fix(g1): add rerun bridge to G1 primitive blueprint

[spomichter]

The G1 blueprint was missing the rerun bridge entirely — only had websocket_vis + foxglove_bridge. This adds:

• rerun_config with LCM pubsubs, visual overrides (camera_info, global_map, costmap), and a G1-shaped wireframe box
• match global_config.viewer_backend block (same pattern as Go2) to wire up rerun/rerun-web/foxglove

Fixes: rerun-web viewer opening blank when running G1 sim.

[greptile-apps]

Greptile Summary

Adds rerun bridge support to the G1 primitive blueprint, following the same pattern used in the Go2 blueprints. The change restructures the blueprint to support multiple viewer backends (foxglove, rerun, rerun-web) via a match statement on global_config.viewer_backend.

Key additions:

• rerun_config dict with LCM pubsub, visual overrides for camera_info/global_map/costmap, and a G1-shaped wireframe box
• Viewer backend switching logic that mirrors the Go2 implementation
• Refactored blueprint structure with _base and _with_vis intermediates

One issue found: the camera image topic path in the rerun config doesn't match the LCM transport mapping.

Confidence Score: 4/5

• Safe to merge after fixing the camera topic path mismatch
• The implementation correctly follows the established Go2 pattern for viewer backend switching. The rerun_config structure is appropriate with proper visual overrides and static elements. However, there's a topic path mismatch between the rerun camera_info visual override (/world/color_image) and the actual LCM transport (/g1/color_image) that will prevent the camera feed from appearing in the rerun viewer.
• Fix the image topic path in line 41 to match the transport mapping

Important Files Changed

Filename	Overview
dimos/robot/unitree/g1/blueprints/primitive/uintree_g1_primitive_no_nav.py	Adds rerun bridge support with LCM pubsub, visual overrides, and viewer backend switching. Minor topic path mismatch in camera_info visual override.

_{Last reviewed commit: 7d9e668}

[greptile-apps]

_{1 file reviewed, 1 comment}

_{Edit Code Review Agent Settings | Greptile}

[greptile-apps]

image topic path /world/color_image doesn't match the transport mapping /g1/color_image (line 125)

Suggested change

	image_topic="/world/color_image",
	image_topic="/g1/color_image",

[spomichter]

Closing in favor of #1334 which achieves the same fix with a smaller, cleaner diff.