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)
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