some questions about real world env

[NNsauce]

System Info

all software cfg match author's project

Information

• [ ] One of the scripts in the examples/ folder of LeRobot
• [X] My own task or dataset (give details below)

Reproduction

I am planning to control my own robot left-arm. I've almost figure out all the parts if lerobot-dataset, then I want to make my own dataset respect to the aloha_sim_transfer_cube_human rather than "korch ALOHA teleop hardware system". my questions are:

1. Must I keep such a high fps like 50 when collect data from camera and arm actions?
2. actions comes from human control on the arm, and state comes from reading operation, but how should I set the time gap between action and state?

Expected behavior

answers from anyone

[Cadene]

1. No need to keep high fps. We like fps=30 because it's quite smooth and doesnt put too much pressure on your computer ressources.

"how should I set the time gap between action and state?"

Not sure I understand. As soon as we read from leader arm we send to follower.

[NNsauce]

@Cadene thanks so much man! On For quetion 2 , I am still not clear about the time alignment of video and state, are they recorded in a same thread func like this? def func(): while True: read_frame() read_state()