| | --- |
| | 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* |
| |
|