fix(dual-franka): align RLinf v0.4 deployment and control diagnostics

[NewYork424]

Description

Adapt dual-Franka deployment to official RLinf v0.4 without local RLinf source patches, and retain the control and manual diagnostics needed for deployment.

• Use supported robot, gripper and joint-reset interfaces; preserve gripper state during non-gripper commands.
• Acquire policy and projection RGB-D from the same observation, including remote-camera intrinsics, and reject stale projection data.
• Hold TCP position during rotation with bounded compensation, settling and drift protection; forward optional compliance settings.
• Expose deployment metadata and continuous manual VLA rollout without automatic reset or recovery, with execution-boundary stop signals.

Consolidates #253 and #254. The full-VLA entry point defaults to Task6 from #265; otherwise select an existing task or provide --instruction. Stop signals are not a hardware emergency stop.

Replaces #252 with the same commits, moving the source branch to the contributor fork. Previous review discussion remains in #252.

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