Teleop restructuring

Teleop Device Categories

teleop stack divided into device categories, each with its own base module:

1. VR Headsets (Browser-based WebXR)
   Meta Quest
   Apple Vision Pro
   PICO
2. Smart Devices (Browser-based / Native App)
   iPhone IMU
   Smart watches (Maybe)
3. Hand Controllers (USB/Bluetooth)
   Joysticks (single/dual stick)
   Game controllers (Xbox, PlayStation)
   SpaceMouse
   Keyboard

Design Rationale: Each category has distinct input modalities (6DoF tracking vs IMU vs discrete axes), so a single base class for all devices would be bloated. Instead, each category has its own base module (VRBaseModule, SmartDeviceBaseModule, HandControllerBaseModule) with shared interfaces where appropriate.

class VRBaseModule(Module):
    """Base for all VR headset teleop devices."""
    
    # Lifecycle
    def start(self) -> None: ...
    def stop(self) -> None: ...
    
    # Teleop session (toggled by button press)
    def start_teleop(self) -> None: ...
    def stop_teleop(self) -> None: ...
    
    # Core logic
    def calibrate(self) -> bool:
        """Reset t0, store P0/R0 as reference. Called on teleop start."""
    
    def compute_delta(
        self,
        controller_poses: list[PoseStamped | None],
    ) -> list[PoseStamped | None]:
        """Compute delta from calibrated reference. Always PoseStamped."""
    
    def convert_to_output(
        self, 
        pose: PoseStamped, 
        output_type: type
    ) -> PoseStamped | TwistStamped:
        """Convert to target output type at publish boundary."""

class QuestModule(VRBaseModule):
    """Meta Quest teleop via WebSocket/LCM bridge."""
    
    # Inputs (from Deno bridge)
    left_transform: In[LCMTransform]
    right_transform: In[LCMTransform]
    left_trigger: In[Float32]
    right_trigger: In[Float32]
    teleop_enable: In[Bool]  # X button
    
    # Outputs (user configurable - PoseStamped or TwistStamped)
    left_controller: Out[PoseStamped] 
    right_controller: Out[PoseStamped]
    left_trigger_value: Out[Float32]
    right_trigger_value: Out[Float32]
    
    # Callbacks
    def _on_teleop_enable(self, msg: Bool) -> None:
        """Toggle start_teleop/stop_teleop on button press."""
    def _on_transform(self, index: int, transform: Transform) -> None: ...
    def _on_trigger(self, index: int, msg: Float32) -> None: ...
    
    # Main loop
    def control_loop(self) -> None:
        """Compute deltas, convert to output type, publish."""

• X press to start, and X press to stop. When pressed X again, it starts from zero

The issue names no files, tests, or entry points. Start by locating the existing teleoperation modules and Module implementations, then compare them with the proposed VR, smart-device, and hand-controller interfaces. Done means the category structure and Quest behavior, including X-button start/stop toggling and calibrated outputs, are implemented and verified.