Add UR5e cube stacking teleop dataset

README.md

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+---
+language:
+- en
+license: apache-2.0
+tags:
+- robotics
+- dataset
+- lerobot
+- ur5e
+task_categories:
+- robotics
+pretty_name: UR5e Dual RealSense Haptic Teleop Dataset (LeRobot v2.1)
+configs:
+- config_name: default
+  data_files:
+  - data/*/*.parquet
+---
+
+# UR5e Dual RealSense Haptic Teleoperation Dataset (LeRobot v2.1)
+
+- Control loop: ~500 Hz (RTDE)
+- Dataset sampling: fixed 30 Hz
+- Gripper: OnRobot RG6 — haptic btn1=open, btn2=close
+- Rotation: hold V + R (+Z) / E (-Z)
+
+State / action layout (7-dim, pi0-compatible):
+- dim 0-5 : UR5e joint positions (rad)
+- dim 6   : gripper width (mm, absolute)  closed=10.6  open=160.2
+
+Definitions:
+- observation.state[t] = [q0..q5, gripper_mm] at time t
+- action[t]            = [q0..q5, gripper_mm] at time t+1  (next-step absolute)

data/chunk-000/episode_000000.parquet

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meta/episodes.jsonl

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meta/episodes_stats.jsonl

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meta/info.json

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meta/tasks.jsonl

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