feat(r1pro): add Quest upper-body teleoperation

[TomCC7]

Contribution path

• Small, safe change that does not need a tracking issue
• Stacked on feat(manipulation): support unbounded planar-base motion #3844

Problem

R1 Pro has planning and Viser support but no Quest teleoperation path for coordinated arm and torso control.

Solution

• Stream Quest controller and headset poses into one atomic teleoperation IK session.
• Control the 14 arm joints and four torso joints while leaving the planar base and grippers unclaimed.
• Constrain the headset target to forward and vertical translation plus pitch and yaw.
• Add a priority-20 upper-body trajectory task so ManipulationModule.execute() can dispatch planned motion and preempt teleoperation without claiming the base.
• Follow the existing Quest blueprint split between the robot coordinator and central Quest composition.
• Reuse the R1 Pro planning groups and enable the Viser panel.

How to Test

Run the feature:

dimos run teleop-quest-r1pro

Validation:

uv run pytest dimos/control/tasks/teleop_ik_task/test_teleop_ik_task.py dimos/control/tasks/test_registry.py dimos/robot/manipulators/r1pro/test_teleop.py dimos/teleop/quest/test_quest_teleop_module.py -q
uv run pytest dimos/robot/manipulators/r1pro/test_teleop.py dimos/manipulation/test_plan_execution.py dimos/control/test_coordinator_routing.py -q
CI=1 uv run pytest dimos/robot/test_all_blueprints_generation.py -q
uv run mypy dimos/robot/manipulators/r1pro/blueprints/teleop.py dimos/robot/manipulators/r1pro/teleop_ik.py
uv run pre-commit run --files dimos/robot/all_blueprints.py dimos/robot/manipulators/r1pro/blueprints/teleop.py dimos/robot/manipulators/r1pro/teleop_ik.py dimos/robot/manipulators/r1pro/test_teleop.py dimos/teleop/quest/README.md docs/capabilities/manipulation/index.md

AI assistance

OpenAI Codex with GPT-5 implemented the feature and tests under developer direction. The resulting changes were reviewed and adjusted interactively.

Checklist

• I have read and approved the CLA.

[codecov]

Codecov Report

❌ Patch coverage is 94.42060% with 13 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
...mos/control/tasks/teleop_ik_task/teleop_ik_task.py	85.93%	4 Missing and 5 partials ⚠️
dimos/control/_control_test_helpers.py	50.00%	2 Missing ⚠️
dimos/teleop/quest/quest_teleop_module.py	60.00%	1 Missing and 1 partial ⚠️

@@                        Coverage Diff                        @@
##           cc/feat/unbounded-planar-base    #3880      +/-   ##
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+ Coverage                          78.01%   78.04%   +0.02%     
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  Files                               1334     1337       +3     
  Lines                             127828   128036     +208     
  Branches                           11106    11119      +13     
=================================================================
+ Hits                               99724    99921     +197     
- Misses                             24920    24924       +4     
- Partials                            3184     3191       +7     

Flag	Coverage Δ
OS-ubuntu-24.04-arm	74.67% <94.42%> (+0.03%)	⬆️
OS-ubuntu-latest	75.26% <94.42%> (+0.03%)	⬆️
Py-3.10	75.25% <94.42%> (+0.03%)	⬆️
Py-3.11	75.25% <94.42%> (+0.03%)	⬆️
Py-3.12	75.25% <94.42%> (+0.03%)	⬆️
Py-3.13	75.25% <94.42%> (+0.02%)	⬆️
Py-3.14	75.25% <94.42%> (+0.03%)	⬆️
Py-3.14t	75.25% <94.42%> (+0.03%)	⬆️
SelfHosted-Large	30.21% <28.32%> (-0.01%)	⬇️
SelfHosted-Linux	34.83% <28.32%> (-0.01%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
dimos/control/tasks/teleop_ik_task/_registry.py	100.00% <ø> (ø)
...ontrol/tasks/teleop_ik_task/test_teleop_ik_task.py	100.00% <100.00%> (ø)
dimos/control/tasks/test_registry.py	87.19% <ø> (ø)
dimos/control/teleop_coordinator.py	100.00% <100.00%> (ø)
dimos/robot/all_blueprints.py	100.00% <ø> (ø)
dimos/robot/manipulators/common/blueprints.py	90.90% <100.00%> (+0.43%)	⬆️
...imos/robot/manipulators/r1pro/blueprints/teleop.py	100.00% <100.00%> (ø)
dimos/robot/manipulators/r1pro/config.py	100.00% <100.00%> (ø)
dimos/robot/manipulators/r1pro/teleop_ik.py	100.00% <100.00%> (ø)
dimos/robot/manipulators/r1pro/test_teleop.py	100.00% <100.00%> (ø)
... and 9 more

... and 4 files with indirect coverage changes

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[greptile-apps]

Greptile Summary

Adds Quest-based R1 Pro upper-body teleoperation with coordinated left-controller, right-controller, and headset targets. The new configuration limits teleoperation to the torso and arms, leaving planar-base joints outside the command set. It also adds deadman engagement, input expiry, session reset, and release-before-rearm behavior.

No defect was established from the available evidence.

T-Rex validation blocked

The focused R1 Pro runtime probes could not execute because the Python package providing the zenoh module is absent. Both probes stopped during import at dimos/protocol/pubsub/impl/zenohpubsub.py:23 with ModuleNotFoundError: No module named 'zenoh', before they could exercise command generation, stale-input stopping, or rearming.

Confidence Score: 5/5

No confirmed behavior would block merging; the R1 Pro Quest runtime path still needs execution in an environment with its messaging dependency installed.

No reproducible product defect was found. The only executed result established an environment dependency failure before the runtime assertions could run.

Files Needing Attention: Runtime confirmation remains most valuable for dimos/teleop/quest/blueprints.py, dimos/robot/manipulators/r1pro/blueprints/teleop.py, and dimos/control/tasks/teleop_ik_task/teleop_ik_task.py once zenoh is available.

T-Rex Logs

What T-Rex did

• T-Rex attempted to run the teleoperation tests before and after the changes using uv run, and both runs terminated with exit code 1 due to a ModuleNotFoundError: No module named 'zenoh' at zenohpubsub.py:23.
• The blocker is confirmed to be the missing zenoh package, and no teleoperation defect is established from these runs.

_{Ran code and verified through T-Rex}

_{Reviews (1): Last reviewed commit: "revert(r1pro): drop hands-only teleop mo..." | Re-trigger Greptile}