add latest actions in composite controller

robosuite/controllers/composite/composite_controller.py

@@ -228,6 +228,7 @@ def __init__(self, sim: MjSim, robot_model: RobotModel, grippers: Dict[str, Grip
         # task space actions (such as end effector poses) to joint actions (such as joint angles or joint torques)
 
         self._whole_body_controller_action_split_indexes: OrderedDict = OrderedDict()
+        self._latest_all_joint_angle_action: Optional[np.ndarray] = None
 
     def _init_controllers(self):
         for part_name in self.part_controller_config.keys():
@@ -309,6 +310,7 @@ def set_goal(self, all_action):
         target_qpos = self.joint_action_policy.solve(all_action[: self.joint_action_policy.control_dim])
         # create new all_action vector with the IK solver's actions first
         all_action = np.concatenate([target_qpos, all_action[self.joint_action_policy.control_dim :]])
+        self._latest_all_joint_angle_action = all_action
         for part_name, controller in self.part_controllers.items():
             start_idx, end_idx = self._action_split_indexes[part_name]
             action = all_action[start_idx:end_idx]

robosuite/controllers/config/default/composite/joint_position.json

@@ -0,0 +1,87 @@
+{
+    "type": "BASIC",
+    "body_parts": {
+        "arms": {
+            "right": {
+                "type": "JOINT_POSITION",
+                "input_max": 1,
+                "input_min": -1,
+                "output_max": 0.5,
+                "output_min": -0.5,
+                "kd": 200,
+                "kv": 200,
+                "kp": 1000,
+                "velocity_limits": [-1,1],
+                "kp_limits": [0, 1000],
+                "interpolation": null,
+                "ramp_ratio": 0.2,
+                "gripper": {
+                    "type": "GRIP"
+                }
+            },
+            "left": {
+                "type": "JOINT_POSITION",
+                "input_max": 1,
+                "input_min": -1,
+                "output_max": 0.5,
+                "output_min": -0.5,
+                "kd": 200,
+                "kv": 200,
+                "kp": 1000,
+                "velocity_limits": [-1,1],
+                "kp_limits": [0, 1000],
+                "interpolation": null,
+                "ramp_ratio": 0.2,
+                "gripper": {
+                    "type": "GRIP"
+                }
+            }
+        },
+        "torso": {
+            "type" : "JOINT_POSITION",
+            "input_max": 1,
+            "input_min": -1,
+            "output_max": 0.5,
+            "output_min": -0.5,
+            "kd": 200,
+            "kv": 200,
+            "kp": 1000,
+            "velocity_limits": [-1,1],
+            "kp_limits": [0, 1000],
+            "interpolation": null,
+            "ramp_ratio": 0.2
+        },
+        "head": {
+            "type" : "JOINT_POSITION",
+            "input_max": 1,
+            "input_min": -1,
+            "output_max": 0.5,
+            "output_min": -0.5,
+            "kd": 200,
+            "kv": 200,
+            "kp": 1000,
+            "velocity_limits": [-1,1],
+            "kp_limits": [0, 1000],
+            "interpolation": null,
+            "ramp_ratio": 0.2
+        },
+        "base": {
+            "type": "JOINT_VELOCITY",
+            "interpolation": "null"
+        },
+        "legs": {
+            "type": "JOINT_POSITION",
+            "input_max": 1,
+            "input_min": -1,
+            "output_max": 0.5,
+            "output_min": -0.5,
+            "kd": 200,
+            "kv": 200,
+            "kp": 1000,
+            "velocity_limits": [-1,1],
+            "kp_limits": [0, 1000],
+            "interpolation": null,
+            "ramp_ratio": 0.2
+        }
+    }
+}