Robot joint jitter when play policy using my data

[Strive21]

Thanks for your great work！
But I found robot joint jitter when play policy using my data。
In PlayG1TrackingEnv, I found that prepare_trajectory() uses self.dt for differential calculation. If the original frequency of the trajectory traj.info.frequency is different from 1/self.dt, directly calculating the velocity using frequency=1.0/self.dt will result in an error because the position data is still sampled at the original frequency. My data frequency is 30。

[zzk273]

maybe you can try to change the dt in prepare_trajectory() to 1/30?