Fix fatal typo in joint velocity controller torque compensation

[mass2010chromium]

What this does

Fix a fatal typo in joint velocity controller (name conflict with flag for using torque compensation)

How it was tested

Tested using the following configuration file:

{
    "type": "BASIC",
    "body_parts": {
        "arms": {
            "right": {
                "type": "JOINT_VELOCITY",
                "input_max": 1,
                "input_min": -1,
                "output_max": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0],
                "output_min": [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0],
                "kp": 150,
                "damping_ratio": 1,
                "input_type": "delta",
                "interpolation": null,
                "ramp_ratio": 0.2,
                "gripper": {
                    "type": "GRIP"
                }
            }
        }
    }
}

Test script:

import os

import numpy as np

import robosuite
from robosuite.controllers import load_composite_controller_config

# Point this to the above file
controller_file = os.path.join(os.path.dirname(__file__), "panda_joint_controller.json")
controller_config = load_composite_controller_config(controller=controller_file)

freq = 20
episode_length=800
env = robosuite.make(
    "Stack",
    robots=["Panda"],
    gripper_types="default",
    controller_configs=controller_config,
    env_configuration="opposed",    # What are the options?
    has_renderer=False,
    #render_camera="frontview",
    has_offscreen_renderer=True,
    control_freq=freq,
    horizon=episode_length,
    use_object_obs=False,
    use_camera_obs=True,
    camera_names="agentview",
    camera_heights=80,
    camera_widths=80,
)

print(env.action_spec)  # Should be 8 dimensional due to 7 joint + gripper

Crashes with old, works with new.

How to checkout & try? (for the reviewer)

Run the provided test script using the provided json file.