fix: rename teleop blueprints, remove VisualizingTeleopModule

AGENTS.md

@@ -43,7 +43,7 @@ dimos restart          # stop + re-run with same original args
 | `unitree-g1-agentic-sim` | G1 | sim | GPT-4o (G1 prompt) | — | Full agentic sim, no real robot needed |
 | `xarm-perception-agent` | xArm | real | GPT-4o | — | Manipulation + perception + agent |
 | `xarm7-trajectory-sim` | xArm7 | sim | — | — | Trajectory planning sim |
-| `arm-teleop-xarm7` | xArm7 | real | — | — | Quest VR teleop |
+| `teleop-quest-xarm7` | xArm7 | real | — | — | Quest VR teleop |
 | `dual-xarm6-planner` | xArm6×2 | real | — | — | Dual-arm motion planner |
 
 Run `dimos list` for the full list.

dimos/robot/all_blueprints.py

@@ -16,11 +16,6 @@
 # Run `pytest dimos/robot/test_all_blueprints_generation.py` to regenerate.
 
 all_blueprints = {
-    "arm-teleop": "dimos.teleop.quest.blueprints:arm_teleop",
-    "arm-teleop-dual": "dimos.teleop.quest.blueprints:arm_teleop_dual",
-    "arm-teleop-piper": "dimos.teleop.quest.blueprints:arm_teleop_piper",
-    "arm-teleop-visualizing": "dimos.teleop.quest.blueprints:arm_teleop_visualizing",
-    "arm-teleop-xarm7": "dimos.teleop.quest.blueprints:arm_teleop_xarm7",
     "coordinator-basic": "dimos.control.blueprints:coordinator_basic",
     "coordinator-cartesian-ik-mock": "dimos.control.blueprints:coordinator_cartesian_ik_mock",
     "coordinator-cartesian-ik-piper": "dimos.control.blueprints:coordinator_cartesian_ik_piper",
@@ -60,9 +55,13 @@
     "mid360-fastlio": "dimos.hardware.sensors.lidar.fastlio2.fastlio_blueprints:mid360_fastlio",
     "mid360-fastlio-voxels": "dimos.hardware.sensors.lidar.fastlio2.fastlio_blueprints:mid360_fastlio_voxels",
     "mid360-fastlio-voxels-native": "dimos.hardware.sensors.lidar.fastlio2.fastlio_blueprints:mid360_fastlio_voxels_native",
-    "phone-go2-fleet-teleop": "dimos.teleop.phone.blueprints:phone_go2_fleet_teleop",
-    "phone-go2-teleop": "dimos.teleop.phone.blueprints:phone_go2_teleop",
-    "simple-phone-teleop": "dimos.teleop.phone.blueprints:simple_phone_teleop",
+    "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",
+    "teleop-quest-dual": "dimos.teleop.quest.blueprints:teleop_quest_dual",
+    "teleop-quest-piper": "dimos.teleop.quest.blueprints:teleop_quest_piper",
+    "teleop-quest-rerun": "dimos.teleop.quest.blueprints:teleop_quest_rerun",
+    "teleop-quest-xarm7": "dimos.teleop.quest.blueprints:teleop_quest_xarm7",
     "uintree-g1-primitive-no-nav": "dimos.robot.unitree.g1.blueprints.primitive.uintree_g1_primitive_no_nav:uintree_g1_primitive_no_nav",
     "unitree-g1": "dimos.robot.unitree.g1.blueprints.perceptive.unitree_g1:unitree_g1",
     "unitree-g1-agentic": "dimos.robot.unitree.g1.blueprints.agentic.unitree_g1_agentic:unitree_g1_agentic",
@@ -143,7 +142,6 @@
     "temporal-memory": "dimos.perception.experimental.temporal_memory.temporal_memory",
     "twist-teleop-module": "dimos.teleop.quest.quest_extensions",
     "unitree-skills": "dimos.robot.unitree.unitree_skill_container",
-    "visualizing-teleop-module": "dimos.teleop.quest.quest_extensions",
     "vlm-agent": "dimos.agents.vlm_agent",
     "vlm-stream-tester": "dimos.agents.vlm_stream_tester",
     "voxel-mapper": "dimos.mapping.voxels",

dimos/teleop/README.md

@@ -35,9 +35,6 @@ Toggle-based engage — press primary button once to engage, press again to dise
 ### TwistTeleopModule
 Outputs TwistStamped (linear + angular velocity) instead of PoseStamped.
 
-### VisualizingTeleopModule
-Adds Rerun visualization for debugging. Extends ArmTeleopModule (toggle engage).
-
 ### PhoneTeleopModule
 Base phone teleop module. Receives orientation + gyro data from phone motion sensors, computes velocity commands from orientation deltas.
 
@@ -68,7 +65,7 @@ Filters to mobile-base axes (linear.x, linear.y, angular.z) and publishes as `Tw
 teleop/
 ├── quest/
 │   ├── quest_teleop_module.py   # Base Quest teleop module
-│   ├── quest_extensions.py      # ArmTeleop, TwistTeleop, VisualizingTeleop
+│   ├── quest_extensions.py      # ArmTeleop, TwistTeleop
 │   ├── quest_types.py           # QuestControllerState, Buttons
 │   └── web/
 │       └── static/index.html    # WebXR client
@@ -80,15 +77,14 @@ teleop/
 │       └── static/index.html    # Mobile sensor web app
 ├── utils/
 │   ├── teleop_transforms.py     # WebXR → robot frame math
-│   └── teleop_visualization.py  # Rerun visualization helpers
 └── blueprints.py                # Module blueprints for easy instantiation
 ```
 
 ## Quick Start
 
 ```bash
-dimos run arm-teleop            # Quest arm teleop
-dimos run phone-go2-teleop      # Phone → Go2
+dimos run teleop-quest-rerun     # Quest teleop + Rerun viz
+dimos run teleop-phone-go2      # Phone → Go2
 ```
 
 Open `https://<host-ip>:<port>/teleop` on device. Accept the self-signed certificate.

dimos/teleop/phone/README.md

@@ -12,8 +12,8 @@ Phone Browser  ──WebSocket──→  Embedded HTTPS Server  ──→  Phone
 ## Running
 
 ```bash
-dimos run phone-go2-teleop     # Go2
-dimos run simple-phone-teleop  # Generic ground robot
+dimos run teleop-phone-go2     # Go2
+dimos run teleop-phone         # Generic ground robot
 ```
 
 Open `https://<host-ip>:8444/teleop` on phone. Accept cert, allow sensors, connect, hold to drive.

dimos/teleop/phone/blueprints.py

@@ -19,21 +19,21 @@
 from dimos.teleop.phone.phone_extensions import simple_phone_teleop_module
 
 # Simple phone teleop (mobile base axis filtering + cmd_vel output)
-simple_phone_teleop = autoconnect(
+teleop_phone = autoconnect(
     simple_phone_teleop_module(),
 )
 
 # Phone teleop wired to Unitree Go2
-phone_go2_teleop = autoconnect(
+teleop_phone_go2 = autoconnect(
     simple_phone_teleop_module(),
     unitree_go2_basic,
 )
 
 # Phone teleop wired to Go2 fleet — twist commands sent to all robots
-phone_go2_fleet_teleop = autoconnect(
+teleop_phone_go2_fleet = autoconnect(
     simple_phone_teleop_module(),
     unitree_go2_fleet,
 )
 
 
-__all__ = ["phone_go2_fleet_teleop", "phone_go2_teleop", "simple_phone_teleop"]
+__all__ = ["teleop_phone", "teleop_phone_go2", "teleop_phone_go2_fleet"]

dimos/teleop/quest/README.md

@@ -12,10 +12,10 @@ Quest Browser  ──WebSocket──→  Embedded HTTPS Server  ──→  Quest
 ## Running
 
 ```bash
-dimos run arm-teleop           # Basic arm teleop
-dimos run arm-teleop-xarm6     # XArm6
-dimos run arm-teleop-piper     # Piper
-dimos run arm-teleop-dual      # Dual arm
+dimos run teleop-quest-rerun    # Quest teleop + Rerun viz
+dimos run teleop-quest-xarm7   # XArm7
+dimos run teleop-quest-piper   # Piper
+dimos run teleop-quest-dual    # Dual arm
 ```
 
 Open `https://<host-ip>:8443/teleop` on Quest browser. Accept cert, tap Connect.
@@ -42,7 +42,7 @@ Open `https://<host-ip>:8443/teleop` on Quest browser. Accept cert, tap Connect.
 ```
 quest/
 ├── quest_teleop_module.py   # Base module
-├── quest_extensions.py      # ArmTeleop, TwistTeleop, VisualizingTeleop
+├── quest_extensions.py      # ArmTeleop, TwistTeleop
 ├── quest_types.py           # QuestControllerState, Buttons
 ├── blueprints.py
 └── web/static/index.html    # WebXR client

dimos/teleop/quest/blueprints.py

@@ -23,23 +23,14 @@
 from dimos.core.blueprints import autoconnect
 from dimos.core.transport import LCMTransport
 from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
-from dimos.teleop.quest.quest_extensions import arm_teleop_module, visualizing_teleop_module
+from dimos.teleop.quest.quest_extensions import arm_teleop_module
 from dimos.teleop.quest.quest_types import Buttons
+from dimos.visualization.rerun.bridge import rerun_bridge
 
-# Arm teleop with press-and-hold engage
-arm_teleop = autoconnect(
+# Arm teleop with press-and-hold engage (has rerun viz)
+teleop_quest_rerun = autoconnect(
     arm_teleop_module(),
-).transports(
-    {
-        ("left_controller_output", PoseStamped): LCMTransport("/teleop/left_delta", PoseStamped),
-        ("right_controller_output", PoseStamped): LCMTransport("/teleop/right_delta", PoseStamped),
-        ("buttons", Buttons): LCMTransport("/teleop/buttons", Buttons),
-    }
-)
-
-# Arm teleop with Rerun visualization
-arm_teleop_visualizing = autoconnect(
-    visualizing_teleop_module(),
+    rerun_bridge(),
 ).transports(
     {
         ("left_controller_output", PoseStamped): LCMTransport("/teleop/left_delta", PoseStamped),
@@ -50,9 +41,7 @@
 
 
 # Single XArm7 teleop: right controller -> xarm7
-# Usage: dimos run arm-teleop-xarm7
-
-arm_teleop_xarm7 = autoconnect(
+teleop_quest_xarm7 = autoconnect(
     arm_teleop_module(task_names={"right": "teleop_xarm"}),
     coordinator_teleop_xarm7,
 ).transports(
@@ -66,8 +55,7 @@
 
 
 # Single Piper teleop: left controller -> piper arm
-# Usage: dimos run arm-teleop-piper
-arm_teleop_piper = autoconnect(
+teleop_quest_piper = autoconnect(
     arm_teleop_module(task_names={"left": "teleop_piper"}),
     coordinator_teleop_piper,
 ).transports(
@@ -81,7 +69,7 @@
 
 
 # Dual arm teleop: right -> piper, left -> xarm6 (TeleopIK)
-arm_teleop_dual = autoconnect(
+teleop_quest_dual = autoconnect(
     arm_teleop_module(task_names={"right": "teleop_piper", "left": "teleop_xarm"}),
     coordinator_teleop_dual,
 ).transports(
@@ -98,9 +86,8 @@
 
 
 __all__ = [
-    "arm_teleop",
-    "arm_teleop_dual",
-    "arm_teleop_piper",
-    "arm_teleop_visualizing",
-    "arm_teleop_xarm7",
+    "teleop_quest_dual",
+    "teleop_quest_piper",
+    "teleop_quest_rerun",
+    "teleop_quest_xarm7",
 ]

dimos/teleop/quest/quest_extensions.py

@@ -17,7 +17,6 @@
 Available subclasses:
     - ArmTeleopModule: Per-hand press-and-hold engage (X/A hold to track), task name routing
     - TwistTeleopModule: Outputs Twist instead of PoseStamped
-    - VisualizingTeleopModule: Adds Rerun visualization (inherits press-and-hold engage)
 """
 
 from typing import Any
@@ -29,10 +28,6 @@
 from dimos.msgs.geometry_msgs.TwistStamped import TwistStamped
 from dimos.teleop.quest.quest_teleop_module import Hand, QuestTeleopConfig, QuestTeleopModule
 from dimos.teleop.quest.quest_types import Buttons, QuestControllerState
-from dimos.teleop.utils.teleop_visualization import (
-    visualize_buttons,
-    visualize_pose,
-)
 
 
 class TwistTeleopConfig(QuestTeleopConfig):
@@ -138,51 +133,14 @@ def _publish_button_state(
         self.buttons.publish(buttons)
 
 
-class VisualizingTeleopModule(ArmTeleopModule):
-    """Quest teleop with Rerun visualization.
-
-    Adds visualization of controller poses and trigger values to Rerun.
-    Useful for debugging and development.
-
-    Outputs:
-        - left_controller_output: PoseStamped (inherited)
-        - right_controller_output: PoseStamped (inherited)
-        - buttons: Buttons (inherited)
-    """
-
-    def _get_output_pose(self, hand: Hand) -> PoseStamped | None:
-        """Get output pose and visualize in Rerun."""
-        output_pose = super()._get_output_pose(hand)
-
-        if output_pose is not None:
-            current_pose = self._current_poses.get(hand)
-            controller = self._controllers.get(hand)
-            if current_pose is not None:
-                label = "left" if hand == Hand.LEFT else "right"
-                visualize_pose(current_pose, label)
-
-                if controller:
-                    visualize_buttons(
-                        label,
-                        primary=controller.primary,
-                        secondary=controller.secondary,
-                        grip=controller.grip,
-                        trigger=controller.trigger,
-                    )
-        return output_pose
-
-
 # Module blueprints for easy instantiation
 twist_teleop_module = TwistTeleopModule.blueprint
 arm_teleop_module = ArmTeleopModule.blueprint
-visualizing_teleop_module = VisualizingTeleopModule.blueprint
 
 __all__ = [
     "ArmTeleopConfig",
     "ArmTeleopModule",
     "TwistTeleopModule",
-    "VisualizingTeleopModule",
     "arm_teleop_module",
     "twist_teleop_module",
-    "visualizing_teleop_module",
 ]