Ruthwik/hosted teleop

dimos/control/tasks/teleop_task.py

@@ -80,7 +80,7 @@ class TeleopIKTaskConfig:
     ee_joint_id: int
     priority: int = 10
     timeout: float = 0.5
-    max_joint_delta_deg: float = 5.0  # ~500°/s at 100Hz
+    max_joint_delta_deg: float = 50.0  # ~500°/s at 100Hz
     hand: Literal["left", "right"] | None = None
     gripper_joint: str | None = None
     gripper_open_pos: float = 0.0

dimos/memory2/module.py

@@ -33,7 +33,6 @@
 from dimos.memory2.transform import QualityWindow
 from dimos.memory2.type.observation import EmbeddedObservation, Observation
 from dimos.models.embedding.base import EmbeddingModel
-from dimos.models.embedding.clip import CLIPModel
 from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
 from dimos.msgs.sensor_msgs.Image import Image
 from dimos.utils.logging_config import setup_logger
@@ -198,7 +197,7 @@ def store(self) -> SqliteStore:
 
 
 class SemanticSearchConfig(MemoryModuleConfig):
-    embedding_model: type[EmbeddingModel] = CLIPModel
+    embedding_model: type[EmbeddingModel] | None = None
 
 
 class SemanticSearch(MemoryModule):
@@ -210,7 +209,13 @@ class SemanticSearch(MemoryModule):
     def start(self) -> None:
         super().start()
 
-        self.model = self.register_disposable(self.config.embedding_model())
+        embedding_cls = self.config.embedding_model
+        if embedding_cls is None:
+            from dimos.models.embedding.clip import CLIPModel
+
+            embedding_cls = CLIPModel
+
+        self.model = self.register_disposable(embedding_cls())
         self.model.start()
 
         self.embeddings = self.store.stream("color_image_embedded", Image)

dimos/robot/all_blueprints.py

@@ -67,6 +67,8 @@
     "mid360-fastlio-voxels-native": "dimos.hardware.sensors.lidar.fastlio2.fastlio_blueprints:mid360_fastlio_voxels_native",
     "openarm-mock-planner-coordinator": "dimos.robot.manipulators.openarm.blueprints:openarm_mock_planner_coordinator",
     "openarm-planner-coordinator": "dimos.robot.manipulators.openarm.blueprints:openarm_planner_coordinator",
+    "teleop-hosted-go2": "dimos.teleop.quest_hosted.blueprints:teleop_hosted_go2",
+    "teleop-hosted-xarm7-sim": "dimos.teleop.quest_hosted.blueprints:teleop_hosted_xarm7_sim",
     "teleop-phone": "dimos.teleop.phone.blueprints:teleop_phone",
     "teleop-phone-go2": "dimos.teleop.phone.blueprints:teleop_phone_go2",
     "teleop-phone-go2-fleet": "dimos.teleop.phone.blueprints:teleop_phone_go2_fleet",
@@ -149,6 +151,10 @@
     "grasp-gen-module": "dimos.manipulation.grasping.graspgen_module.GraspGenModule",
     "grasping-module": "dimos.manipulation.grasping.grasping.GraspingModule",
     "gstreamer-camera-module": "dimos.hardware.sensors.camera.gstreamer.gstreamer_camera.GstreamerCameraModule",
+    "hosted-arm-teleop-module": "dimos.teleop.quest_hosted.hosted_extensions.HostedArmTeleopModule",
+    "hosted-teleop-module": "dimos.teleop.quest_hosted.hosted_teleop_module.HostedTeleopModule",
+    "hosted-teleop-recorder": "dimos.teleop.quest_hosted.blueprints.HostedTeleopRecorder",
+    "hosted-twist-teleop-module": "dimos.teleop.quest_hosted.hosted_extensions.HostedTwistTeleopModule",
     "joint-trajectory-controller": "dimos.manipulation.control.trajectory_controller.joint_trajectory_controller.JointTrajectoryController",
     "joystick-module": "dimos.robot.unitree.b1.joystick_module.JoystickModule",
     "keyboard-teleop": "dimos.robot.unitree.keyboard_teleop.KeyboardTeleop",
@@ -190,6 +196,7 @@
     "spatial-memory": "dimos.perception.spatial_perception.SpatialMemory",
     "speak-skill": "dimos.agents.skills.speak_skill.SpeakSkill",
     "temporal-memory": "dimos.perception.experimental.temporal_memory.temporal_memory.TemporalMemory",
+    "teleop-recorder": "dimos.teleop.quest.blueprints.TeleopRecorder",
     "twist-teleop-module": "dimos.teleop.quest.quest_extensions.TwistTeleopModule",
     "unitree-g1-skill-container": "dimos.robot.unitree.g1.skill_container.UnitreeG1SkillContainer",
     "unitree-skill-container": "dimos.robot.unitree.unitree_skill_container.UnitreeSkillContainer",

dimos/robot/unitree/type/lidar.py

@@ -100,7 +100,7 @@ def _repair(item: T) -> T:
         if prev_good[0] is not None and item.ts <= prev_good[0]:
             old = item.ts
             item.ts = prev_good[0] + default_period
-            logger.warning("repair_stale_ts: stale stamp %.6f → %.6f", old, item.ts)
+            logger.debug("repair_stale_ts: stale stamp %.6f → %.6f", old, item.ts)
         prev_good[0] = item.ts
         return item
 

dimos/teleop/quest/blueprints.py

@@ -15,6 +15,8 @@
 
 """Teleop blueprints for testing and deployment."""
 
+from pathlib import Path
+
 from dimos.control.blueprints.teleop import (
     coordinator_teleop_dual,
     coordinator_teleop_piper,
@@ -25,7 +27,9 @@
     coordinator_teleop_xarm7,
 )
 from dimos.core.coordination.blueprints import autoconnect
+from dimos.core.stream import In
 from dimos.core.transport import LCMTransport
+from dimos.memory2.module import Recorder, RecorderConfig
 from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
 from dimos.teleop.quest.quest_extensions import ArmTeleopModule
 from dimos.teleop.quest.quest_types import Buttons
@@ -72,6 +76,21 @@
 )
 
 
+class TeleopRecorderConfig(RecorderConfig):
+    db_path: str | Path = "recording_teleop.db"
+
+
+class TeleopRecorder(Recorder):
+    """Records right-controller pose and button state from any quest teleop blueprint.
+
+    Compose at the CLI: ``dimos run teleop-quest-xarm7-sim teleop-recorder``.
+    """
+
+    right_controller_output: In[PoseStamped]
+    buttons: In[Buttons]
+    config: TeleopRecorderConfig
+
+
 # Single Piper teleop: left controller -> piper arm
 teleop_quest_piper = autoconnect(
     ArmTeleopModule.blueprint(task_names={"left": "teleop_piper"}),
@@ -146,6 +165,8 @@
 
 
 __all__ = [
+    "TeleopRecorder",
+    "TeleopRecorderConfig",
     "teleop_quest_dual",
     "teleop_quest_piper",
     "teleop_quest_piper_sim",

dimos/teleop/quest_hosted/blueprints.py

@@ -0,0 +1,84 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Hosted teleop blueprints (WebRTC transport)."""
+
+from pathlib import Path
+
+from dimos.control.blueprints.teleop import coordinator_teleop_sim_xarm7
+from dimos.core.coordination.blueprints import autoconnect
+from dimos.core.stream import In
+from dimos.core.transport import LCMTransport
+from dimos.memory2.module import Recorder, RecorderConfig
+from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
+from dimos.msgs.geometry_msgs.TwistStamped import TwistStamped
+from dimos.robot.unitree.go2.blueprints.basic.unitree_go2_basic import unitree_go2_basic
+from dimos.teleop.quest.quest_types import Buttons
+from dimos.teleop.quest_hosted.hosted_extensions import (
+    HostedArmTeleopModule,
+    HostedTwistTeleopModule,
+)
+
+# Single XArm7 teleop in MuJoCo sim, using the hosted (WebRTC) client.
+teleop_hosted_xarm7_sim = autoconnect(
+    HostedArmTeleopModule.blueprint(task_names={"right": "teleop_xarm"}),
+    coordinator_teleop_sim_xarm7,
+).transports(
+    {
+        ("right_controller_output", PoseStamped): LCMTransport(
+            "/coordinator/cartesian_command", PoseStamped
+        ),
+        ("buttons", Buttons): LCMTransport("/teleop/buttons", Buttons),
+    }
+)
+
+# Unitree Go2 keyboard teleop. Operator types WASD in browser → TwistStamped
+# over WebRTC → HostedTwistTeleopModule scales by linear/angular_speed and
+# publishes Twist on cmd_vel → GO2Connection.cmd_vel (via unitree_go2_basic,
+# which also brings in vis + clock sync; no coordinator in path).
+teleop_hosted_go2 = autoconnect(
+    HostedTwistTeleopModule.blueprint(),
+    unitree_go2_basic,
+)
+
+
+class HostedTeleopRecorderConfig(RecorderConfig):
+    db_path: str | Path = "recording_hosted_3.db"
+
+
+class HostedTeleopRecorder(Recorder):
+    """Records hosted teleop streams. Captures whatever the connected blueprint
+    produces — VR controller poses + buttons (xarm7 sim), or cmd_vel_stamped
+    (go2). Unconnected ports stay empty in the DB.
+
+    Compose at the CLI::
+
+        dimos run teleop-hosted-xarm7-sim hosted-teleop-recorder
+        dimos run teleop-hosted-go2       hosted-teleop-recorder
+    """
+
+    right_controller_output: In[PoseStamped]
+    left_controller_output: In[PoseStamped]
+    buttons: In[Buttons]
+    cmd_vel_stamped: In[TwistStamped]
+    config: HostedTeleopRecorderConfig
+
+
+__all__ = [
+    "HostedTeleopRecorder",
+    "HostedTeleopRecorderConfig",
+    "teleop_hosted_xarm7_sim",
+    "teleop_hosted_go2",
+]