feat(imitation): add controlled OpenYAM policy rollout

[TomCC7]

Contribution path

• PRD: Manipulation SDK preview, discussion #3923.
• Stacked on feat(imitation): add native OpenYAM collection #3854.

Problem

• OpenYAM needs a runnable policy graph with optional Quest takeover.
• Robot composition should use the generic policy/control contract from its parent instead of introducing another learning-profile abstraction.

Solution

• Add openyam-lerobot-rollout for Quest-free execution and openyam-lerobot-quest-rollout for optional takeover.
• Compose the LeRobot module, wrist RGB camera, and a named low-priority trajectory task with canonical OpenYAM joints.
• Reuse the existing Quest tasks for the takeover graph.
• Keep robot-specific joint ordering and camera defaults in this Blueprint; remove the obsolete OpenYamLearningProfile dependency.
• Own the dual-arm regression assertions that require hardware-aware trajectory acceptance/rejection; the underlying canonical hardware-limit setup lives in fix(openyam): align learning stack with canonical model #3853.
• Inherit chunk execution, preflight, cancellation, button edges, and limits from refactor(imitation): isolate LeRobot policy runtime #3315. This PR only adds robot wiring, tests, registry entries, and usage docs.

API shape

openyam-lerobot-rollout
  policy + wrist camera + ControlCoordinator

openyam-lerobot-quest-rollout
  policy + wrist camera + Quest teleop + TeleopControlCoordinator

• Configure either graph through normal dimos run module options.
• Python clients find RolloutControlSpec and explicitly call preflight/start/stop.
• The attached rollout panel is added later in feat(imitation): add CLI learning workflow #3931. Stopping a client is not a policy-stop request.

How to Test

With a compatible checkpoint and configured arm/camera:

dimos --can-port follower_l run openyam-lerobot-rollout --policy.policy-path CHECKPOINT_DIR --policy.task "pick up the cube" --wristcamera.hardware.camera-index 0

• Start through RolloutControlSpec only after verifying preflight readiness and clearing the workspace.
• Use openyam-lerobot-quest-rollout to test Quest takeover.
• In the previous cleanup, 18 focused rollout/OpenYAM tests and scoped mypy passed; the generated registry is current.
• Current review cleanup: the dual-arm trajectory acceptance/rejection tests pass in the final 224-test focused suite. This layer adds no new rollout behavior during the cleanup.
• Bounded-motion rollout, takeover, and shutdown require a hardware retest. ABC and dual-arm rollout are out of scope.

AI assistance

• Review cleanup updated by OpenAI Codex (agent).
• OpenAI Codex (GPT-5) assisted extensively with implementation, tests, documentation, and stack cleanup.

Checklist

• I have read and approved the CLA.

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ All tests successful. No failed tests found.

@@                       Coverage Diff                       @@
##           feat/openyam-native-collection    #3855   +/-   ##
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  Coverage                           79.65%   79.65%           
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  Files                                1517     1519    +2     
  Lines                              143193   143269   +76     
  Branches                            12236    12237    +1     
===============================================================
+ Hits                               114054   114128   +74     
- Misses                              25786    25787    +1     
- Partials                             3353     3354    +1     

Components	Coverage Δ
Tests	95.35% <100.00%> (+<0.01%)	⬆️

Flag	Coverage Δ
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OS-ubuntu-latest	76.23% <100.00%> (+0.01%)	⬆️
Py-3.10	76.01% <100.00%> (+<0.01%)	⬆️
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SelfHosted-Large	30.70% <58.75%> (+0.01%)	⬆️
SelfHosted-macOS	37.12% <58.75%> (+<0.01%)	⬆️

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

Files with missing lines	Coverage Δ
dimos/robot/all_blueprints.py	100.00% <ø> (ø)
...anipulators/openyam/blueprints/learning_rollout.py	100.00% <100.00%> (ø)
...os/robot/manipulators/openyam/blueprints/teleop.py	100.00% <100.00%> (ø)
...lators/openyam/blueprints/test_learning_rollout.py	100.00% <100.00%> (ø)

... and 1 file with indirect coverage changes

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