sk1700/

iros2

Control loop: ~500 Hz (RTDE) Dataset sampling: fixed 30 Hz

Definitions:

observation.state[t] = q_actual[t] (UR joint positions, rad) action[t] = Δq[t] = q_actual[t+1] - q_actual[t] (joint delta per dataset timestep at 30 Hz)

Visualizer-friendly naming:

observation.state names: ['shoulder_pan.pos', 'shoulder_lift.pos', 'elbow_flex.pos', 'wrist_1.pos', 'wrist_2.pos', 'wrist_3.pos'] action names: ['shoulder_pan.dq'… See the full description on the dataset page: https://huggingface.co/datasets/sk1700/iros2.