---
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)