Fix IK pose controller neutral action stability - #824
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Summary
Fixes #793.
InverseKinematicsControllercomputes absolute joint-position targets before delegating to the wrapped joint-position controller. The wrapped controller previously interpreted those targets as normalized deltas, so a neutral IK action accumulated an offset on every control step and could drive the arm toward a singular configuration.This change configures the wrapped controller to use absolute targets. A deterministic Panda Lift regression test runs 100 neutral actions and verifies both the joint state and controller goal remain at the initial configuration.
Validation
python -m pytest -q tests/test_controllers/test_ik_controller.pypython -m py_compile robosuite/controllers/parts/arm/ik.py tests/test_controllers/test_ik_controller.py