feat: add Rerun split layout (Camera | 3D) to Go2 and G1 base blueprints

[spomichter]

Adds a horizontal split view (camera feed 1/3, 3D world 2/3) to the Rerun viewer for Go2 basic and G1 primitive blueprints, matching the existing drone blueprint pattern. All downstream blueprints inherit the layout automatically.

Problem

Closes DIM-XXX

Solution

Breaking Changes

How to Test

Contributor License Agreement

• I have read and approved the CLA.

[greptile-apps]

Greptile Summary

This PR adds a horizontal split Rerun viewer layout (1/3 camera feed, 2/3 3D world) to the Go2 basic and G1 primitive base blueprints, matching the pattern already used by the drone blueprint. The changes are small, self-contained, and correctly implement the BlueprintFactory interface consumed by rerun_bridge (which calls self.config.blueprint() at startup via rr.send_blueprint).

Key changes:

• Adds _go2_rerun_blueprint() to unitree_go2_basic.py and registers it under rerun_config["blueprint"]
• Adds _g1_rerun_blueprint() to uintree_g1_primitive_no_nav.py and registers it under rerun_config["blueprint"]
• Both functions use origin="world/color_image" for the Spatial2DView, consistent with the image_topic already set in each file's _convert_camera_info helper
• All downstream blueprints that **rerun_config from these base files will inherit the layout automatically

Minor observations:

• The two new blueprint functions are byte-for-byte identical; a shared layout utility would prevent future drift
• The pre-existing filename typo uintree_g1_primitive_no_nav.py (uintree → unitree) is a good candidate to fix while the file is being touched

Confidence Score: 5/5

• This PR is safe to merge — changes are additive, correctly typed, and follow the established drone blueprint pattern.
• Both functions correctly satisfy the BlueprintFactory (zero-arg callable returning rrb.Blueprint) interface that RerunBridgeModule expects. The entity path world/color_image is consistent with the existing _convert_camera_info helpers in both files. No logic is altered; only the viewer layout is enriched. The only notes are a style suggestion around code duplication and a pre-existing filename typo.
• No files require special attention.

Important Files Changed

Filename	Overview
dimos/robot/unitree/g1/blueprints/primitive/uintree_g1_primitive_no_nav.py	Adds _g1_rerun_blueprint() — a horizontal split (1/3 camera, 2/3 3D) using world/color_image — and registers it in rerun_config. Implementation is correct and consistent with the bridge API. Minor pre-existing filename typo (uintree vs unitree) noted.
dimos/robot/unitree/go2/blueprints/basic/unitree_go2_basic.py	Adds _go2_rerun_blueprint() — identical horizontal split layout to the G1 addition — and registers it in rerun_config. Correct use of the BlueprintFactory interface expected by rerun_bridge.

Sequence Diagram

sequenceDiagram
    participant BP as Blueprint File<br/>(go2_basic / g1_primitive)
    participant RB as RerunBridgeModule
    participant RR as Rerun Viewer

    BP->>RB: rerun_bridge(**rerun_config)<br/>blueprint=_go2_rerun_blueprint (fn ref)
    Note over RB: stores config.blueprint = fn
    RB->>RB: start() / connect viewer
    RB->>BP: config.blueprint()
    BP-->>RB: rrb.Blueprint(Horizontal([Spatial2DView, Spatial3DView], column_shares=[1,2]))
    RB->>RR: rr.send_blueprint(blueprint)
    RR-->>RR: Render split layout<br/>Camera (1/3) | 3D World (2/3)

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Comments Outside Diff (1)

1. dimos/robot/unitree/g1/blueprints/primitive/uintree_g1_primitive_no_nav.py, line 1 (link)

   Filename typo: uintree should be unitree

   The file is named uintree_g1_primitive_no_nav.py (note the transposition ui → ui), while all other G1/Go2 files (e.g. unitree_go2_basic.py, unitree_g1_basic.py) use the correct spelling unitree. This is a pre-existing issue, but since you're already modifying this file it would be a good opportunity to rename it and update any imports referencing it.

_{Last reviewed commit: 26a4e3b}

[greptile-apps]

Identical blueprint functions across robot configs

_g1_rerun_blueprint (here) and _go2_rerun_blueprint (unitree_go2_basic.py) are byte-for-byte identical — same origin path, same names, same column_shares. If the shared layout ever needs adjusting (e.g. different column ratio or a grid overlay like the drone blueprint has), both files must be updated in lockstep.

Consider extracting a shared factory into a common utility module (e.g. dimos.visualization.rerun.layouts) so both can import it:

# dimos/visualization/rerun/layouts.py
def color_image_3d_blueprint(camera_origin: str = "world/color_image") -> Any:
    import rerun.blueprint as rrb
    return rrb.Blueprint(
        rrb.Horizontal(
            rrb.Spatial2DView(origin=camera_origin, name="Camera"),
            rrb.Spatial3DView(origin="world", name="3D"),
            column_shares=[1, 2],
        ),
    )

Then each robot file just does from dimos.visualization.rerun.layouts import color_image_3d_blueprint and sets "blueprint": color_image_3d_blueprint. This avoids future drift between robot configs.

_{Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!}