Improve XHand Franka evaluation with configurable session duration

[Hly-123]

Summary

• Adds configurable session duration parameter instead of hardcoded 20-second sessions
• Improves model configuration display showing input modalities (FSR, proprioception)
• Fixes coordinate reference frame handling during inference
• Adds comprehensive debugging output for action verification and execution tracking
• Enhances shell script with countdown and better user experience

Technical Changes

Core Improvements

• Configurable Session Duration: New --session_duration parameter allows flexible inference session lengths
• Model Configuration Display: Shows FSR enable status, proprioception skipping, and global condition dimensions
• Fixed Coordinate Reference: Uses inference start pose as reference frame instead of current frame for relative transforms
• Action Verification: Comprehensive debug output including action magnitude checking and execution verification

Script Enhancements

• User Experience: Added countdown timer and better status messages
• Environment Setup: Proper PYTHONPATH configuration
• Parameter Display: Shows all configuration parameters before execution

Test Plan

• Test with vision-only model configuration
• Verify proper model configuration display
• Test configurable session duration parameter
• Validate coordinate reference frame fixes
• Test with full vision+tactile+proprioception models
• Verify execution verification warnings work correctly

Impact

This improves the robustness and usability of the XHand Franka evaluation system by making it more configurable and providing better debugging information for troubleshooting inference issues.

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