sk1700/

iros4

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

Definitions:

observation.state[t] = q_actual[t] (UR joint positions, rad) action[t] = q_actual[t+1] (next-step absolute joint positions at 30 Hz)

Temporal alignment:

Camera frames are stored in timestamped ring buffers (depth=8). At each 30 Hz sample, the frame whose capture timestamp is closest to the RTDE packet timestamp is selected for both cameras… See the full description on the dataset page: https://huggingface.co/datasets/sk1700/iros4.