Joint Space Control with LIBERO Data

[ayush055]

Is there a way to obtain the correct joint space controls for the demos in LIBERO?

I tried the following 2 approaches but neither worked:

1. Use default JOINT_POSITION controller (from robosuite). This expects delta joint positions, so I take the delta between consecutive joint_states in the demo file. With this approach, the robot hardly moves throughout the duration of the episode.

2. Modify the JOINT_POSITION controller to use absolute joint positions (this is supported internally by robosuite, but just not configurable in the library). I tried feeding future absolute joint_states to the controller. While this performs much better, the path taken by this controller and the default OSC_POSE controller is not exactly the same. Hence, sometimes the task is completed and sometimes it fails.

How can I obtain the correct delta joint positions and absolute joint positions for each demo in the LIBERO dataset to be used with the JOINT_POSITION controller?

Additionally, is there some way to convert the EEF action to Joint Space?