feat(teleop): add translation scaling

[ruthwikdasyam]

Contribution path

• Small, safe change that does not need a tracking issue

Problem

Quest controller position deltas and hosted arm keyboard velocity commands have no consistent, UI-adjustable motion ratio.

Closes DIM-1261

Solution

Add a finite, positive translation_scale to QuestTeleopConfig, defaulting to 1.0, and apply it in the shared Quest pose-delta path. Add an opt-in enable_ui_scaling gate to the hosted arm command module. When enabled, the reliable state-plane command {"type":"teleop_scale","scale":<positive finite number>,"nonce":...} updates the active scale and returns a cmd_ack.

Hosted arms apply the scale to Quest position deltas and browser keyboard end-effector twists. Arm robot state reports teleop_scale; disabled or invalid UI requests are rejected. Orientation is unchanged. Go2 remains unchanged.

How to Test

uv run pytest dimos/teleop/hosted/test_arm_command.py dimos/teleop/hosted/test_go2_command.py dimos/teleop/quest/test_quest_teleop_module.py

AI assistance

OpenCode with gpt-5.6-terra implemented the change and tests; the author reviewed the implementation.

Checklist

• I have read and approved the CLA.

[codecov]

Codecov Report

❌ Patch coverage is 94.33962% with 3 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/teleop/hosted/arm_command.py	82.35%	3 Missing ⚠️

@@           Coverage Diff           @@
##             main    #3406   +/-   ##
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  Coverage   76.09%   76.09%           
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  Files        1189     1190    +1     
  Lines      115284   115333   +49     
  Branches    10366    10368    +2     
=======================================
+ Hits        87720    87766   +46     
- Misses      24553    24556    +3     
  Partials     3011     3011           

Flag	Coverage Δ
OS-ubuntu-24.04-arm	70.16% <94.33%> (+<0.01%)	⬆️
OS-ubuntu-latest	72.16% <94.33%> (+<0.01%)	⬆️
Py-3.10	72.15% <94.33%> (+<0.01%)	⬆️
Py-3.11	72.15% <94.33%> (+0.01%)	⬆️
Py-3.12	72.15% <94.33%> (+0.01%)	⬆️
Py-3.13	72.15% <94.33%> (-0.01%)	⬇️
Py-3.14	72.15% <94.33%> (+0.01%)	⬆️
Py-3.14t	72.14% <94.33%> (-0.01%)	⬇️
SelfHosted-Large	29.66% <28.30%> (+0.02%)	⬆️
SelfHosted-Linux	35.83% <28.30%> (-0.02%)	⬇️

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

Files with missing lines	Coverage Δ
dimos/teleop/hosted/test_arm_command.py	99.43% <100.00%> (+0.03%)	⬆️
dimos/teleop/quest/quest_teleop_module.py	56.25% <100.00%> (+1.20%)	⬆️
dimos/teleop/quest/test_quest_teleop_module.py	100.00% <100.00%> (ø)
dimos/teleop/hosted/arm_command.py	81.90% <82.35%> (+0.04%)	⬆️

... and 8 files with indirect coverage changes

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[ruthwikdasyam]

@greptile you alive?

[greptile-apps]

Yep, alive and well! Anything you'd like me to look into on this PR?

[ruthwikdasyam]

Yep, alive and well! Anything you'd like me to look into on this PR?

@greptile review pls