Absolute control for LIBERO

[kwanyoungpark]

Thank you for the great work! I'm trying to apply ACT in LIBERO, and I would like to use absolute EEF control for LIBERO (as they claim they perform much better in absolute control settings).

I've tried with delta control (calculate the conversion from absoulte -> delta action by myself), but I was unable to find the right formula.
The question is :

1. How to use absolute EEF control for LIBERO environments?
2. How can we change the action from delta EEF control to absolute EEF control in the dataset?

My (failed) conversion formula from delta EEF control to absolute EEF control is as follows:

absol_action_pos = action[:3] * 0.05 + obs['ee_pos']
absol_action_rot = mat2axisangle(np.matmul(axisangle2mat(action[3:6] * 0.5), axisangle2mat(obs['ee_ori'])))

Where obs and action is in the same time step (i.e. action is an action corresponding to observation obs )