D-Robotics/Uranus-Demo-Data

We provide a set of ready-to-run test samples covering a variety of robot embodiments (ALOHA, ARX5, UR5, Franka, G1, DOS-W1, X5) and data sources (AgiBot World, DROID, RC-Table). Download and unpack them from Huggingface into examples/data/.

hf download D-Robotics/Uranus-Demo-Data --repo-type dataset --local-dir ./examples/data

Each episode lands in ./examples/data/<episode_id>/ and can be passed directly to main.py --sample-dir.

Each sample is a self-contained "XML-environment" directory:

sample_dir/
├── meta.json            # prompt, cameras, mjcf_path, end_effectors, skeleton, fps
├── temporal.json        # step_qpos: [{state, robot2world_transform}, ...]
├── mjcf/
│   └── <robot>.xml      # robot MJCF with baked-in camera calibration & mounts
├── ref_images/
│   └── <camera>.png     # one reference image per camera
└── gt/
    └── <camera>.mp4     # ground-truth video per camera

Your own robot data can be converted into this same format and fed to inference as well, as long as it provides the per-frame qpos, the robot MJCF with calibrated cameras, and one reference image per camera.