examples: add trossen_vr_solo demo

[abhichothani42]

Summary

Adds the single-arm VR teleop demo: one VR right controller drives one follower arm in Cartesian space, with two cameras and live rerun visualization. Ties together every prior PR in the stack.

Changes

• Right controller is the cartesian leader; the hand-grip is the deadman switch and re-gripping re-anchors with no jump. Trigger drives the gripper.
• Right A/B buttons map to session control (A = start/advance, B = re-record); keyboard (ENTER / arrows / Ctrl+C) works as a fallback.
• config.json wires the arm, two cameras, the VR arm controller, session control, teleop pair, and a rerun observer. README documents flow, config-key defaults, and the live viewer.
• Adds the trossen_vr_solo target to examples/CMakeLists.txt.

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 👈 (View in Graphite)
• vr: add VrSessionControlComponent button-to-session bridge #263
• vr: add VrBaseComponent base-velocity teleop leader #262
• vr: add VrArmComponent cartesian teleop leader #261
• 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

This stack of pull requests is managed by Graphite. Learn more about stacking.

[Copilot]

Pull request overview

Adds a new trossen_vr_solo example that demonstrates VR-driven single-arm teleoperation and episode recording using the SDK’s unified JSON config + CLI overrides pattern.

Changes:

• Introduces a new VR solo demo executable with session control via VR buttons and a keyboard fallback.
• Adds example documentation and a default config.json for a follower arm + two cameras + one VR controller.
• Hooks the new example into the examples CMake build.

Reviewed changes

Copilot reviewed 4 out of 4 changed files in this pull request and generated 4 comments.

File	Description
examples/trossen_vr_solo/trossen_vr_solo.cpp	New VR solo demo: config loading/overrides, hardware + producers setup, VR session control wiring, episode loop.
examples/trossen_vr_solo/README.md	New usage + workflow documentation and config-key reference for the demo.
examples/trossen_vr_solo/config.json	Default demo configuration (arm, cameras, teleop, VR, backend, observers).
examples/CMakeLists.txt	Adds trossen_vr_solo executable target and links it.

---

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.