---
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*