Search is not available for this dataset
action list | observation.state list | timestamp float32 0 57.3 | frame_index int64 0 1.72k | episode_index int64 0 253 | index int64 0 187k | task_index int64 0 4 |
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End of preview. Expand in Data Studio
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 0zestcode5/ur3-multiple-task-trimmed-idle- split into per-task subsets; provides tasks 1, 2, 4zestcode5/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 inmeta/tasks.jsonl, per-episode stats inmeta/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]
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