| --- |
| 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`](https://huggingface.co/datasets/zestcode5/ur3-pink-cylinder-6D) - base; provides task 0 |
| - [`zestcode5/ur3-multiple-task-trimmed-idle`](https://huggingface.co/datasets/zestcode5/ur3-multiple-task-trimmed-idle) - split into per-task subsets; provides tasks 1, 2, 4 |
| - [`zestcode5/ur3-multiple-item-basket-trimmed`](https://huggingface.co/datasets/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 |
|
|
| ```python |
| 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] |
| ``` |
|
|
