EEF gripper actions delayed

[Zandew]

I noticed when looking at an episode and the actions side-by-side that the actions seem to be delayed in the robot.

Screen.Recording.2025-10-06.at.6.18.46.PM.mp4

The physical gripper closes over half a second later than what is described by the actions. This delay also seems to be non-constant, even within a single episode!

When comparing with state EEF position, the state seems to be correclty aligned with the physical gripper.

Is this due to latency between the teleoperator and the actual robot?

Edit: I see that there's a part on huggingface that describes state vs action, is this difference measureable? And why does this only happen for gripper and not joints?

[ModiShi]

This delay is caused by gripper hardware execution latency - the physical gripper takes time to respond after receiving control signals. That's why only gripper is affected. State is read from actual gripper status while actions record VR controller signals before hardware execution, so the state is aligned with the physical gripper.