ganatrask/DR_dataset
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: HOME - Start at home position APPROACH_CONTAINER - Move above the source container REACH_CONTAINER - Lower into container SCOOP -… See the full description on the dataset page: https://huggingface.co/datasets/ganatrask/DR_dataset.
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:
- HOME - Start at home position
- APPROACH_CONTAINER - Move above the source container
- REACH_CONTAINER - Lower into container
- SCOOP - Perform scooping motion (wrist rotation)
- LIFT - Lift from container
- APPROACH_BOWL - Move above target bowl
- LOWER_BOWL - Lower to bowl
- DUMP - Rotate wrist to dump food
- 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:
Visual Domain Randomization
This dataset includes visual domain randomization:
Usage
Loading with 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
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:
@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