Fix/memory2 go2 autorecorder

[leshy]

• confirmed auto-recording of go2 when running on real platform
• created new (temporary) china office recording - better one coming tomorrow
• ./bin/lfs_push ignores sqlite sidecar files
• fixed bgr/rgb stuff once and for all, removed legacy hacks fixing this

[greptile-apps]

RGBA images will break JPEG encoding

to_rgb() for ImageFormat.RGBA returns a 4-channel copy (it doesn't strip alpha — see the return self.copy() branch at line 247), so rgb_array will have shape (H, W, 4). Passing a 4-channel array to jpeg.encode(..., pixel_format=TJPF_RGB) (which expects 3-channel RGB) will raise an error at runtime.

The old to_bgr() path correctly dropped the alpha channel via cv2.COLOR_RGBA2BGR. The new path doesn't. If an RGBA-formatted Image ever reaches lcm_jpeg_encode, it will now fail where it previously succeeded.

[greptile-apps]

Greptile Summary

This PR confirms auto-recording on the real Go2 platform, ships a new go2_china_office recording, and performs a clean-up of long-standing BGR/RGB confusion. Key changes: to_rgb() now correctly strips alpha channels from RGBA/BGRA inputs, JPEG encode/decode is canonicalised to TJPF_RGB end-to-end, the Recorder skips setup in replay mode to avoid touching the playback database, and SqliteStore gains a must_exist guard for replay paths.

Confidence Score: 5/5

Safe to merge — all findings are P2 and limited to a test helper.

The only issue found is in _jpeg_eq: the preliminary shape guard compares against the pre-conversion shape rather than to_rgb().data.shape, causing false-negatives for RGBA/BGRA/grayscale inputs. This is confined to a test utility and does not affect production code. All production-path changes (JPEG BGR→RGB, alpha-drop fixes, replay guard, must_exist flag) are correct and consistent.

dimos/memory2/codecs/test_codecs.py — shape check in _jpeg_eq should use original.to_rgb().data.shape.

Important Files Changed

Filename	Overview
bin/lfs_push	Extends iteration from directories-only to all entries; adds a case filter to skip SQLite WAL/shm/journal sidecar files that would produce useless LFS tarballs.
dimos/msgs/sensor_msgs/Image.py	Fixes RGBA/BGRA to_rgb() to strip the alpha channel (was returning a 4-channel copy); switches JPEG encode/decode to explicit TJPF_RGB path, making format canonicalisation deterministic and removing the previous RGBA 4-channel crash.
dimos/memory2/module.py	Adds an early-return guard in Recorder.start() when replay mode is active, preventing the recorder from overwriting or conflicting with the playback database.
dimos/memory2/store/sqlite.py	Adds must_exist: bool = False flag to SqliteStoreConfig; raises a clear FileNotFoundError at construction time rather than silently creating an empty DB during replay.
dimos/robot/unitree/go2/connection.py	Renames dir_name → dataset, updates default dataset to go2_china_office, and removes the legacy _autocast_video BGR→RGB relabelling hack — all references updated consistently.
dimos/robot/unitree/go2/blueprints/smart/unitree_go2.py	Adds odom: In[PoseStamped] port to Go2Memory so odometry is now captured alongside color image and lidar during live recording.
dimos/memory2/codecs/test_codecs.py	Updates _jpeg_eq to check ImageFormat.RGB tag and compare against original.to_rgb(); shape guard still uses pre-conversion shape, causing false-negatives for RGBA/BGRA/grayscale inputs.
dimos/utils/testing/replay.py	Passes must_exist=True when opening replay stores so missing datasets fail loudly instead of silently creating empty databases.

Sequence Diagram

sequenceDiagram
    participant RC as ReplayConnection
    participant TSR as TimedSensorReplay
    participant SS as SqliteStore<br/>(must_exist=True)
    participant Rec as Recorder (Go2Memory)
    participant DB as SQLite DB

    RC->>TSR: video_stream() / lidar_stream() / odom_stream()
    TSR->>SS: _get_store(dataset)
    SS->>DB: open (raises FileNotFoundError if missing)
    DB-->>SS: connection
    SS-->>TSR: store
    TSR-->>RC: Observable[Image|PointCloud2|PoseStamped]

    Note over Rec: start() called
    Rec->>Rec: g.replay == True?
    alt replay mode
        Rec-->>Rec: return early — DB left untouched
    else live mode
        Rec->>DB: record color_image / lidar / odom streams
    end

    Note over RC: lcm_jpeg_encode
    RC->>RC: to_rgb() → TJPF_RGB encode
    RC->>RC: lcm_jpeg_decode → TJPF_RGB → ImageFormat.RGB

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