fix(g1): give the teleop arm model the acceleration limit the planner…

[KrishnaH96]

Problem

unitree-g1-groot-wbc and unitree-g1-teleop cannot start: "ControlCoordinator/start: Joint 'g1/left_shoulder_pitch' is missing an acceleration limit". Sim and hardware.

Root cause

#3844 made joint acceleration limits mandatory and added the default to G1_MANIPULATION_MODEL, but not to G1_TELEOP_ARM_MODEL, which the GR00T blueprint hands to the coordinator. The same PR removed the test that pinned that model.

Solution

G1_TELEOP_ARM_MODEL gets .with_default_joint_acceleration_limit(2.0), same value as the manipulation model. Test prepares the GR00T model config through the planner validation.

How to test

uv run dimos --simulation mujoco run unitree-g1-groot-wbc starts and the G1 stands.
uv run pytest dimos/robot/unitree/g1/test_g1_teleop.py

AI assistance

Claude Code (Fable 5.1) assisted extensively with implementation, tests and the PR description under my direction. All hardware validation was done by me on the robot.

Checklist

• I have read and approved the CLA.

[greptile-apps]

Confidence Score: 5/5

No blocking issue was identified in the change, but the focused startup preparation check could not complete without git-lfs.

What we checked:

• Authored a narrow probe that imports the actual G1 GR00T WBC coordinator model and invokes planning preparation.
• Ran the probe under both the production configuration and a version with the acceleration default removed to compare behavior.
• Observed that both runs halted during LFS-backed model resolution with the error RuntimeError: Missing required tools: git-lfs, as shown in the linked logs.

Summary

This change gives the G1 teleoperation arm model the planner-required default joint acceleration limit and adds focused planning-preparation coverage for the coordinator model.

T-Rex validation blocked

The focused G1 planning-preparation check could not reach joint-space validation because resolving the LFS-backed G1 URDF requires the unavailable git-lfs executable.

_{Reviews (1) · Last reviewed commit: "fix(g1): give the teleop arm model the a..."}

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ All tests successful. No failed tests found.

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Files with missing lines	Coverage Δ
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dimos/robot/unitree/g1/test_g1_teleop.py	100.00% <100.00%> (ø)

... and 3 files with indirect coverage changes

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[KrishnaH96]

@TomCC7 @aclauer the only change since your approvals moves the new test to the self-hosted runner, it needs the LFS URDF. Could you re-approve? Auto-merge is armed.

[github-actions]

Successfully created backport PR for release/0.0.14:

• [Backport release/0.0.14] fix(g1): give the teleop arm model the acceleration limit the planner… #4174