feat(g1): stack 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]

❌ 3 Tests Failed:

Tests completed	Failed	Passed	Skipped
3850	3	3847	175

View the top 3 failed test(s) by shortest run time

::dimos.control.tasks.cartesian_ik_task.test_pink_control_ik

Stack Traces | 0s run time

ImportError while importing test module '.../tasks/cartesian_ik_task/test_pink_control_ik.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../tasks/cartesian_ik_task/test_pink_control_ik.py:24: in <module>
    from dimos.control.tasks.cartesian_ik_task.pink_control_ik import (
.../tasks/cartesian_ik_task/pink_control_ik.py:40: in <module>
    from dimos.manipulation.planning.utils.mesh_utils import prepare_urdf_for_drake
E   ImportError: cannot import name 'prepare_urdf_for_drake' from 'dimos.manipulation.planning.utils.mesh_utils' (.../planning/utils/mesh_utils.py)

dimos.imitation.collection.test_blueprint::test_recorder_reads_aggregate_joint_state[blueprint0]

Stack Traces | 0.001s run time

blueprint = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm_description.tar.gz after 3 attemp...lfs/xarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] Blueprint object at 0xffb6bdad9040>

    @pytest.mark.parametrize("blueprint", [learning_collect_quest_xarm7, learning_collect_quest_piper])
    def test_recorder_reads_aggregate_joint_state(blueprint: Blueprint) -> None:
        streams = _joint_streams(blueprint)
    
        # Plain name pairing on both ends, no remap in between.
        assert streams[("collectionrecorder", AGGREGATE)] == AGGREGATE
>       assert streams[("controlcoordinator", AGGREGATE)] == AGGREGATE
E       KeyError: ('controlcoordinator', 'coordinator_joint_state')

blueprint  = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm_description.tar.gz after 3 attemp...lfs/xarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] Blueprint object at 0xffb6bdad9040>
streams    = {('ControlCoordinator', 'arm_joints'): 'arm_joints', ('ControlCoordinator', 'coordinator_joint_state'): 'coordinator_j..., 'joint_command'): 'joint_command', ('collectionrecorder', 'coordinator_joint_state'): 'coordinator_joint_state', ...}

.../imitation/collection/test_blueprint.py:45: KeyError

dimos.imitation.collection.test_blueprint::test_recorder_reads_aggregate_joint_state[blueprint1]

Stack Traces | 0.002s run time

blueprint = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/piper_description.tar.gz after 3 attem...fs/piper_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] Blueprint object at 0xffb6bdadff20>

    @pytest.mark.parametrize("blueprint", [learning_collect_quest_xarm7, learning_collect_quest_piper])
    def test_recorder_reads_aggregate_joint_state(blueprint: Blueprint) -> None:
        streams = _joint_streams(blueprint)
    
        # Plain name pairing on both ends, no remap in between.
        assert streams[("collectionrecorder", AGGREGATE)] == AGGREGATE
>       assert streams[("controlcoordinator", AGGREGATE)] == AGGREGATE
E       KeyError: ('controlcoordinator', 'coordinator_joint_state')

blueprint  = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/piper_description.tar.gz after 3 attem...fs/piper_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] Blueprint object at 0xffb6bdadff20>
streams    = {('ControlCoordinator', 'arm_joints'): 'arm_joints', ('ControlCoordinator', 'coordinator_joint_state'): 'coordinator_j..., 'joint_command'): 'joint_command', ('collectionrecorder', 'coordinator_joint_state'): 'coordinator_joint_state', ...}

.../imitation/collection/test_blueprint.py:45: KeyError

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