D-Robotics/Uranus-Demo-Data

Download

Download and unpack the samples from either Hugging Face or ModelScope into examples/data/.

Hugging Face

pip install -U huggingface_hub

hf download D-Robotics/Uranus-Demo-Data \
    --repo-type dataset \
    --local-dir ./examples/data

ModelScope

pip install -U modelscope

modelscope download \
    --dataset D-Robotics/Uranus-Demo-Data \
    --local_dir ./examples/data

Each episode lands in ./examples/data/<episode_id>/ and can be passed directly to main.py --sample-dir.

Each sample is a self-contained "XML-environment" directory:

sample_dir/
├── meta.json            # prompt, cameras, mjcf_path, end_effectors, skeleton, fps
├── temporal.json        # step_qpos: [{state, robot2world_transform}, ...]
├── mjcf/
│   └── <robot>.xml      # robot MJCF with baked-in camera calibration & mounts
├── ref_images/
│   └── <camera>.png     # one reference image per camera
└── gt/
    └── <camera>.mp4     # ground-truth video per camera

Your own robot data can be converted into this same format and fed to inference as well, as long as it provides the per-frame qpos, the robot MJCF with calibrated cameras, and one reference image per camera.

Dataset Licenses

The Apache-2.0 license declared for this repository applies only to the original code and materials released by this project. Samples derived from third-party datasets remain subject to their respective upstream licenses and terms of use.

Source dataset	License	Source
AgiBot World 2026	CC BY-NC-SA 4.0	Dataset page
AgiBot World Beta	CC BY-NC-SA 4.0	Dataset page
DROID	Apache License 2.0	Dataset website
RoboChallenge Table30	-	Dataset page
RoboChallenge Table30 v2	-	Dataset page