Fix arm collapse: impedance tuning, action clamping, prompt fix#7
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Fix arm collapse: impedance tuning, action clamping, prompt fix#7
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…ly mode - Match impedance to CheatCode defaults (stiffness 90/50, damping 50/20). - Add _clamp_action(): limit position delta to 5mm/step and rotation delta to ~3°/step, preventing effort clamping that caused arm collapse. - Disable phase prompt switching when port_pose_xyzquat is unset. Was silently switching VLA to "move the SFP cable above the NIC port" on first step, causing drift. - Add policy_args.vla_only debug mode to execute VLA reference actions directly, bypassing the actor. - bc_coeff default 5→0: XVLA action outputs are unreliable for this task, so BC regularization toward them hurts rather than helps. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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Summary
policy_args.vla_only:=truebypasses actor, executes VLA refs directlyTest plan
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