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)
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