feat: add remote sim and isaac support

[blankey1337]

spin_and_wave2.mov

1. Robot Model (URDF) Improvements

• File: software/src/lerobot/robots/alohamini/alohamini.urdf
• Changes:
• Replaced primitive shapes (boxes/cylinders) with high-fidelity CAD meshes (.stl) for the gripper base, gripper fingers, and wrist flex link.
• Corrected the orientation of the gripper fingers to rpy="0 0 0" (and 180° for the mirrored finger) to ensure they face each other correctly.
• Updated collision geometry to remain simple primitives for simulation stability.
• New Files: Added STL mesh files to software/src/lerobot/robots/alohamini/meshes/.

2. Isaac Sim Environment (isaac_alohamini_env.py)

File: software/examples/alohamini/isaac_sim/isaac_alohamini_env.py

• Fixes:
• Headless Rendering: Explicitly added a UsdLux.DistantLight to the scene. This ensures the scene is illuminated even when the default environment fails to load or lacks lights compatible with the Raster renderer (used in headless mode).
• Debug Checks: Added a runtime check that prints a warning if any camera returns a completely black image (max pixel value == 0).
• Renderer Settings: Reverted to default renderer settings (commented out RayTracedLighting) to ensure stability, relying on the new light source for visibility.

3. Teleoperation & Visualization (remote_teleop_rerun.py)

• File: software/examples/alohamini/remote_teleop_rerun.py
• New Feature: Created this script to combine keyboard teleoperation with real-time Rerun visualization.
• Fixes:
• Rerun Hierarchy: Updated the script to prefix all camera images with camera/ (e.g., camera/head_front). This fixes the "Unknown entity" errors in the Rerun viewer.
• Cleanup: Added logic to explicitly clear old keys (e.g., observation.head_front) from the Rerun viewer to remove persistent black artifacts.

4. Documentation

• File: docs/remote_simulation_workflow.md
• Updates: Updated the workflow documentation to reflect the new remote_teleop_rerun.py script instead of the web dashboard.

5. Utilities

• File: software/examples/debug/visualize_urdf.py
• Minor: Added "Starting visualize..." print statements for better feedback.
• File: software/examples/alohamini/evaluate_bi.py
• Minor: Added path handling to allow running from any directory.

Todo:

1. Remove hardcoded IPs - move to config / command params
2. Fix orientation / origin point on gripper fingers (see video)

shaky.mov