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>
yt lee
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