[Alpenj]

Summary

• Add ROS2-free mission contracts for mobility, visual SLAM, multi-camera input, object pose, dual-arm manipulation, FSR tactile sensing, transport safety, health, world state, and workstation-side LLM supervision.
• Add MuJoCo mobile dual-SO101 adapters and scripted IK shoe mission.
• Add a measured cardboard box scene (28.2 x 21 x 10.5 cm, 1.5 mm wall), right-arm lid opening, and left-arm cuboid shoe extraction prototype.

Verification

• Box mission tests: 5 passed.
• Grasp planner tests: 4 passed.
• Full suite with the local SO101 asset: 149/151 passed.
• Hardware execution: false.

Known failures / do not merge yet

1. Camera contract test expects 3 cameras while the current composed model exposes 5.
2. Home-pose bare-camera clearance is 0.1075 m, below the 0.13 m test gate.
3. The physical MuJoCo sequence opens the lid, but left gripper-to-shoe dynamic contact remains 0; an unintended lid/left-wrist collision was also observed.

Review focus

• Identify unnecessary code growth and duplicate helpers across the 1,862-line box prototype.
• Review whether the boolean-heavy event state machine should be replaced with typed events/state transitions.
• Review collision-pair classification and scene configuration truthfulness.
• Recommend the smallest safe path to fix the two suite failures and the dynamic grasp-contact failure.

This PR is intentionally Draft and must not be merged until the known failures are resolved.