Controller_configs: control_delta or input_type

[LucienJi]

System Info

Ubuntu with robosuite 1.5.1.

Information

No response

Reproduction

`
ph_data_path = "some_data.hdf5"

env_meta = FileUtils.get_env_metadata_from_dataset(dataset_path=ph_data_path)

env_meta['env_kwargs']['controller_configs']['body_parts']['right']['control_delta'] = False

env = EnvUtils.create_env_for_data_processing(
env_meta=env_meta,
camera_names=['agentview'],
camera_height=128,
camera_width=128,
reward_shaping=False,
render=False,
render_offscreen=True,
use_image_obs=True,
use_depth_obs=False,
)
`

However, if we look at 'robosuite/robosuite/controllers/parts/arm/osc.py', the input_type is still "delta" instead of "absolute".

Basically, we need to use "input_type" instead of "control_delta". While the metadata in the offline dataset still use the "control_delta".

Expected behavior

No response

[Abhiram824]

Hello, could you share which version of robosuite the dataset you collected is using? Older versions of robosuite used the control_delta to determine action space and the newer versions use input_type