---
language:
- en
license: apache-2.0
tags:
- robotics
- dataset
- lerobot
- ur5e
- pi0
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 mapping toggle: keyboard O
- Haptic orientation scale: 0.6
- Hold T: temporary orientation mapping override when O is OFF
- Manual tool rotation: hold V + R (+Z) / E (-Z)
- Action representation: absolute next-state action

State / action layout (7-dim, pi0-compatible):
- dim 0-5 : UR5e joint positions in observation and action, both absolute radians
- dim 6   : gripper normalised [0,1] — 0.0=open(160.2mm) 1.0=closed(10.6mm)

Definitions:
- observation.state[t] = [q0..q5 at t,     gripper_norm at t]     (current absolute state)
- action[t]            = [q0..q5 at t + 1, gripper_norm at t + 1] (next absolute target)

Important:
- The LeRobot column name is kept as `action`.
- The action value is absolute next state, not delta.
- During deployment, use `q_target = action[:6]`, not `q_current + action[:6]`.

Gripper normalization:
- 0.0 = fully open
- 1.0 = fully closed
- formula: norm = (open_mm - raw_mm) / (open_mm - close_mm)