[Feature]: How to configure CompositeController for a 5-DoF robot (OSC for xyz pitch yaw + Joint for Wrist Roll)

[greatwallet]

System / Environment

OS: Ubuntu 24.04
Python Version: 3.10
Robosuite Version: 1.5.1

Description

Hi, thank you for this amazing library!
I am working on a custom 5-DoF robotic arm and trying to collect teleoperation demonstrations using a gamepad.

The Problem:
When I use OSC_POSE controller for this 5-DoF arm (already excluding the gripper dof), the Jacobian is rank-deficient. As a result, the solver struggles to handle the orientation commands (specifically the Roll of the wrist). When I input a roll command via the gamepad, the robot barely moves or the solver prioritizes position over orientation, making the wrist uncontrollable. However, there is a specific joint that controls roll directly, so I wonder if there is a way for a composite composer to deal with this.
The Goal:
I want to achieve a hybrid control scheme to make teleoperation intuitive:
Joints 0-4 (all joints): Controlled by OSC_POSE (handling X, Y, Z, pitch, yaw, roll(although roll would not be changed in this mode)).
Joint 4 (Wrist joint): Controlled by JOINT_POS directly (handling the Roll rotation manually).

What I tried:
I tried to use CompositeController to split the arm into two parts, but I am not sure if this is the correct way to split a single kinematic chain in Robosuite.
Here is my conceptual config: (in actual robosuite, I don't think 'joints' is a valid key there)

controller_config = {
    "type": "COMPOSITE",
    "robot_name": "My5DoFRobot",
    "controllers": {
        "arm_position": {
            "type": "OSC_POSE",
            "joints": [0, 1, 2, 3, 4],  # all joints for XYZ, pitch, yaw
            "kp": 150,
            "input_type": "delta"
        },
        "wrist_roll": {
            "type": "JOINT_POS",
            "joints": [4],           # Last joint for Roll
            "kp": 50,
            "input_type": "delta"
        }
    }
}

Questions:
Is it supported to split a single robot's joints into two different sub-controllers like this?
Is there a better way/best practice in Robosuite to handle 5-DoF OSC control where I want to enforce explicit control over the wrist roll?
Any advice would be appreciated. Thanks!