Datasets:

zestcode5
/

ur3-merged-5tasks-v2

license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
  - ur3
  - manipulation
  - imitation-learning
configs:
  - config_name: default
    data_files: data/*/*.parquet

ur3-merged-5tasks-v2

A multi-task UR3 manipulation dataset in LeRobot v2.1 format, merged from five source datasets covering pick-and-place, unstacking, multi-item sorting, and pushing primitives.

Tasks

task_index	description
0	pick up the pink cylinder and place it in the orange box
1	pick up the white glass and put on a brown coaster
2	Remove cup from nested cups
3	pick multiple items then put in the orange basket
4	Single-finger push to blue marker

Source datasets

This dataset was assembled by merging the following:

zestcode5/ur3-pink-cylinder-6D - base; provides task 0
zestcode5/ur3-multiple-task-trimmed-idle - split into per-task subsets; provides tasks 1, 2, 4
zestcode5/ur3-multiple-item-basket-trimmed - provides task 3

The schema, fps, and camera configuration follow the base dataset.

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

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

ds = LeRobotDataset("zestcode5/ur3-merged-5tasks-v2")
print(ds.num_episodes, ds.num_frames, ds.fps)
sample = ds[0]