feat(g1-groot): navigation on the real G1 (Point-LIO + raytracing costmap)

[Nabla7]

Nav for the real G1 in the groot WBC blueprint: MID-360 -> Point-LIO → raytracing voxel map -> height costmap -> replanning A*, driven through the coordinator's twist_command (no sport mode). Same front-end and mapper as go2 nav_3d.

Split out of #2477 so it can land on its own; that branch rebases after.

Two small fixes are included because nav is unusable on the robot without them:

• mode_machine: adopt the firmware-reported value at first LowState. It varies per boot, and a mismatch means the firmware silently rejects every command.
• 100 Hz tick / decimation 2 and n_workers=10: the Orin can't hold a 500 Hz python tick and the policy starves.

Voxel size is 0.08 to match go2 — at 0.05 the raytracer pegged the Orin and fell ~60 s behind its inputs, registering scans against stale odometry (the "map rotates with the robot" issue). Verified on the robot: map stays correct over long runs, goal nav works. Sim path untouched.

Point-LIO IPs default to the G1's onboard NIC; override with LIDAR_HOST_IP / LIDAR_IP.

[codecov]

Codecov Report

❌ Patch coverage is 45.65217% with 25 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
...nitree/g1/blueprints/basic/unitree_g1_groot_wbc.py	50.00%	19 Missing and 1 partial ⚠️
dimos/robot/unitree/g1/wholebody_connection.py	0.00%	4 Missing ⚠️
dimos/robot/unitree/g1/g1_rerun.py	50.00%	1 Missing ⚠️

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Files with missing lines	Coverage Δ
dimos/robot/unitree/g1/g1_rerun.py	78.26% <50.00%> (ø)
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... and 3 files with indirect coverage changes

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[greptile-apps]

Greptile Summary

This PR adds real-hardware navigation for the G1 groot WBC blueprint. The main changes are:

• Real G1 nav stack using Point-LIO, raytracing voxel mapping, costmapping, and replanning A*.
• Coordinator-driven twist_command output for hardware navigation.
• Lower real-hardware tick rate, decimation, and worker-count tuning for the Orin.
• Rerun visualization updates for the real Point-LIO odometry and costmap frames.
• Firmware-reported mode_machine adoption in the whole-body connection.

Confidence Score: 4/5

This is close, but the command-mode startup path should be fixed before merging.

• The Point-LIO blueprint now delegates network settings to the module config.
• The whole-body connection can still keep a stale mode_machine after a transient first LowState.
• A stale command mode can make hardware commands look valid while firmware rejects them.

dimos/robot/unitree/g1/wholebody_connection.py

Important Files Changed

Filename	Overview
dimos/robot/unitree/g1/blueprints/basic/unitree_g1_groot_wbc.py	Adds the real-hardware Point-LIO navigation pipeline, hardware timing settings, and real-frame Rerun visualization wiring.
dimos/robot/unitree/g1/g1_rerun.py	Allows G1 costmap rendering to use a caller-provided z offset.
dimos/robot/unitree/g1/wholebody_connection.py	Adopts the reported mode_machine, but still allows the first LowState sample to lock in a stale command mode.

_{Reviews (6): Last reviewed commit: "Merge branch 'main' into pim/feat/g1-rea..." | Re-trigger Greptile}

[jeff-hykin]

LGTM so long as its working on hardware.