sk1700/Ur_pickplace55

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)