Error Regarding Initial Pose in the Robot_Inpaint Process

[poolyone1]

Thank you for inventing PHANTOM! I am currently trying to implement PHANTOM robot_inpaint for a JAKA_ZU_3 robot arm (demo_name=pick_and_place). I wrote the mjcf file for JAKA_ZU_3 and jaka_zu_3_robot.py myself, while adding the name JAKA_ZU_3 in places where it is required. Although the process runs successfully and a video is generated, the generated video has some strange issues in the beginning and last few seconds---the robot arm shakes, sometimes fiercely.

I have tried to adjust init_qpos and base_xpos_offset in jaka_zu_3_robot.py so that JAKA's end effector reaches the initial position of Panda, UR5e and IIWA, but the problem still persists. I also found ee_pts.npy and ee_oris.npy, but I cannot figure out which frame of reference these data are in.

The problem videos and modified codes are below. Thank you for your time and effort to help.

video_overlay_JAKA_ZU_3_single_arm17.mp4

video_overlay_JAKA_ZU_3_single_arm40.mp4

robot.xml

jaka_zu_3_robot.py