vr: add VrArmComponent cartesian teleop leader

[abhichothani42]

Summary

Adds VrArmComponent, a Cartesian-space teleop leader driven by one VR controller (hardware type vr_arm_component).

Changes

• read() applies a frozen VR-to-robot offset (captured in sync_to_state()) to the live controller pose, producing a 7-vec [x, y, z, rx, ry, rz, gripper_m] target. write() is a no-op (leader-only).
• Hand-grip is the deadman switch: tracking edges (0→1) re-anchor the offset so re-gripping never jumps. Holds last good pose through transient frame drops.
• Trigger maps linearly onto [gripper_min_m, gripper_max_m]. Claims pose + trigger on its controller_type via VrSession.
• read() and sync_to_state() each sample a single VR frame and reuse it for the tracking check, offset recompute, pose, and trigger — avoiding cross-frame inconsistencies and redundant locking.

Test Plan

• Builds cleanly (make build)
• Tests pass (make test)
• Lint passes (pre-commit run --all-files)
• Tested on hardware

Breaking Changes

None.

Related Issues

N/A — part of the VR teleoperation feature stack.

[abhichothani42]

Warning

This pull request is not mergeable via GitHub because a downstack PR is open. Once all requirements are satisfied, merge this PR as a stack on Graphite.
Learn more

• scripts: add Foxglove user scripts for robot and EEF visualization #277
• scripts: add URDF extraction tool for TrossenMCAP recordings #276
• examples: enable robot description recording in solo demo #275
• backend: write robot description to TrossenMCAP files #274
• config: add robot description options to TrossenMCAP backend #273
• utils: add RobotDescriptionCache for URDF download and mesh embedding #272
• examples: update sanity check for end-effector pose #270
• arm: emit end-effector pose from TrossenArmProducer #269
• backend: add end-effector pose write support to TrossenMCAP #268
• arm: add EndEffectorPoseRecord and proto schema #267
• examples: add trossen_vr_mobile demo #266
• examples: add trossen_vr_stationary demo #265
• examples: add trossen_vr_solo demo #264
• vr: add VrSessionControlComponent button-to-session bridge #263
• vr: add VrBaseComponent base-velocity teleop leader #262
• vr: add VrArmComponent cartesian teleop leader #261 👈 (View in Graphite)
• vr: add shared VrSession connection owner #260
• feat: post_event/attach_control queue for thread-safe session control #271
• session-control: add SessionControlCapable interface #259
• hw: make SlateBaseComponent a base-velocity teleop follower #258
• teleop: add base-velocity (Base) space to teleop interface #257
• main

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[Copilot]

Pull request overview

Adds a new VR-based hardware leader component that provides Cartesian-space teleoperation targets (including gripper) from a VR controller, integrating with the existing TeleopController lifecycle and the shared process-wide VrSession.

Changes:

• Introduces VrArmComponent implementing teleop::CartesianSpaceTeleop, mapping VR controller pose + trigger to a 7-element Cartesian target.
• Adds session/claim management via VrSession (port selection, connection wait, input claims, teardown).
• Wires the new component into the build by adding the source file to trossen_sdk.

Reviewed changes

Copilot reviewed 3 out of 3 changed files in this pull request and generated 2 comments.

File	Description
src/hw/vr/vr_arm_component.cpp	Implements VR controller → robot-frame Cartesian target generation and session lifecycle handling.
include/trossen_sdk/hw/vr/vr_arm_component.hpp	Declares the new VR arm teleop leader component and its configuration/teleop interface.
CMakeLists.txt	Adds the new VR arm component source to the shared library build.

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[shantanuparab-tr]

The pose math, the trigger-to-gripper mapping, and the re-grip behavior can all be tested without hardware. A few small tests would lock in the behavior. The math looks right, this is just to keep it that way.

[shantanuparab-tr]

The build downloads the latest trossen_vr each time, so an unrelated change over there can break our build with no change here. Can we pin it to a fixed version?

[abhichothani42]

Done, pinned trossen_vr in pr #260

[shantanuparab-tr]

The rotation math can produce a "not a number" value in some positions, and right now that would go straight to the arm. Can we check the final pose is all real numbers and fall back to the last good one if not?

[shantanuparab-tr]

for (float v : out) {
  if (!std::isfinite(v)) return last_good_;   // do not send a broken pose to the arm
}

[abhichothani42]

Added, read() checks the final pose is all finite and holds the last good target otherwise.

[abhichothani42]

Added test_vr_arm_component.cpp covering the pose math, trigger gripper, re-grip, and the NaN guard.