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Datasets:
sk1700
/
Ur_pickplace55

Tasks:
Robotics
Modalities:
Tabular
Video
Formats:
parquet
Languages:
English
Size:
10K - 100K
Tags:
robotics
dataset
lerobot
ur5e
pi0
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
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listlengths
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observation.state
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29.9
frame_index
int64
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episode_index
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[ -0.49272042512893677, -0.9464501738548279, 1.3462518453598022, -2.0271294116973877, -1.4910906553268433, -0.4357922673225403, 0.5521390438079834 ]
3.133333
94
0
94
0
[ -0.49593907594680786, -0.9451442956924438, 1.3439000844955444, -2.0231525897979736, -1.4854148626327515, -0.4408953785896301, 0.5521390438079834 ]
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3.166667
95
0
95
0
[ -0.4977930188179016, -0.9442294239997864, 1.3421510457992554, -2.02020525932312, -1.4819968938827515, -0.4442318081855774, 0.5521390438079834 ]
[ -0.49593907594680786, -0.9451442956924438, 1.3439000844955444, -2.0231525897979736, -1.4854148626327515, -0.4408953785896301, 0.5521390438079834 ]
3.2
96
0
96
0
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3.233333
97
0
97
0
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[ -0.5000136494636536, -0.9430580139160156, 1.3399823904037476, -2.016578435897827, -1.4779781103134155, -0.4483082890510559, 0.5521390438079834 ]
3.266667
98
0
98
0
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3.3
99
0
99
0
End of preview. Expand in Data Studio

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)
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