examples: add trossen_vr_stationary demo

[abhichothani42]

Summary

Adds the bimanual stationary VR teleop demo: two VR controllers drive two follower arms in Cartesian space, with four cameras and live rerun visualization.

Changes

• Left and right controllers each lead their respective arm; per-arm hand-grip deadman switches let either arm mirror independently with no jump on re-grip.
• Two session-control components split the bindings across hands: right A/B (start, re-record) and left X/Y (stop-early, stop-session). Keyboard remains a full fallback.
• config.json wires both arms, four cameras, two VR arm controllers, both session controls, two teleop pairs, and a rerun observer. README documents bindings, flow, and config-key defaults.
• Adds the trossen_vr_stationary 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 👈 (View in Graphite)
• 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
• 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 example application (trossen_vr_stationary) demonstrating bimanual stationary VR teleoperation and recording, using the existing SDK SessionManager/producers/teleop plumbing.

Changes:

• Add trossen_vr_stationary demo executable to initialize 2 follower arms, 4 cameras, 2 VR arm controllers, and VR session controls, then run the episode loop.
• Add an example config.json and accompanying README documenting setup, controls, and key configuration knobs.
• Register the new example target in examples/CMakeLists.txt.

Reviewed changes

Copilot reviewed 4 out of 4 changed files in this pull request and generated 1 comment.

File	Description
examples/trossen_vr_stationary/trossen_vr_stationary.cpp	New stationary VR demo app wiring hardware, producers, observers, teleop, and session loop.
examples/trossen_vr_stationary/README.md	Usage + hardware/control documentation for the new demo.
examples/trossen_vr_stationary/config.json	Default configuration for the new demo (arms/cameras/VR/session/teleop/observer).
examples/CMakeLists.txt	Builds and links the new trossen_vr_stationary example executable.

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