feat(g1): add PICO SONIC WebXR teleoperation

AGENTS.md

@@ -44,7 +44,7 @@ dimos restart          # stop + re-run with same original args
 | `xarm-perception-agent` | xArm | real | gpt-5.6-luna | ✓ | Manipulation + perception + agent |
 | `xarm-perception-sim-agent` | xArm | sim | gpt-5.6-luna | ✓ | Manipulation + perception + agent, sim |
 | `xarm7-planner-coordinator` | xArm7 | real | — | — | Trajectory planner coordinator |
-| `teleop-quest-xarm7` | xArm7 | real | — | — | Quest VR teleop |
+| `teleop-webxr-xarm7` | xArm7 | real | — | — | WebXR teleop |
 | `dual-xarm6-planner-coordinator` | xArm6×2 | mock | — | — | Dual-arm motion planner |
 
 Run `dimos list` for the full list.

CONTEXT.md

@@ -1,45 +1,45 @@
-# DimOS Robotics
+# Teleoperation
 
-Canonical language for robot capabilities and operator interaction in DimOS.
+This context defines the operator-tracking language used when human motion guides a robot through dimOS.
 
-## Teleoperation
+## Language
 
-**Quest arm teleoperation**:
-Arm teleoperation in which tracked Quest controllers provide clutched, relative Cartesian pose commands and gripper input.
-_Avoid_: Keyboard teleoperation, leader-follower teleoperation
+**Full-body SONIC teleoperation**:
+An operating mode in which tracked motion of the operator's legs, pelvis, torso, arms, wrists, and head guides the G1 through SONIC. Articulated fingers are excluded.
+_Avoid_: Full-body tracking, three-point teleoperation
 
-**Operator hand**:
-The left or right Quest controller as a source of teleoperation intent, independent of the robot arm it controls.
-_Avoid_: Hand, side
+**WebXR body snapshot**:
+A set of named operator-joint poses observed together in one WebXR reference space.
+_Avoid_: SMPL frame, SONIC pose
 
-**Mixed-arm setup**:
-Two independent manipulators teleoperated through separate control tasks, even when presented in one operator session.
-_Avoid_: Bimanual robot, dual-arm robot
+**Native-equivalent SONIC pose**:
+An operator pose whose meaning matches the native SONIC PICO input, independently of the transport used to deliver it.
+_Avoid_: Partial SONIC pose, policy-minimal pose
 
-**Bimanual robot**:
-One coupled robot with two manipulator groups represented by a single kinematic model and controlled by one bimanual task.
-_Avoid_: Mixed-arm setup
+**SONIC retargeting**:
+The dimOS-owned interpretation of a WebXR body snapshot as a native-equivalent SONIC pose.
+_Avoid_: Packet packing, vendor conversion
 
-**Bimanual engagement**:
-A two-hand deadman condition in which a bimanual teleoperation task is active only while both operator hands are engaged; releasing either hand disengages the whole task.
-_Avoid_: Partial engagement, independent hand engagement
+**Motion Tracker calibration**:
+The PICO-managed process that establishes the operator skeleton and tracker relationship before a WebXR session.
+_Avoid_: Teleoperation alignment
 
-## Joint-limit safety
+**Teleoperation alignment**:
+The per-engagement association between a complete operator skeleton and the G1 heading. It does not reshape or rescale the operator.
+_Avoid_: Calibration, body normalization
 
-**Feedback limit tolerance**:
-The bounded discrepancy beyond a nominal joint limit that is accepted only when interpreting measured hardware state.
-_Avoid_: Command tolerance, expanded joint limit
+**Full-body engagement**:
+The interval while the operator holds the WebXR deadman control and fresh, complete body poses guide SONIC. Ending engagement returns SONIC to planner control without disarming the policy.
+_Avoid_: Policy arming, robot activation
 
-**Command limit margin**:
-The inward distance from each nominal joint limit within which generated position commands must remain.
-_Avoid_: Feedback tolerance, relaxed joint limit
+**Complete operator pose**:
+A WebXR body snapshot containing every joint required to produce one native-equivalent SONIC pose. Partial snapshots do not advance the robot target.
+_Avoid_: Best-effort pose, partial target
 
-## Inverse kinematics
+**Operator motion source**:
+The engaged operator pose as SONIC's sole whole-body motion reference. Planner locomotion resumes after full-body engagement ends.
+_Avoid_: Hybrid locomotion, simultaneous planner control
 
-**Pink task stack**:
-The ordered, named set of kinematic objectives used by Pink to produce a robot command. Its structure is composed once per IK control context; reserved frame objectives ensure every commanded end effector participates, while subclasses may compose or replace named auxiliary objectives.
-_Avoid_: Teleoperation behavior, solver implementation
-
-**IK control context**:
-The persistent inverse-kinematics state owned by one control-task instance for one robot model, controlled-joint selection, and target-frame selection, including its Pink task stack. Stateful Pink tasks are never shared between control-task instances.
-_Avoid_: Planning group, teleoperation session
+**Live PICO simulation test**:
+An acceptance session in which a physical PICO and Motion Trackers guide the MuJoCo G1 through the production WebXR path.
+_Avoid_: Synthetic replay, converter smoke test