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
committed
6e45105
feat: add Pink IK teleop + Quest VR data collection (recording half)
TomCC7
committed
ff57d37
refactor(teleop): drop mock-preview gating, include ManipulationModule unconditionally
claude
committed
bc4d7e8
refactor(coordinator): collapse Pink IK dispatch onto a single task type
claude
committed
d66e64c
revert(core): drop GlobalConfig.simulation_backend
claude
committed
1fd740b
revert(catalog): drop OPENARM_V10_BIMANUAL_FK_MODEL alias
claude
committed
e2b4702
refactor: relocate data-collection package to dimos/manipulation/data_collection
claude
committed
e5bda4e
docs: move .rrd recording guide out of visualization.md
claude
committed
2e2b922
chore(deps): move Pink IK solver chain to the manipulation extra
claude
committed
9214e5b
style: ruff format/check fixes across cleanup commits
claude
committed
0cdfd41
feat(recorder): add typed color_image input + configurable camera entity path
TomCC7
committed
3deb7c6
feat: add policy module + LeRobot/test backends, deployment, and rrd→LeRobot converter
TomCC7
committed
0d6917c
fix(coordinator): resolve SingleArmPinkIKTaskConfig forward ref at runtime
TomCC7
committed
01edfbb
fix(test-policy): oscillate symmetrically around captured pose
TomCC7
committed
8b62920
fix(test-policy): generate trajectory at next select_action, not at reset
TomCC7
committed
b3f7a3b
revert(test-policy): restore the working implementation from origin
TomCC7
committed
3a1c5e2
refactor: prefix Quest-specific atoms with Quest; recorder cleanup
TomCC7
committed
79dd9b9
fix(data-collection): re-target camera LCM topic to live-preview entity
TomCC7
committed
67064c0

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

feat: robot imitation learning stack - teleop + recording + policy#2093
TomCC7 wants to merge 18 commits into
dimensionalOS:mainfrom
TomCC7:cc/learning

Commits on May 15, 2026

pr

feat: add Pink IK teleop + Quest VR data collection (recording half)

refactor(teleop): drop mock-preview gating, include ManipulationModule unconditionally

refactor(coordinator): collapse Pink IK dispatch onto a single task type

revert(core): drop GlobalConfig.simulation_backend

revert(catalog): drop OPENARM_V10_BIMANUAL_FK_MODEL alias

refactor: relocate data-collection package to dimos/manipulation/data_collection

docs: move .rrd recording guide out of visualization.md

chore(deps): move Pink IK solver chain to the manipulation extra

style: ruff format/check fixes across cleanup commits

feat(recorder): add typed color_image input + configurable camera entity path

feat: add policy module + LeRobot/test backends, deployment, and rrd→LeRobot converter

fix(coordinator): resolve SingleArmPinkIKTaskConfig forward ref at runtime

fix(test-policy): oscillate symmetrically around captured pose

fix(test-policy): generate trajectory at next select_action, not at reset

revert(test-policy): restore the working implementation from origin

refactor: prefix Quest-specific atoms with Quest; recorder cleanup

fix(data-collection): re-target camera LCM topic to live-preview entity