Add create_action_vector() for 'basic' controller; converts body part key/vector into full vector

[kevin-thankyou-lin]

What this does

Goal: specify values for each joint.

Added create_action_vector() for BASIC controller; currently, converts body part key-vector dict into full vector.

How it was tested

python robosuite/demos/demo_random_action.py --robots Panda --controller BASIC

Note: need to revert basic.json after testing.

Implementation notes

Currently, something wrong with the SimpleGripperController's control_dim for InspireHand. The input dim should be 6, but the control dim is 11. @xieleo5, we'd need to retrieve the correct joints that're being set so that the keys of the action dict correspond to individual joint names. Do you know how to do that (esp. for the InspireHand, but also in general)?

ipdb>         env.robots[0].print_action_info_dict()
 
[robosuite INFO] 
Action Info for GR1FixedLowerBody:

{
    "Action Dimension": [
        32
    ],
    "Action Split Indexes": {
        "right": [
            0,
            7
        ],
        "left": [
            7,
            14
        ],
        "torso": [
            14,
            17
        ],
        "head": [
            17,
            20
        ],
        "right_gripper": [
            20,
            26
        ],
        "left_gripper": [
            26,
            32
        ]
    },
    "Action Split Joint Names": {
        "right": [
            "robot0_r_shoulder_pitch",
            "robot0_r_shoulder_roll",
            "robot0_r_shoulder_yaw",
            "robot0_r_elbow_pitch",
            "robot0_r_wrist_yaw",
            "robot0_r_wrist_roll",
            "robot0_r_wrist_pitch"
        ],
        "left": [
            "robot0_l_shoulder_pitch",
            "robot0_l_shoulder_roll",
            "robot0_l_shoulder_yaw",
            "robot0_l_elbow_pitch",
            "robot0_l_wrist_yaw",
            "robot0_l_wrist_roll",
            "robot0_l_wrist_pitch"
        ],
        "torso": [
            "robot0_torso_waist_yaw",
            "robot0_torso_waist_pitch",
            "robot0_torso_waist_roll"
        ],
        "head": [
            "robot0_head_yaw",
            "robot0_head_roll",
            "robot0_head_pitch"
        ],
        "right_gripper": [
            "gripper0_right_R_thumb_proximal_yaw_joint",
            "gripper0_right_R_thumb_proximal_pitch_joint",
            "gripper0_right_R_thumb_distal_joint",
            "gripper0_right_R_index_proximal_joint",
            "gripper0_right_R_index_intermediate_joint",
            "gripper0_right_R_middle_proximal_joint",
            "gripper0_right_R_middle_intermediate_joint",
            "gripper0_right_R_ring_proximal_joint",
            "gripper0_right_R_ring_intermediate_joint",
            "gripper0_right_R_pinky_proximal_joint",
            "gripper0_right_R_pinky_intermediate_joint"
        ],
        "left_gripper": [
            "gripper0_left_L_thumb_proximal_yaw_joint",
            "gripper0_left_L_thumb_proximal_pitch_joint",
            "gripper0_left_L_thumb_distal_joint",
            "gripper0_left_L_index_proximal_joint",
            "gripper0_left_L_index_intermediate_joint",
            "gripper0_left_L_middle_proximal_joint",
            "gripper0_left_L_middle_intermediate_joint",
            "gripper0_left_L_ring_proximal_joint",
            "gripper0_left_L_ring_intermediate_joint",
            "gripper0_left_L_pinky_proximal_joint",
            "gripper0_left_L_pinky_intermediate_joint"
        ]
    }
}