Datasets:
| license: apache-2.0 | |
| task_categories: | |
| - robotics | |
| tags: | |
| - LeRobot | |
| - ur3 | |
| - manipulation | |
| - imitation-learning | |
| configs: | |
| - config_name: default | |
| data_files: data/*/*.parquet | |
| # ur3-merged-3tasks-v1 | |
| A multi-task UR3 manipulation dataset in LeRobot v2.1 format, covering | |
| pick-and-place, unstacking, and pushing primitives. | |
| ## Tasks | |
| | task_index | description | | |
| |:----------:|:------------| | |
| | 0 | pick up the white glass and put on a brown coaster | | |
| | 1 | Remove cup from nested cups | | |
| | 2 | Single-finger push to blue marker | | |
| ## Source datasets | |
| This dataset was assembled by splitting and merging from: | |
| - [`zestcode5/ur3-multiple-task-trimmed-idle`](https://huggingface.co/datasets/zestcode5/ur3-multiple-task-trimmed-idle) - split into per-task subsets; all three tasks above were extracted from it | |
| ## Format | |
| - LeRobot v2.1 | |
| - Robot: UR3 | |
| - One parquet file per episode under `data/chunk-*/` | |
| - One mp4 file per camera per episode under `videos/chunk-*/<camera>/` | |
| - Episode metadata in `meta/episodes.jsonl`, task list in `meta/tasks.jsonl`, | |
| per-episode stats in `meta/episodes_stats.jsonl` | |
| ## Loading | |
| ```python | |
| from lerobot.common.datasets.lerobot_dataset import LeRobotDataset | |
| ds = LeRobotDataset("zestcode5/ur3-merged-3tasks-v1") | |
| print(ds.num_episodes, ds.num_frames, ds.fps) | |
| sample = ds[0] | |
| ``` | |