---
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")
```