Integrate Oculus Quest VR controls into lerobot-record as a first-class teleoperator

[Copilot]

vr_aic.py was a standalone ROS2 node that couldn't participate in lerobot's record/replay loop. VR controller inputs were never captured into datasets.

New action type — VRMotionUpdateActionDict (types.py)

Absolute TCP pose + gripper, distinct from the existing velocity-based MotionUpdateActionDict:

pose.position.{x,y,z} | pose.orientation.{x,y,z,w} | gripper.position

New teleoperator — AICVRTeleop / AICVRTeleopConfig (aic_teleop.py)

• Registered as "aic_vr" — drop-in with existing lerobot record CLI
• 30 Hz ROS2 timer mirrors wrist pose (TF oculus_r → base_link) to absolute TCP target; same axis remapping, step-cap, sphere clamp, and position LPF as vr_aic.py
• Full analogue stick support (yaw+Z / XY / pitch+roll with deadzone + power-law ramp)
• Controller bindings: A = cycle IDLE→VR→ANALOGUE→IDLE · B = orientation follow · RJ = analogue frame · RG = gripper toggle
• Thread-safe: 30 Hz timer updates _current_action under a lock; get_action() snapshots it
• TF failures (startup / oculus_reader not running) caught as LookupException / ExtrapolationException and logged at DEBUG

Robot-side changes (aic_robot_aic_controller.py)

• New teleop_target_mode="vr_cartesian" sends MotionUpdate with trajectory_generation_mode=MODE_POSITION (2) + absolute pose in base_link, instead of the velocity-mode path
• TELEOP stiffness/damping (60/50) used for compliant operation, matching vr_aic.py
• Gripper publisher (/gripper_commands → JointState) added to AICRos2Interface; send_action_vr_cartesian publishes both pose and gripper atomically per step

Usage

lerobot record \
  --robot.type=aic_controller \
  --robot.teleop_target_mode=vr_cartesian \
  --teleop.type=aic_vr