Replace ImplicitActuator (which doesn't work for prismatic joints) with
IdealPDActuator. This bypasses PhysX drive and explicitly computes PD forces
using set_dof_actuation_forces().
Changes:
- stiffness=100k, damping=5k to resist arm reaction forces (~150N) with <2mm deflection
- Read trunk_cmd from ArticulationCfg initial position (single source of truth)
- Integrate trunk diagnostics into robot state output
- Remove hardcoded trunk_target parameter
Switch arm IK from world-frame to body-frame control so that
pushing the XR controller forward always moves the arm in the
robot's forward direction, regardless of chassis rotation.
Key changes:
- dual_arm_agent: convert EEF observations to body frame before
passing to XR controller; send body-frame IK targets directly
(removed convert_action_world_to_root)
- xr_controller: XR deltas treated as body-frame deltas (no yaw
rotation needed — VR view tracks robot heading naturally)
- streaming: add debug frame save for stereo alignment diagnostics
- mindrobot_2i_cfg: IdealPDActuator for trunk, disabled gravity
- Author headers updated to Yutang Li, SIAT
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
