feat: g1recording

[aclauer]

Contribution path

• Small, safe change that does not need a tracking issue
• Linked issue or discussion: DIM-XXX / #XXX / URL

Problem

we need to record data from g1

Solution

add blueprint to record pointlio, realsense, tf from g1. add recording of sf office to lfs

the torso -> base link transform is dynamic from the joint states, so when we do planning from the base link we should have accurate directions and such for trajectory control

How to Test

dimos run unitree-g1-record

AI assistance

Checklist

• I have read and approved the CLA.

[codecov]

Codecov Report

❌ Patch coverage is 56.81818% with 95 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/robot/unitree/g1/g1_tf_publisher.py	43.85%	64 Missing ⚠️
...t/unitree/g1/blueprints/basic/unitree_g1_record.py	31.57%	26 Missing ⚠️
dimos/hardware/sensors/camera/realsense/camera.py	28.57%	5 Missing ⚠️

@@            Coverage Diff             @@
##             main    #3527      +/-   ##
==========================================
- Coverage   76.06%   76.03%   -0.04%     
==========================================
  Files        1226     1229       +3     
  Lines      118922   119141     +219     
  Branches    10666    10678      +12     
==========================================
+ Hits        90463    90583     +120     
- Misses      25381    25479      +98     
- Partials     3078     3079       +1     

Flag	Coverage Δ
OS-ubuntu-24.04-arm	70.44% <56.81%> (-0.03%)	⬇️
OS-ubuntu-latest	72.22% <56.81%> (-0.04%)	⬇️
Py-3.10	72.22% <56.81%> (-0.04%)	⬇️
Py-3.11	72.21% <56.81%> (-0.04%)	⬇️
Py-3.12	72.22% <56.81%> (-0.03%)	⬇️
Py-3.13	72.22% <56.81%> (-0.03%)	⬇️
Py-3.14	72.22% <56.81%> (-0.03%)	⬇️
Py-3.14t	72.22% <56.81%> (-0.03%)	⬇️
SelfHosted-Large	29.77% <34.61%> (+<0.01%)	⬆️
SelfHosted-Linux	35.82% <34.61%> (-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)
dimos/robot/unitree/g1/test_g1_tf_publisher.py	100.00% <100.00%> (ø)
dimos/hardware/sensors/camera/realsense/camera.py	29.92% <28.57%> (+0.07%)	⬆️
...t/unitree/g1/blueprints/basic/unitree_g1_record.py	31.57% <31.57%> (ø)
dimos/robot/unitree/g1/g1_tf_publisher.py	43.85% <43.85%> (ø)

... and 2 files with indirect coverage changes

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