Ngseo/ur5-maniunicon

UR5 teleoperation demonstrations (ManiUniCon)

12 manipulation tasks recorded on a UR5 with a parallel gripper, teleoperated through the ManiUniCon operator dashboard and converted to LeRobot v3.0 format.

420 episodes · 149,907 frames · 30 fps

Each task lives in its own folder at the repo root; every folder is a complete, self-contained LeRobot v3.0 dataset (meta/, data/, videos/).

folder	episodes	frames	task instruction
red2blue_cup/	50	21,767	move the red cup to the blue one
blue2red_cup/	50	20,527	move the blue cup to the red one
cup_bowl_2_plate/	51	19,919	move the cup and the bowl to the plate
cup_plate_2_bowl/	50	18,630	move the cup and the plate to the bowl
red_block_to_blue_plate/	50	16,915	put the red block on the blue plate
blue_block_to_red_plate/	50	16,085	put the blue block on the red plate
dice_brr/	20	6,682	arrange the dice in blue, red, red order
dice_rbr/	19	6,030	arrange the dice in red, blue, red order
dice_rbb/	20	5,978	arrange the dice in red, blue, blue order
dice_brb/	20	5,946	arrange the dice in blue, red, blue order
dice_bbr/	20	5,854	arrange the dice in blue, blue, red order
dice_rrb/	20	5,574	arrange the dice in red, red, blue order

Recording setup

robot	UR5, 6 joints + parallel gripper
control mode	joint
observation.state	7-dim — 6 joint positions + gripper state
action	7-dim — 6 target joint positions + gripper command
cameras	observation.images.camera_0 (Intel RealSense D405, wrist), observation.images.camera_1 (Azure Kinect, scene)
resolution	640×480 RGB, AV1
fps	30

Loading

The folders sit one level below the repo root, so point LeRobotDataset at a downloaded folder rather than at the repo id:

from huggingface_hub import snapshot_download
from lerobot.datasets.lerobot_dataset import LeRobotDataset

root = snapshot_download("Ngseo/ur5-maniunicon", repo_type="dataset", allow_patterns="dice_bbr/*")
ds = LeRobotDataset("Ngseo/ur5-maniunicon", root=f"{root}/dice_bbr")

print(ds.num_episodes, ds.num_frames, list(ds.meta.tasks.index))

Notes

• dice_rbr has 19 episodes rather than 20: one recording was truncated mid-write and was excluded rather than shipped corrupt.
• The dice_* folder names encode the target colour order, e.g. dice_bbr = blue, blue, red.