Greptile Summary

This PR adds a new KeyboardPoseTeleop module for sending discrete relative pose goals via keyboard input and a new monolithic blueprint file to wire it into the G1 joystick configuration.

• KeyboardPoseTeleop (dimos/teleop/keyboard/keyboard_pose_teleop.py): Well-structured pygame-based module that subscribes to odometry, maps arrow keys / Q / E to relative pose offsets, and publishes PoseStamped goals through the existing navigation stack. The core goal-generation logic correctly uses quaternion rotation to transform local offsets into global frame coordinates.
• Blueprint file (dimos/robot/unitree/g1/blueprints/unitree_g1_blueprints.py): Contains a broken import (dimos.robot.unitree_webrtc.keyboard_pose_teleop) that will crash at import time — the module actually lives at dimos.teleop.keyboard.keyboard_pose_teleop. Additionally, this file re-declares every existing G1 blueprint in a single monolithic file, duplicating the established modular structure in basic/, agentic/, perceptive/, and primitive/ subdirectories. It is not registered in the __init__.py lazy loader, making it effectively unreachable through normal imports. The intended change (adding keyboard_pose_teleop to the joystick blueprint) would be better accomplished by editing the existing basic/unitree_g1_joystick.py.

Confidence Score: 2/5

• This PR will fail at runtime due to a broken import path and introduces blueprint duplication that conflicts with the existing architecture.
• Score of 2 reflects that while the core teleop module logic is sound, the blueprint file has a guaranteed ImportError from a wrong module path and introduces significant structural duplication of existing code without being wired into the module system.
• dimos/robot/unitree/g1/blueprints/unitree_g1_blueprints.py needs the most attention — fix the import path and ideally integrate the new teleop into the existing modular blueprint structure instead.

Important Files Changed

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    subgraph KeyboardPoseTeleop
        PG[Pygame Key Event] --> HK{Key Pressed?}
        HK -->|Arrow Keys| MK[Map to forward/left offset]
        HK -->|Q/E| RK[Map to yaw delta]
        HK -->|Space| CG[Publish cancel_goal: Bool]
        HK -->|ESC| QUIT[Stop module]
        MK --> GEN[_generate_new_goal]
        RK --> GEN
    end

    subgraph Goal Generation
        ODOM[odom: In PoseStamped] -->|_on_odom| CP[_current_pose]
        CP --> GEN
        GEN --> ROT[Rotate local offset by current orientation]
        ROT --> ADD[Add to current position]
        ADD --> YAW[Apply yaw delta to current heading]
        YAW --> GOAL[New PoseStamped goal]
    end

    subgraph Navigation Stack
        GOAL -->|goal_pose: Out| GP[/goal_pose transport/]
        CG -->|cancel_goal: Out| CGT[/cancel_goal transport/]
    end

_{Last reviewed commit: 5e0afde}