Issues when recovering joints position from joint_vecs

[YYYYYHC]

Hi,

When testing & visualizing the dataset, I've found a issue that may worth your attention.

Here I visualize the same motion (i.e. they have the same id of xxxx) in two different ways: 1. from the position under new_joints folder 2. from the vectors under the new_joint_vecs folder by first computing denormalization then calling the recover_from_ric function (as specified in motion_representation.ipynb) to turn them into positions. The green boxes are computed by approximating the position for comparing, it is the same under the two datasource setting.

Ideally the two should look exactly the same, for example this one:

---

setting 1:
https://github.com/user-attachments/assets/9f6f7065-8419-422c-809e-f77b3d6bcd7b
setting 2:
https://github.com/user-attachments/assets/e9d47986-58a4-4cea-87f2-fd7da89a5145

However, for the case 010547 ( I believe there will be some other data), you can see:

setting 1:
https://github.com/user-attachments/assets/f53b5e7c-bfb9-4670-9862-0141b6a2ee3f
setting 2:
https://github.com/user-attachments/assets/713f940d-19ee-44b7-bb86-78453fd3cb4d

I'm wondering if there is any issue with recover_from_ric, or that could be a issue with the data processing script.

Any hints on this will be apperciated.

Best, HC