maybe useful things for divis
- kinematic calibration
- either as 1DOF per joint, or link by link
- wrist camera extrinsics
- endpoint transform autocal for gripper
- and adjusting lid / well plate waypoints for this
- Force Based Movements
- Recovery motions w/ vision models / vlas
- instrument onboarding / teaching with vision models/ vlas
- instrument rpa recovery with computer use models