---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- trossen
- widowx-ai
- simulation
configs:
- config_name: default
  data_files: data/*/*.parquet
---

# Trossen bin picking, simulated: extra objects

Room light, with three to five new objects on the table (stapler, pliers, lemon, baseball, oil can), placed clear of the arms' paths. One of seven datasets that replay the same recordings under different conditions; see [trossen-bin-picking-sim-datasets](https://github.com/kite-ml/trossen-bin-picking-sim-datasets) for all of them, a preview and the limits.

Each episode replays one recording from Trossen Robotics' public `bin_picking` dataset on a simulated copy of its station. A bimanual WidowX AI picks up one of five objects (red cup, yellow duck, purple marker, screwdriver, roll of black tape) and puts it in a clear tray. The joint states, actions, timing and task text are the recording's, unchanged. The four camera videos are rendered.

92 episodes: 84 for training, then 8 held out for testing (`splits` in `meta/info.json`). `meta/provenance.json` gives each episode's source episode, object and outcome.

| Key | Shape | Content |
| --- | --- | --- |
| `observation.images.camera_high` | 480 x 640 x 3, 30 fps, AV1 | Overhead camera |
| `observation.images.camera_low` | 480 x 640 x 3, 30 fps, AV1 | Low front camera |
| `observation.images.camera_left_wrist`, `observation.images.camera_right_wrist` | 480 x 640 x 3, 30 fps, AV1 | Wrist cameras |
| `observation.state` | 14 | Joint positions from the recording, left arm then right |
| `action` | 14 | Joint targets from the recording |

LeRobot v3.0, the same format, keys and robot type (`bi_widowxai_follower_robot`) as the source.

## Source and license

Derived from Trossen Robotics' public `bin_picking` dataset (s3://trossen-public-datasets-977e8d43bcff/bin_picking/), released under Apache-2.0. This dataset keeps that license. Made by [Kite](https://kiteml.com).