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Steven Palma
dd08d4eb53
* fix(robot): type FK-to-EE action features as ACTION not STATE ForwardKinematicsJointsToEEAction.transform_features declared its end-effector action features (ee.x/y/z/wx/wy/wz/gripper_pos) with FeatureType.STATE, copied verbatim from the sibling ForwardKinematicsJointsToEEObservation (where STATE is correct for OBSERVATION features). Every other action-producing step in this file (EEReferenceAndDelta, InverseKinematicsEEToJoints, InverseKinematicsRLStep) types its ACTION-bucket features as FeatureType.ACTION. The mismatch mis-classifies the converted EE actions as state, which propagates a wrong feature schema to downstream consumers keyed on FeatureType (e.g. normalization norm_map, policy input/output feature classification). * test(robot): FK-to-EE step feature-type contract (action vs observation) Asserts ForwardKinematicsJointsToEEAction emits EE features in the ACTION bucket typed FeatureType.ACTION, and ForwardKinematicsJointsToEEObservation emits them in the OBSERVATION bucket typed FeatureType.STATE. * chore: delete user file * chore(processor): reduce verbosity --------- Co-authored-by: Jaagat-P <jaagatp05@gmail.com>