Hi,
I encountered an issue while running the script vividex_mujoco/common/utils/process_dataset.py, and I would like to ask for your advice.
During execution, I got the following error:
ValueError: Matrix must be orthogonal, i.e. its transpose should be its inverse
The error corresponds to this line of code:
seq_dict[seq_id]['object_orientation'].append(list(Quaternion(matrix=world_obj_pose[:3, :3])))
I inspected the rotation matrix passed into the Quaternion function, and the numerical error is shown in the attached figure. Do you think this level of error is acceptable?
Additionally, I found that the Quaternion function provides an atol parameter to control the allowed numerical tolerance. May I ask how you handled this issue? Did you solve it by adjusting the atol value, or did you take another approach?
I would really appreciate your guidance on this. Thank you in advance!
Hi,
I encountered an issue while running the script vividex_mujoco/common/utils/process_dataset.py, and I would like to ask for your advice.
During execution, I got the following error:
ValueError: Matrix must be orthogonal, i.e. its transpose should be its inverse
The error corresponds to this line of code:
seq_dict[seq_id]['object_orientation'].append(list(Quaternion(matrix=world_obj_pose[:3, :3])))
I inspected the rotation matrix passed into the Quaternion function, and the numerical error is shown in the attached figure. Do you think this level of error is acceptable?
Additionally, I found that the Quaternion function provides an atol parameter to control the allowed numerical tolerance. May I ask how you handled this issue? Did you solve it by adjusting the atol value, or did you take another approach?
I would really appreciate your guidance on this. Thank you in advance!