Add create_action_dict_from_action_vector function in composite controller

Author: kevin-thankyou-lin

robosuite/controllers/composite/composite_controller.py

@@ -194,6 +194,12 @@ def create_action_vector(self, action_dict):
             full_action_vector[start_idx:end_idx] = action_vector
         return full_action_vector
 
+    def create_action_dict_from_action_vector(self, action_vector):
+        action_dict = {}
+        for part_name, (start_idx, end_idx) in self._action_split_indexes.items():
+            action_dict[part_name] = action_vector[start_idx:end_idx]
+        return action_dict
+
     def get_action_info(self):
         action_index_info = []
         action_dim_info = []
@@ -445,6 +451,15 @@ def create_action_vector(self, action_dict: Dict[str, np.ndarray]) -> np.ndarray
             full_action_vector[start_idx:end_idx] = action_vector
         return full_action_vector
 
+    def create_action_dict_from_action_vector(self, action_vector):
+        if self.composite_controller_specific_config.get("skip_wbc_action", False):
+            return super().create_action_dict_from_action_vector(action_vector)
+
+        action_dict = {}
+        for part_name, (start_idx, end_idx) in self._whole_body_controller_action_split_indexes.items():
+            action_dict[part_name] = action_vector[start_idx:end_idx]
+        return action_dict
+
     def get_action_info(self):
         if self.composite_controller_specific_config.get("skip_wbc_action", False):
             return super().get_action_info()