feat(lab_sim): add Quest controller teleoperation objective

.gitmodules

@@ -33,3 +33,11 @@
 [submodule "src/moveit_pro_sam2"]
 	path = src/moveit_pro_sam2
 	url = https://github.com/PickNikRobotics/moveit_pro_sam2.git
+[submodule "src/external_dependencies/moveit_pro_experimental_behaviors"]
+	path = src/external_dependencies/moveit_pro_experimental_behaviors
+	url = git@github.com:PickNikRobotics/moveit_pro_experimental_behaviors.git
+	branch = feat/pose-vector-basis-snapshot-behaviors
+[submodule "src/external_dependencies/ROS-TCP-Endpoint"]
+	path = src/external_dependencies/ROS-TCP-Endpoint
+	url = https://github.com/Unity-Technologies/ROS-TCP-Endpoint.git
+	branch = main-ros2

src/lab_sim/config/config.yaml

@@ -20,6 +20,14 @@ hardware:
       - mujoco_model: "description/scene.xml"
       - mujoco_viewer: false
 
+  # Override the inherited (empty) drivers-to-persist launch so the Meta Quest
+  # ros_tcp_endpoint node starts with the sim and persists across agent_bridge
+  # restarts. Without it, /right_controller_odom and the button-event topics
+  # never publish, and the "Quest Teleop" objective blocks forever.
+  simulated_robot_driver_persist_launch_file:
+    package: "lab_sim"
+    path: "launch/sim/robot_drivers_to_persist_sim.launch.py"
+
 moveit_params:
   joint_limits:
     package: "lab_sim"
@@ -51,6 +59,8 @@ objectives:
       - "moveit_pro::behaviors::MujocoBehaviorsLoader"
     lab_sim:
       - "lab_sim_behaviors::LabSimBehaviorsLoader"
+    experimental:
+      - "experimental_behaviors::ExperimentalBehaviorsLoader"
   # Specify source folder for objectives
   # [Required]
   objective_library_paths:

src/lab_sim/launch/sim/robot_drivers_to_persist_sim.launch.py

@@ -0,0 +1,49 @@
+# Persistent driver-side processes for lab_sim.
+#
+# Launched by MoveIt Pro via the simulated_robot_driver_persist_launch_file
+# config field. Lives in the "drivers to persist" lifecycle so it survives
+# agent_bridge restarts — that matters because the Meta Quest headset holds
+# a TCP socket open against ros_tcp_endpoint, and tearing that down would
+# force the user to reconnect from the headset.
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description() -> LaunchDescription:
+    ros_tcp_endpoint_node = Node(
+        package="ros_tcp_endpoint",
+        executable="default_server_endpoint",
+        name="ros_tcp_endpoint",
+        emulate_tty=True,
+        parameters=[
+            {"ROS_IP": "192.168.1.34"},
+        ],
+        output="screen",
+    )
+
+    # Debug-only static TF linking the disjoint quest TF root into the robot tree
+    # at the world frame. The numerical values are wrong — quest and world have
+    # no real geometric relationship — but the link satisfies the canTransform()
+    # check inside marker_utils::transformPoseToBaseFrame() so VisualizePose calls
+    # against quest-frame poses (controller markers in v11) can render.
+    #
+    # No control path uses this transform: the v11 kinematic math composes the
+    # controller delta in quest and applies it to the EE in world directly,
+    # bypassing TF entirely. The lie is contained to RViz markers.
+    #
+    # Before shipping v11, remove the quest-frame VisualizePose calls from the
+    # objective and delete this node — neither will be needed.
+    static_tf_world_to_quest = Node(
+        package="tf2_ros",
+        executable="static_transform_publisher",
+        name="static_transform_world_to_quest",
+        output="log",
+        arguments=[
+            "0", "0", "0",  # x y z (identity translation; the link is geometrically meaningless)
+            "0", "0", "0",  # yaw pitch roll
+            "world", "quest",
+        ],
+    )
+
+    return LaunchDescription([ros_tcp_endpoint_node, static_tf_world_to_quest])