feat: g1 quest teleop on shared dual-arm IK

[TomCC7]

Contribution path

• Stacked on feat: add unified dual-arm VR teleoperation #3392

Problem

The G1 Quest teleop branch duplicated the dual-arm IK task, relative-pose handling, and web UI that are now provided by the shared dual-arm teleop work. Keeping both implementations would leave two competing control paths and two UI protocols.

Solution

• Replace the G1-only IK task with the shared teleop_ik task and Pink pose-target solver.
• Keep only G1-specific model selection, controlled arm joints, task weights, posture weights, velocity limits, and frame names.
• Reduce full-body Pinocchio models to their configured controlled joints so the G1 solver cannot satisfy hand targets through the waist or legs.
• Extend the shared video arm teleop module with locomotion output and route it through MovementManager.
• Preserve G1 camera streaming and episode recording, including controller Cartesian targets.
• Remove the obsolete G1 Quest module, custom IK task, tests, and UI protocol. The shared UI now owns reference-pose capture and controller input semantics.

How to Test

dimos --simulation mujoco --scene-package office run unitree-g1-teleop

Validation:

• 4,073 full-suite tests passed; 33 skipped; 282 deselected.
• Pre-commit hooks passed.
• Actual G1 URDF solver-reduction test passed under the self-hosted marker.

AI assistance

Codex with GPT-5 implemented the refactor and tests under human direction.

Checklist

• I have read and approved the CLA.

[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
4421	1	4420	177

View the top 1 failed test(s) by shortest run time

dimos.robot.unitree.g1.test_g1_teleop::test_g1_upper_body_model_keeps_waist_and_arms_but_removes_legs

Stack Traces | 3.15s run time

def test_g1_upper_body_model_keeps_waist_and_arms_but_removes_legs() -> None:
        config = g1_upper_body_model_config()
>       loaded = config.model.load()

config     = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/g1_urdf.tar.gz after 3 attempts: Comma...tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] RobotModelConfig object at 0xffc60be833e0>

.../unitree/g1/test_g1_teleop.py:141: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../robot/assets/model.py:191: in load
    return self._loaded
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/g1_urdf.tar.gz after 3 attempts: Comma..._urdf.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] RobotModel object at 0xffc647db54f0>
.../usr/lib/python3.12/functools.py:995: in __get__
    val = self.func(instance)
        cache      = {'_fixed_frames': (), '_fixed_joints': (), '_joint_position_limits': (), '_package_paths': (('g1_description', <[Runti...tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffc647e18850>),), ...}
        instance   = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/g1_urdf.tar.gz after 3 attempts: Comma..._urdf.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] RobotModel object at 0xffc647db54f0>
        owner      = <class 'dimos.robot.assets.model.RobotModel'>
        self       = <functools.cached_property object at 0xffc647dd77a0>
        val        = <object object at 0xffc6a3178290>
.../robot/assets/model.py:200: in _loaded
    package_paths = _normalize_package_paths(dict(self._package_paths))
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/g1_urdf.tar.gz after 3 attempts: Comma..._urdf.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] RobotModel object at 0xffc647db54f0>
        source_path = PosixPath('.../unitree/g1/g1.urdf')
.../robot/assets/model.py:489: in _normalize_package_paths
    package_name: Path(os.fspath(package_path)).resolve()
        package_paths = {'g1_description': <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/g1_urdf.tar.gz afte...g1_urdf.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffc647e18850>}
dimos/utils/data.py:379: in __fspath__
    return str(self._ensure_downloaded())
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/g1_urdf.tar.gz after 3 attempts: Comma.../g1_urdf.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffc647e18850>
dimos/utils/data.py:353: in _ensure_downloaded
    cache = get_data(filename)
        cache      = None
        filename   = 'g1_urdf'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/g1_urdf.tar.gz after 3 attempts: Comma.../g1_urdf.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffc647e18850>
dimos/utils/data.py:310: in get_data
    archive_path = _decompress_archive(_pull_lfs_archive(archive_name))
        archive_name = 'g1_urdf'
        data_dir   = PosixPath('.../dimos/dimos/data')
        file_path  = PosixPath('.../dimos/dimos/data/g1_urdf')
        name       = 'g1_urdf'
        nested_path = None
        path_parts = ('g1_urdf',)
dimos/utils/data.py:254: in _pull_lfs_archive
    _lfs_pull(file_path, repo_root)
        file_path  = PosixPath('.../dimos/data/.lfs/g1_urdf.tar.gz')
        filename   = 'g1_urdf'
        repo_root  = PosixPath('.../work/dimos/dimos')
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

file_path = PosixPath('.../dimos/data/.lfs/g1_urdf.tar.gz')
repo_root = PosixPath('.../work/dimos/dimos')

    def _lfs_pull(file_path: Path, repo_root: Path, *, retries: int = 2) -> None:
        relative_path = file_path.relative_to(repo_root)
    
        env = os.environ.copy()
        env["GIT_LFS_FORCE_PROGRESS"] = "1"
    
        last_err: subprocess.CalledProcessError | None = None
        for attempt in range(1, retries + 2):  # retries + 1 total attempts
            try:
                subprocess.run(
                    # --exclude= overrides lfs.fetchexclude from .lfsconfig, which
                    # otherwise silently skips data/.lfs/* even when --include matches.
                    ["git", "lfs", "pull", "--include", str(relative_path), "--exclude="],
                    cwd=repo_root,
                    check=True,
                    env=env,
                )
                return
            except subprocess.CalledProcessError as e:
                last_err = e
                if attempt <= retries:
                    time.sleep(attempt)  # 1s, 2s backoff
    
>       raise RuntimeError(
            f"Failed to pull LFS file {file_path} after {retries + 1} attempts: {last_err}"
        )
E       RuntimeError: Failed to pull LFS file .../dimos/data/.lfs/g1_urdf.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/g1_urdf.tar.gz', '--exclude=']' returned non-zero exit status 1.

attempt    = 3
env        = {'ACCEPT_EULA': 'Y', 'ACTIONS_ID_TOKEN_REQUEST_TOKEN': 'eyJhbGciOiJSUzI1NiIsImtpZCI6IjM4ODI2YjE3LTZhMzAtNWY5Yi1iMTY5LT...-version=2.0', 'ACTIONS_ORCHESTRATION_ID': '5a68b270-cc24-439d-882e-efa85575f488.tests.ubuntu-24_04-arm_3_14_fal', ...}
file_path  = PosixPath('.../dimos/data/.lfs/g1_urdf.tar.gz')
last_err   = CalledProcessError(1, ['git', 'lfs', 'pull', '--include', 'data/.lfs/g1_urdf.tar.gz', '--exclude='])
relative_path = PosixPath('data/.lfs/g1_urdf.tar.gz')
repo_root  = PosixPath('.../work/dimos/dimos')
retries    = 2

dimos/utils/data.py:224: RuntimeError

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