feat: use Pink IK for teleop tasks

[TomCC7]

Stack

Stacked on #2992. Review this PR against cc/feat/ik-task-self-collision; after #2992 merges, retarget this PR to main.

closes DIM-1358

Contribution path

• Small, safe change that does not need a tracking issue
• Linked issue or discussion: feat: default control IK to Pink #2992 (DIM-1272)

Problem

PR #2992 moves Cartesian and EEF-twist control onto the shared Pink pipeline, but teleop_ik still uses the legacy Pinocchio solver with a model path and numeric joint ID. Quest teleop therefore has separate IK, safety, and model-configuration behavior.

The initial Pink migration also exposed two teleop-specific issues: orientation tracking needed balanced full-pose costs, and putting small per-tick velocity boxes directly in the ProxQP problem could produce false infeasibility during otherwise feasible motion.

Solution

Make TeleopIKTask specialize CartesianIKTask and reuse its measured-state Pink solve, bounded timestep, joint validation, joint-delta rejection, and measured-state hold behavior.

Teleop keeps engagement-relative control: it captures the measured end-effector pose once per engagement, composes controller translation and rotation deltas against that baseline, and discards the baseline on disengage, timeout, stop, clear, or E-STOP. E-STOP rejects pose and gripper commands while latched and cannot replay them after recovery.

Use a teleop-specific Pink policy with balanced translation and orientation costs, no canonical-posture task, small velocity damping, and a 1.0 rad/s global joint-speed ceiling. Keep position bounds in the QP, then uniformly scale the solved joint velocity against the effective model/global limits before integration. This preserves coordinated joint-space direction and avoids false ProxQP infeasibility from tiny velocity boxes.

Migrate Piper, xArm6, xArm7, and mixed-arm teleop blueprints to authoritative RobotModelConfig instances and named end-effector frames. Preserve gripper interpolation, resource claims, task routing, and the lower-priority xArm EEF-twist fallback.

How to test

Run a Quest teleop stack in simulation:

uv run --extra manipulation --extra misc dimos --simulation run teleop-quest-piper

For xArm6, use the right Quest controller:

uv run --extra manipulation --extra misc dimos --simulation run teleop-quest-xarm6

Validation completed:

• Focused teleop, Cartesian IK, routing, coordinator, and blueprint tests pass.
• Piper, xArm6, and xArm7 model checks produce bounded 1.0 rad/s effective limits.
• Randomized Piper, xArm6, and xArm7 IK checks complete without QP failures.
• Ruff formatting/lint and git diff --check pass.
• GitHub CI passes on Python 3.10 through 3.14, Linux ARM, Linux self-hosted, macOS self-hosted, docs, Rust, and web jobs.

AI assistance

OpenAI Codex with GPT-5 was substantially involved in design exploration, implementation, tests, validation, and PR drafting.

Checklist

• I have read and approved the CLA.

[codecov]

Codecov Report

❌ Patch coverage is 82.47978% with 65 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
...ol/tasks/cartesian_ik_task/test_pink_control_ik.py	9.37%	29 Missing ⚠️
...control/tasks/cartesian_ik_task/pink_control_ik.py	18.18%	18 Missing ⚠️
dimos/control/tasks/teleop_task/teleop_task.py	80.00%	6 Missing and 12 partials ⚠️

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Flag	Coverage Δ
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OS-ubuntu-latest	70.51% <81.40%> (?)
Py-3.10	70.51% <81.40%> (?)
Py-3.11	70.51% <81.40%> (?)
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Py-3.14	70.51% <81.40%> (?)
Py-3.14t	70.51% <81.40%> (?)
SelfHosted-Large	29.31% <26.14%> (?)
SelfHosted-Linux	35.84% <26.14%> (?)
SelfHosted-macOS	34.95% <26.14%> (?)

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
.../tasks/cartesian_ik_task/test_cartesian_ik_task.py	100.00% <100.00%> (ø)
...imos/control/tasks/teleop_task/test_teleop_task.py	100.00% <100.00%> (ø)
dimos/robot/manipulators/common/blueprints.py	88.63% <100.00%> (ø)
dimos/robot/manipulators/common/mixed.py	100.00% <100.00%> (ø)
...imos/robot/manipulators/piper/blueprints/teleop.py	100.00% <ø> (ø)
dimos/robot/manipulators/piper/config.py	76.47% <ø> (ø)
dimos/robot/manipulators/test_blueprints.py	100.00% <100.00%> (ø)
dimos/robot/manipulators/xarm/blueprints/teleop.py	100.00% <100.00%> (ø)
dimos/robot/manipulators/xarm/config.py	89.28% <ø> (ø)
...control/tasks/cartesian_ik_task/pink_control_ik.py	24.15% <18.18%> (ø)
... and 2 more

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[TomCC7]

waiting for @KrishnaH96