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)
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)
observation.state[t] = [q0..q5, gripper_norm] (absolute… See the full description on the dataset page:
https://huggingface.co/datasets/sk1700/pobb.
