---
license: apache-2.0
---
## Download

Download and unpack the samples from either [Hugging Face](https://huggingface.co/datasets/D-Robotics/Uranus-Demo-Data) or [ModelScope](https://modelscope.cn/datasets/D-Robotics/Uranus-Demo-Data) into `examples/data/`.

### Hugging Face

```bash
pip install -U huggingface_hub

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

### ModelScope

```bash
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](https://creativecommons.org/licenses/by-nc-sa/4.0/) | [Dataset page](https://huggingface.co/datasets/agibot-world/AgiBotWorld2026) |
| AgiBot World Beta | [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/) | [Dataset page](https://huggingface.co/datasets/agibot-world/AgiBotWorld-Beta) |
| DROID | [Apache License 2.0](https://www.apache.org/licenses/LICENSE-2.0) | [Dataset website](https://droid-dataset.github.io/droid/the-droid-dataset.html) |
| RoboChallenge Table30 | - | [Dataset page](https://huggingface.co/datasets/RoboChallenge/Table30) |
| RoboChallenge Table30 v2 | - | [Dataset page](https://huggingface.co/datasets/RoboChallenge/Table30v2) |