ur5e data with extremely small movement but video shows movement
#6
by einkai - opened
many ur5e data shows no movement both in joint_position and end-effector, however, the video shows movement. e.g. 1014_141231 and 1014_141054. What are the causes? Is it possible that the team provide the correct dataset?
gpt suggests a pattern in the raw UR HDF5 files.
"Among 25,721 episodes, 22,987 (89.37%) have puppet/joint_position[:, :6] exactly unchanged throughout the whole episode, covering 90.37% of all frames. The gripper may still change, so the full 7D vector is not always constant."
One example:benchmark1_0_compressed/h5_ur_1rgb/bread_in_basket_1/success_episodes/train/1014_141054/data/trajectory.hdf5
Would be useful to know the intended interpretation of the puppet field here.