README.md

metadata

language:
  - en
license: apache-2.0
tags:
  - robotics
  - dataset
  - lerobot
  - ur5e
task_categories:
  - robotics
pretty_name: UR5e Dual RealSense Haptic Teleop Dataset (Δq = q[t+1]-q[t], 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

Definitions:

• observation.state[t] = q_actual[t] (UR joint positions, rad)
• action[t] = Δq[t] = q_actual[t+1] - q_actual[t] (joint delta per dataset timestep at 30 Hz)

Visualizer-friendly naming:

• observation.state names: ['shoulder_pan.pos', 'shoulder_lift.pos', 'elbow_flex.pos', 'wrist_1.pos', 'wrist_2.pos', 'wrist_3.pos']
• action names: ['shoulder_pan.dq', 'shoulder_lift.dq', 'elbow_flex.dq', 'wrist_1.dq', 'wrist_2.dq', 'wrist_3.dq']

Videos:

• videos/chunk-000/observation.images.wrist/episode_XXXXXX.mp4
• videos/chunk-000/observation.images.front/episode_XXXXXX.mp4

Per-episode Parquet schema (STRICT order): action, observation.state, timestamp, frame_index, episode_index, index, task_index