feat(robot): default rollout actions to base frame - #576
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rollout_step assumed the policy emits CAM-frame actions and undid that with the extrinsics. That is right for a checkpoint trained through Eva.get_transform_list (cartesian -> camframe; cartesian_wristframe_ypr -> camframe -> wrist frame), but wrong for the fold pipeline, which applies no frame transform at all -- so the model already predicts absolute base-frame poses. Undoing an encoding that was never applied moves the arm smoothly to the wrong place with no error raised. action_frame=base is now the default; cam restores the previous path for the older checkpoints until those are refactored.
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rollout_step assumed the policy emits CAM-frame actions and undid that with the
extrinsics. That is right for a checkpoint trained through Eva.get_transform_list
(cartesian -> camframe; cartesian_wristframe_ypr -> camframe -> wrist frame), but
wrong for the fold pipeline, which applies no frame transform at all -- so the
model already predicts absolute base-frame poses. Undoing an encoding that was
never applied moves the arm smoothly to the wrong place with no error raised.
action_frame=base is now the default; cam restores the previous path for the
older checkpoints until those are refactored.