fix(go2): route phone teleop command and video streams

[kezaer]

Summary

• Route browser and Rerun tele_cmd_vel commands to the Go2 cmd_vel input in the direct teleop-phone-go2 stack.
• Expose Go2 color_image over JPEG-LCM so the Rerun bridge can render camera frames.
• Add focused blueprint transport tests for command and video routing.

Why

The direct Go2 phone teleop stack should be independently usable: the browser control path needs to reach the Go2 command stream, and the camera stream needs to be visible to Rerun without depending on a larger navigation stack.

Safety

• No robot motion commands were sent while validating this change.
• This PR changes stream wiring only; it does not auto-enable any browser control UI or publish nonzero velocity commands.

Validation

• uv run pytest dimos/teleop/phone/test_blueprints.py -q
• uv run ruff check dimos/teleop/phone/blueprints.py dimos/teleop/phone/test_blueprints.py

[greptile-apps]

Greptile Summary

This PR fixes the teleop-phone-go2 stack by adding transport mappings to correctly route browser/Rerun tele_cmd_vel keyboard commands to the Go2's cmd_vel LCM topic, and exposes the Go2 color_image stream over JPEG-LCM for the Rerun bridge.

• blueprints.py: Adds .transports(...) to teleop_phone_go2 with LCMTransport(\"/cmd_vel\", Twist) for command routing and JpegLcmTransport(\"/color_image\", Image) for camera frames.
• test_blueprints.py (new): Adds two focused unit tests that verify the transport map keys and topic configuration for both routes directly, without needing a live robot connection.

Confidence Score: 5/5

Safe to merge — both transports are additive configuration on an existing blueprint, with no behavioral changes to other stacks.

The change is narrowly scoped: two transport entries are wired into teleop_phone_go2 and two corresponding tests verify the configuration. The fleet and standalone variants are untouched, the transport classes are already well-tested in the codebase, and the tests are deterministic (no I/O or LCM connections opened at assertion time).

No files require special attention.

Important Files Changed

Filename	Overview
dimos/teleop/phone/blueprints.py	Adds transport mappings to teleop_phone_go2 for command routing (tele_cmd_vel to /cmd_vel via LCM) and camera streaming (color_image to /color_image via JPEG-LCM); no issues found.
dimos/teleop/phone/test_blueprints.py	New test file with two tests verifying transport map keys, topic names, and LCM types; uses type() is vs isinstance deliberately to distinguish base class from subclass.

Sequence Diagram

sequenceDiagram
    participant BrowserRerun as Browser / Rerun
    participant PhoneTeleop as SimplePhoneTeleop
    participant LCM as LCMTransport(/cmd_vel)
    participant Go2Conn as Go2Connection
    participant Camera as Go2 Camera
    participant JpegLCM as JpegLcmTransport(/color_image)
    participant RerunBridge as RerunBridge

    BrowserRerun->>PhoneTeleop: publish tele_cmd_vel (Twist)
    PhoneTeleop->>LCM: route via transport_map
    LCM->>Go2Conn: /cmd_vel (Twist over LCM)

    Camera->>PhoneTeleop: publish color_image (Image)
    PhoneTeleop->>JpegLCM: route via transport_map
    JpegLCM->>RerunBridge: /color_image (JPEG-encoded Image over LCM)

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_{Reviews (2): Last reviewed commit: "Fix Go2 phone teleop routing" | Re-trigger Greptile}