Roboset position and control misunderstanding

[lklimkiewicz7]

Hello, It seems that I don't understand the meaning of position and control in RoboSet. I suspected position and control for given joint to be the same, with the difference of a slight shift in time. Something like chart bellow, which comes from different solution:

However in RoboSet comparison of position and control for given joint looks something like this:

I would be grateful If someone could explain me how control data was collected, why it looks like this and how it may work.

[Jdvakil]

Hi, thanks for reaching out! Yes, pos_arm is the position of the arm at the current state and ctrl_arm is the action/control being applied to the arm. Which dataset are you using for this visualization? Since RoboSet contains multiple methods of collections