| --- |
| license: apache-2.0 |
| tags: |
| - lerobot |
| - robotics |
| - ur3 |
| - manipulation |
| task_categories: |
| - robotics |
| --- |
| |
| # UR3 Merged 4-Tasks Dataset (v2.1) |
|
|
| A LeRobot-format dataset combining demonstrations of a UR3 robot arm performing four manipulation tasks. Built by merging four source datasets into a single unified dataset for multi-task imitation learning. |
|
|
| ## Source Datasets |
|
|
| This dataset is the merged result of the following four sources: |
|
|
| | Task | Source | |
| |---|---| |
| | Pink cylinder pick (6D, trimmed) | zestcode5/ur3-pink-cylinder-6D | |
| | Glass to coaster | zestcode5/glass_to_coaster | |
| | Push blue marker | zestcode5/push_blue_marker | |
| | Push pot (trimmed) | zestcode5/ur3-push-pot | |
|
|
| ## Format |
|
|
| - **Format:** LeRobot dataset v2.1 |
| - **Robot:** UR3 |
| - **Control space:** 6D |
|
|
| ## Usage |
|
|
| ```python |
| from lerobot.common.datasets.lerobot_dataset import LeRobotDataset |
| |
| dataset = LeRobotDataset("zestcode5/ur3-merged-4tasks-v1") |
| ``` |
|
|
