🐛 Fix the robot visualization when the dataset contains signals retrieved at different frequencies #72
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…eved at different frequencies
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@paolo-viceconte let me know if you are fine with this PR :) |
paolo-viceconte
approved these changes
Nov 15, 2023
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Yes, it loogs good to me. Also given the test mentioned in #71 (comment), I guess we can merge. |
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This PR addressed #71. The problem identified in #71 was caused by a discrepancy in the data collection frequencies—image signals were captured at 30fps, while joint data was recorded at 100Hz. In this specific dataset, we encountered an unfortunate situation where the initial timestamp of the camera data was lower than the first timestamp of the joints. Consequently, the visualizer erroneously used the camera timestamps as the base timestamp for the entire dataset.
To resolve this issue, the PR introduces a fix that computes the correct time joint index based on the common timestamps used by the visualizer. This ensures proper synchronization and resolves the problems observed in #71.