feat: robot imitation learning stack - teleop + recording + policy#2093

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TomCC7 wants to merge 18 commits into

dimensionalOS:mainfrom

TomCC7:cc/learning

Commits on May 15, 2026

pr
TomCC7
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feat: add Pink IK teleop + Quest VR data collection (recording half)
TomCC7
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refactor(teleop): drop mock-preview gating, include ManipulationModule unconditionally
claude
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refactor(coordinator): collapse Pink IK dispatch onto a single task type
claude
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revert(core): drop GlobalConfig.simulation_backend
claude
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revert(catalog): drop OPENARM_V10_BIMANUAL_FK_MODEL alias
claude
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refactor: relocate data-collection package to dimos/manipulation/data_collection
claude
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docs: move .rrd recording guide out of visualization.md
claude
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chore(deps): move Pink IK solver chain to the manipulation extra
claude
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style: ruff format/check fixes across cleanup commits
claude
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feat(recorder): add typed color_image input + configurable camera entity path
TomCC7
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feat: add policy module + LeRobot/test backends, deployment, and rrd→LeRobot converter
TomCC7
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fix(coordinator): resolve SingleArmPinkIKTaskConfig forward ref at runtime
TomCC7
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fix(test-policy): oscillate symmetrically around captured pose
TomCC7
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fix(test-policy): generate trajectory at next select_action, not at reset
TomCC7
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revert(test-policy): restore the working implementation from origin
TomCC7
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refactor: prefix Quest-specific atoms with Quest; recorder cleanup
TomCC7
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fix(data-collection): re-target camera LCM topic to live-preview entity
TomCC7
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