Enhance benchmark configuration and gripper handling: Added 'ee_link_name' and 'action_frequency' to benchmark.yaml, introduced gripper width mapping in policy, and updated inference server to reflect gripper width in actions.

benchmark.yaml

@@ -73,6 +73,7 @@ scene:
       - 0.04983056883903615
       stereotype: single_gripper_arm_robot
       source: local
+      ee_link_name: panda_link8
       init_joint_position:
         panda_joint2: -0.1633
         panda_joint4: -1.07
@@ -178,7 +179,6 @@ extension:
         - stereotype: robot_observer
           name: Franka
           observe_ee_pose: true
-          observe_gripper_state: true
           observe_gripper_drive_state: true
         - stereotype: sensor_observer
           name: Hand_Camera
@@ -194,6 +194,7 @@ extension:
       enable: true
       stereotype: benchmark
       data_collector_name: benchmark_data_collect
+      action_frequency: 15.0
       goals:
         - name: cola on top of book
           description: check if the cola bottle is on the book
@@ -204,8 +205,9 @@ extension:
         stereotype: starvla
         robot_name: Franka
         sensor_names: [Hand_Camera, Left_Camera, Right_Camera]
-        prompt: pick up the white plug
+        prompt: pick up the can
         run_trunk_size: 16
+        gripper_width_mapper_file: ./gripper_width_robotiq_2f85_fixed.json
 
     recorder:
       enable: false # set to true to record the data