| 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 in observation, joint deltas in action (rad) | |
| - dim 6 : gripper normalised [0,1] — 0.0=open(160.2mm) 1.0=closed(10.6mm) | |
| Definitions: | |
| - observation.state[t] = [q0..q5, gripper_norm] (absolute joints, normalised gripper) | |
| - action[t] = [dq0..dq5, gripper_norm[t+1]] (joint deltas, next gripper norm) | |