How to convert joint positions into the actions required by an OSC controller?

[SshiJwu]

Hi, I would like to know how to convert joint positions into the actions required by an OSC controller to align with current VLA pre-trained models. Could you provide some references or examples for this conversion?

[Abhiram824]

I believe the best way to do this record the end-effector position/rotation after each action step and use that as your OSC action