feat(lab_sim): add Quest controller teleoperation objective

[nbbrooks]

Adds a single new "Quest Teleop" objective to lab_sim, plus the host-side infrastructure required to pair with the
meta_quest_teleoperation Unity app.

How the disjoint TF trees are handled

The Quest publishes controller pose in a quest frame anchored at the headset's spawn location. The robot's world frame is anchored at its base. We don't know the geometric relationship between them — it depends on where the operator is physically standing — and we don't try to measure it. The two TF trees are disjoint roots, and the design works by never crossing between them:

• On grip press, snapshot both anchors: - controller pose at clutch time, expressed in quest - grasp_link pose at clutch time, expressed in world
• While grip is held, each tick:
  • read the controller's current pose in quest
  • compute its pose relative to its clutch-time pose — a relative rigid-body transform with no inherent frame attachment - apply that same relative transform to the grasp_link's clutch-time pose; the result is a target pose in world - drive VFC at the target

Files

• src/lab_sim/objectives/quest_teleop.xml: the objective. Single flat BehaviorTree, runnable from the UI under the "User Input" subcategory.
• src/lab_sim/launch/sim/robot_drivers_to_persist_sim.launch.py: drivers- to-persist launch override. Starts ros_tcp_endpoint (Unity bridge) and a debug-only world->quest static TF so RViz can render the in-quest-frame VisualizePose markers. The static TF is not used by any control path. Persists across agent_bridge restarts so the Quest's TCP socket stays up.
• src/lab_sim/config/config.yaml:
  • simulated_robot_driver_persist_launch_file points at the new launch file (without this, the inherited empty launch wins and the Quest app never sees a peer).
  • experimental_behaviors loader added to behavior_loader_plugins, which provides the pose conversion, basis change, snapshot subscriber, and Bool/Empty publisher behaviors the objective uses.
• .gitmodules: two new submodules under src/external_dependencies/:
  • moveit_pro_experimental_behaviors, pinned to feat/pose-vector-basis-snapshot-behaviors pending the PR landing on main; switch to branch = main once that merges.
  • ROS-TCP-Endpoint (Unity-Technologies), pinned to main-ros2.

For end-to-end setup with the Quest app, see:
https://docs.picknik.ai/hardware_guides/input_devices/setting_up_the_meta_quest_for_teleop/