Unexpected first frame in converting Lerobot dataset

[mingxueg-nv]

During the conversion of HDF5 files into the Lerobot dataset, the last frame from the previous environment reset is always saved as the first frame of the current episode.

• As shown in image 1, the first frame of the video is actually not the initial scene in my environments.

• Figure 2 shows the true first frame that should have been saved for this episode.

You can find the mismatch frame in this video if you scrub the video's progress bar to the first frame.

episode_000025.mp4

• This issue is caused by misalignment in frame indexing in convert_hdf5_to_lerobot.py.

Simply changing frames[:-1] to frames[1:] will resolve this.

[viiik-inside]

@xyao-nv can you take a look. @mingxueg-nv can you create a PR so we can take a look. Thanks for the catch!

[mingxueg-nv]

Hi, @viiik-inside , @xyao-nv , I have submitted PR about this, thanks!