Integrating AgiBot X2 Ultra web UI keyboard teleop

dimos/robot/agibot/x2_ultra/blueprints/basic/agibot_x2_basic.py

@@ -0,0 +1,39 @@
+#!/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.
+
+from dimos.core.coordination.blueprints import autoconnect
+from dimos.robot.agibot.x2_ultra.blueprints.primitive.agibot_x2_primitive import (
+    agibot_x2_primitive,
+)
+from dimos.robot.agibot.x2_ultra.connection import X2Connection
+from dimos.web.websocket_vis.websocket_vis_module import WebsocketVisModule
+
+agibot_x2_basic = (
+    autoconnect(
+        agibot_x2_primitive,
+        X2Connection.blueprint(),
+    )
+    .remappings(
+        [
+            (WebsocketVisModule, "tele_cmd_vel", "cmd_vel"),
+        ]
+    )
+    .global_config(n_workers=4, robot_model="agibot_x2_ultra")
+)
+
+__all__ = [
+    "agibot_x2_basic",
+]

dimos/robot/agibot/x2_ultra/blueprints/primitive/agibot_x2_primitive.py

@@ -0,0 +1,80 @@
+#!/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.
+
+"""Minimal X2 Ultra stack: vis module only. Base for larger blueprints."""
+
+from typing import Any
+
+from dimos.core.global_config import global_config
+from dimos.visualization.vis_module import vis_module
+
+
+def _convert_camera_info(camera_info: Any) -> Any:
+    return camera_info.to_rerun(
+        image_topic="/world/color_image",
+        optical_frame="camera_optical",
+    )
+
+
+def _static_base_link(rr: Any) -> list[Any]:
+    # X2 Ultra is ~1.65 m tall, ~0.45 m wide, ~0.3 m deep
+    return [
+        rr.Boxes3D(
+            half_sizes=[0.225, 0.15, 0.825],
+            colors=[(0, 200, 255)],
+            fill_mode="MajorWireframe",
+        ),
+        rr.Transform3D(parent_frame="tf#/base_link"),
+    ]
+
+
+def _x2_rerun_blueprint() -> Any:
+    """Split layout: camera feed on left, 3D world view on right."""
+    import rerun as rr
+    import rerun.blueprint as rrb
+
+    return rrb.Blueprint(
+        rrb.Horizontal(
+            rrb.Spatial2DView(origin="world/color_image", name="Camera"),
+            rrb.Spatial3DView(
+                origin="world",
+                name="3D",
+                background=rrb.Background(kind="SolidColor", color=[0, 0, 0]),
+                line_grid=rrb.LineGrid3D(
+                    plane=rr.components.Plane3D.XY.with_distance(0.5),
+                ),
+            ),
+            column_shares=[1, 2],
+        ),
+    )
+
+
+rerun_config = {
+    "blueprint": _x2_rerun_blueprint,
+    "visual_override": {
+        "world/camera_info": _convert_camera_info,
+    },
+    "static": {
+        "world/tf/base_link": _static_base_link,
+    },
+}
+
+agibot_x2_primitive = vis_module(
+    viewer_backend=global_config.viewer,
+    rerun_config=rerun_config,
+)
+
+__all__ = ["agibot_x2_primitive"]