sk1700/Ur10e_Pickplace

UR5e Haptic Teleoperation Dataset

LeRobot dataset format: v2.1

Cameras

• observation.images.wrist = RealSense 922612070587
• observation.images.front = RealSense 116622071830

Resolution: 640x480 FPS: 30

observation.state

7 dimensions:

1. shoulder_pan actual position
2. shoulder_lift actual position
3. elbow_flex actual position
4. wrist_1 actual position
5. wrist_2 actual position
6. wrist_3 actual position
7. actual Robotiq gripper position normalized to [0,1]

Gripper convention:

• 0.0 = fully open
• 1.0 = fully closed

action

7 dimensions:

1-6. absolute IK joint target sent directly to servoJ 7. commanded Robotiq gripper target normalized to [0,1]

The hardware still uses raw Robotiq 0..255 internally. Only the dataset values are normalized.

The action is not the next measured robot state. The action is not a joint delta.