code: def _make_input(self, action, old_quat):
          
          return {
              "dpos": action[:3],
              # IK controller takes an absolute orientation in robot base frame
              "rotation": T.quat2mat(T.quat_multiply(old_quat, action[3:7])),
          }
docs: Helper function that returns a dictionary with keys dpos, rotation from a raw input
          array. The first three elements are taken to be displacement in position, and a
          quaternion indicating the change in rotation with respect to @old_quat.