Feat/quest vr teleop#96
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…ROS2 Eliminates the two-container UDP relay architecture (teleop + simulation_il). ROS2 Humble is now built from source inside simulation_il against Python 3.11 (matching Isaac Sim 5.1's bundled interpreter ABI), so quest_teleop_node and the IK script run in the same container communicating over ROS2 topics directly. Removes quest_teleop_bridge.py and run_relay.sh (UDP middlemen no longer needed). Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Adds ros2cli, ros2run, ros2topic, ros2node, ros2pkg to the ROS 2 from-source build so that 'ros2 run', 'ros2 topic echo', etc. work inside the container. README now covers full architecture rationale, the two-Python-3.11 design, one-time setup steps, all 5 terminals with exact commands, debugging tips, and a comprehensive troubleshooting table based on issues encountered. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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Add Quest VR bimanual arm teleop pipeline (UDP bridge)
The CloudXR teleop path requires proprietary NVIDIA isaaclab_teleop/isaacteleop SDK packages not yet installed in the container, and the --external_callback flag used in run_bimanual_teleop.sh is not available in Isaac Lab 2.3.2. This PR implements a working alternative (Mode A) while leaving the CloudXR path stubbed for when those dependencies are available.
How it works:
Quest WebXR → WebSocket (port 9090, adb reverse) → ROS2 /quest_teleop → UDP bridge → Isaac Sim DiffIK
Both Docker containers share the host network so localhost:19090 is the same socket on both sides — no extra network config needed.
Changes:
Status: Both arms and grippers working. Elbow-dominant motion is a known IK tuning issue for follow-up.
full changelog + spinning up instructions:
full_changelog.txt