container randomization | Yes |
| 90-degree rotation | No |
## Visual Domain Randomization
This dataset includes visual domain randomization:
| Parameter | Value |
|-----------|-------|
| Table textures | 100 variations |
| Floor textures | 100 variations |
| Container color | Randomized |
| Bowl color | Fixed |
| Lighting | Randomized |
| Light position noise | ±0.3 m |
| Light intensity range | 0.5 - 1.2x |
## Usage
### Loading with Python
```python
import h5py
from huggingface_hub import hf_hub_download
# Download a single episode
path = hf_hub_download(
repo_id="ganatrask/DR_dataset",
filename="data/batch_000/episode_0.hdf5",
repo_type="dataset"
)
# Load the episode
with h5py.File(path, "r") as f:
images = f["/observations/images/main_view"][:]
actions = f["/action"][:]
qpos = f["/observations/qpos"][:]
success = f["success"][()]
print(f"Episode length: {{len(actions)}} timesteps")
print(f"Success: {{success}}")
```
### Loading with datasets library
```python
from datasets import load_dataset
# Load manifest to get episode list
dataset = load_dataset("ganatrask/DR_dataset", split="train")
```
## Citation
If you use this dataset, please cite:
```bibtex
@misc{{{repo_id.split('/')[-1].replace('-', '_')}},
title={{{repo_id.split('/')[-1]}}},
author={{Trossen Robotics}},
year={{{datetime.now().year}}},
publisher={{HuggingFace}},
url={{https://huggingface.co/datasets/ganatrask/DR_dataset}}
}}
```
## License
This dataset is released under the MIT License.
## Additional Information
- **Total batches**: 20
- **Failed episodes**: 0
---
*Generated on 2026-01-26 21:06:40 using trossen_arm_mujoco*