feat(hosted-teleop): Arm hosted teleoperation over the Cloudflare broker by ruthwikdasyam · Pull Request #3004 · dimensionalOS/dimos

ruthwikdasyam · 2026-07-16T18:40:23Z

Contribution path

Small, safe change that does not need a tracking issue
Linked issue or discussion: DIM-XXX / #XXX / URL

Feature

Hosted teleop support to drive a xArm from a remote operator (browser or Quest VR) over the Cloudflare broker
eef_twist task had no gripper support or idle-hold behavior needed for a manipulator.

Closes DIM-1131

Solution

ArmCommandModule - operator command/E-STOP plane over the broker. Handles browser EE-twist (with a stale/out-of-order gate), the gripper toggle, and E-STOP.
EEFTwistTask - now holds its pose when idle and adds gripper output, so the arm doesn't sag or snap back.
Coordinator - new gripper_command input routed to the gripper-capable tasks.
Blueprints - teleop-hosted-xarm6 / -xarm7: VR + browser keyboard drive the same arm, with two RealSense cameras in the mux.
xArm adapter - clears stale faults on connect and always disables motion on deactivate (a failed home no longer leaves the arm energized).

How to Test

Real arm (xArm6, two RealSense units):

dimos run teleop-hosted-xarm6 -o frontcamera.serial_number=<serial> -o wristcamera.serial_number=<serial>

xArm7: set XARM7_IP and run teleop-hosted-xarm7. Broker key is read from .env (TRANSPORTS__BROKER__API_KEY).
Connect from the operator page, engage in VR or with WASD/QE in the browser, Space toggles the gripper.

AI assistance

Claude Code (Fable 5 / Opus 4.8) - used for method implementations, refactoring, review; all changes reviewed and verified by me.

Checklist

This PR is scoped to one issue or clearly stated problem.
I ran the relevant checks (uv run pytest, pre-commit) for the files I changed.
I have reviewed and understood every line in this PR.
I disclosed AI assistance above.
I have read and approved the CLA.

codecov · 2026-07-16T18:50:22Z

Codecov Report

❌ Patch coverage is 88.91129% with 55 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	81.54%	23 Missing and 8 partials ⚠️
dimos/control/coordinator.py	33.33%	8 Missing ⚠️
dimos/control/tasks/teleop_task/teleop_task.py	20.00%	8 Missing ⚠️
dimos/hardware/manipulators/xarm/adapter.py	25.00%	5 Missing and 1 partial ⚠️
...mos/control/tasks/eef_twist_task/eef_twist_task.py	98.27%	0 Missing and 1 partial ⚠️
dimos/teleop/hosted/test_arm_command.py	99.32%	0 Missing and 1 partial ⚠️

@@            Coverage Diff             @@
##             main    #3004      +/-   ##
==========================================
+ Coverage   72.99%   73.14%   +0.15%     
==========================================
  Files        1031     1033       +2     
  Lines       93177    93633     +456     
  Branches     8479     8518      +39     
==========================================
+ Hits        68018    68492     +474     
+ Misses      22835    22804      -31     
- Partials     2324     2337      +13

Flag	Coverage Δ
OS-ubuntu-24.04-arm	`66.23% <88.70%> (+0.07%)`	⬆️
OS-ubuntu-latest	`68.52% <88.70%> (+0.05%)`	⬆️
Py-3.10	`68.50% <88.70%> (+0.05%)`	⬆️
Py-3.11	`68.50% <88.70%> (+0.05%)`	⬆️
Py-3.12	`68.50% <88.70%> (+0.05%)`	⬆️
Py-3.13	`68.50% <88.70%> (+0.05%)`	⬆️
Py-3.14	`68.51% <88.70%> (+0.04%)`	⬆️
Py-3.14t	`68.51% <88.70%> (+0.05%)`	⬆️
SelfHosted-Large	`30.11% <26.22%> (+0.02%)`	⬆️
SelfHosted-Linux	`37.18% <27.61%> (-0.05%)`	⬇️
SelfHosted-macOS	`36.07% <27.61%> (-0.05%)`	⬇️

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

Files with missing lines	Coverage Δ
dimos/control/routing.py	`100.00% <ø> (ø)`
dimos/control/tasks/eef_twist_task/_registry.py	`100.00% <ø> (ø)`
...ontrol/tasks/eef_twist_task/test_eef_twist_task.py	`100.00% <100.00%> (ø)`
dimos/robot/all_blueprints.py	`100.00% <ø> (ø)`
dimos/robot/manipulators/common/blueprints.py	`88.57% <100.00%> (+1.07%)`	⬆️
dimos/robot/manipulators/xarm/blueprints/teleop.py	`100.00% <100.00%> (ø)`
dimos/robot/manipulators/xarm/config.py	`89.09% <100.00%> (+3.90%)`	⬆️
dimos/robot/test_all_blueprints.py	`87.50% <ø> (ø)`
dimos/teleop/hosted/blueprints/cloudflare.py	`100.00% <100.00%> (ø)`
dimos/teleop/quest_hosted/blueprints.py	`100.00% <100.00%> (ø)`
... and 6 more

... and 9 files with indirect coverage changes

🚀 New features to boost your workflow:

📦 JS Bundle Analysis: Save yourself from yourself by tracking and limiting bundle sizes in JS merges.

#3006)

…der-shutdown hook)

…-limited warn

…or this PR)

… hardware-cameras only

…R pose by name

…oves to /5); warn on future-stamped twists

…rint registry

…nvention

…eef gripper tests, logger over print, comment fixes

…p gripper-hold note

… unordered/lossy)

…arative task routing)

…ransit ones can't replay on clear

@Dreamsorcerer

* fix: better save path for nav recordings (dimensionalOS#2796) * feat(transport): rust zenoh support and api refactor (dimensionalOS#2753) * feat(arduino): add ArduinoModule with full arduino sim (and real arduino) support (dimensionalOS#1879) * Swastika/docs chore/cleanup and fix links (dimensionalOS#2832) * Velocity API (dimensionalOS#2859) * holonomic trajectory controller (dimensionalOS#2697) Co-authored-by: danvi <bogdan@dimensionalos.com> Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> Co-authored-by: leshy <lesh@sysphere.org> * fix(config): merge nested module overrides (dimensionalOS#2829) * fix(mls-planner): macOS fix, link pyo3 cdylib (dimensionalOS#2836) * revert(voxels): drop unused time_window mode from VoxelGrid (dimensionalOS#2845) * Revert "feat(arduino): add ArduinoModule with full arduino sim (and r… (dimensionalOS#2868) * feat: external blueprint registration (dimensionalOS#2517) * Fix test_basic_deployment in CI (dimensionalOS#2767) * Run CI on merge queue (dimensionalOS#2936) * fix: disallow unused _ variables (dimensionalOS#2928) * Add Galaxea A1Z arm in simulation (dimensionalOS#2947) Co-authored-by: cc <cc7@duck.com> Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> Co-authored-by: cc <55869557+TomCC7@users.noreply.github.com> * Initial xArm6 WorldBelief perception stack (dimensionalOS#2665) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> * feat(g1-groot): navigation on the real G1 (Point-LIO + raytracing costmap) (dimensionalOS#2861) Co-authored-by: Jeff Hykin <jeff.hykin@gmail.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> * Swastika/docs/navigation relocalization (dimensionalOS#2764) Co-authored-by: Cursor <cursoragent@cursor.com> * docs(teleop): rename Hosted Teleop page to Remote Teleop (dimensionalOS#2967) * feat(hosted-teleop): Go2 teleoperation over Cloudflare broker (dimensionalOS#2798) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> Co-authored-by: spomichter <pomichterstash@gmail.com> Co-authored-by: Sam Bull <git@sambull.org> Co-authored-by: Paul Nechifor <paul@nechifor.net> * DimSim scene editing/authoring in JS + moving inside dimos (dimensionalOS#2187) Co-authored-by: Paul Nechifor <paul@nechifor.net> Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: Copilot Autofix powered by AI <62310815+github-advanced-security[bot]@users.noreply.github.com> Co-authored-by: Claude Opus 4.8 (1M context) <noreply@anthropic.com> * fix(unitree): marshal stop_movement zero-twist onto the loop thread (dimensionalOS#2977) * chore: bump version to 0.0.14b1 (beta pre-release) (dimensionalOS#2971) * add latency graph and description to hosted teleop page (dimensionalOS#2982) * docs(hosted-teleop): operator how-to + config/architecture refresh (dimensionalOS#2945) Co-authored-by: stash <pomichterstash@gmail.com> * serve LFS media via dimos-docs-assets so it renders on mintlify (dimensionalOS#2973) * style(docs): fix trailing whitespace breaking lint on main (dimensionalOS#2991) * add dimTELE banner (dimensionalOS#2984) Co-authored-by: stash <pomichterstash@gmail.com> * feat: blueprint namespaces (dimensionalOS#2725) * fix: delete dead dimsim code (dimensionalOS#2980) Co-authored-by: leshy <lesh@sysphere.org> * fix: run all tests locally (dimensionalOS#2995) * add gitHub community files for contributors and AI-assisted development (dimensionalOS#2347) * fix: large file (dimensionalOS#3003) * Fix/ivan/3d planner voxel colors (dimensionalOS#2983) * feat: ban `__new__` (dimensionalOS#3009) * fix: remove removed cibuildwheel enable group breaking release builds (dimensionalOS#3007) * [Backport release/0.0.14b1] fix: remove removed cibuildwheel enable group breaking release builds (dimensionalOS#3013) Co-authored-by: stash <pomichterstash@gmail.com> * build(deps): bump the actions group across 1 directory with 6 updates (dimensionalOS#3056) Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> * fix(manipulation): stabilize agentic xArm simulation (dimensionalOS#2999) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> Co-authored-by: Paul Nechifor <paul@nechifor.net> * fewer fields (dimensionalOS#3052) * Build all GC Roots into Cachix (dimensionalOS#2866) * Control coordinator refactor to add declarative task (dimensionalOS#2959) Co-authored-by: Paul Nechifor <paul@nechifor.net> Co-authored-by: leshy <lesh@sysphere.org> * feat(hosted-teleop): Arm hosted teleoperation over the Cloudflare broker (dimensionalOS#3004) * feat(control): removes frozen set of input streams - now Any Input stream can be routed to the control coordinator (dimensionalOS#3110) * chore: add OpenYAM URDF support (dimensionalOS#3049) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> * feat: add Viser robot mesh display options (dimensionalOS#3112) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> * add links to cards (dimensionalOS#3065) * [Tests] Add unit tests for SequentialIds (dimensionalOS#3060) * feat(web): PR 1 - Deno (dimensionalOS#3042) * Ivan/feat/go2zenoh (dimensionalOS#3141) * feat: Piper teleop polishing (dimensionalOS#3101) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> * feat(hosted-teleop): auto-select operator view via robot_type broker config (dimensionalOS#3144) * chore: remove get_project_root (dimensionalOS#3131) * Add backport label to Dependabot PRs and check docker weekly (dimensionalOS#3067) * fix memory issues DIM-1326 (dimensionalOS#3149) Co-authored-by: danvi <bogdan@dimensionalos.com> * docs(drone): fix dead pre-built RosettaDrone APK link (dimensionalOS#2546) Co-authored-by: Paul Nechifor <paul@nechifor.net> * feat: manipulation planning group (dimensionalOS#2645) Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> * Go2 holonomic Pose tracker trajectory controller (dimensionalOS#2948) Co-authored-by: Ivan Nikolic <lesh@sysphere.org> * feat(web): PR 2 - Relay (dimensionalOS#3043) * ai disclose rule update (dimensionalOS#3028) * Replace httpx with aiohttp (dimensionalOS#2974) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> Co-authored-by: Paul Nechifor <paul@nechifor.net> * fix(memory2): recorder ingress reception_ts + poseless streams (dimensionalOS#2927) * ci: smoke-build a wheel on PRs touching release build config (dimensionalOS#3008) * Fix typos and grammar (dimensionalOS#2726) Co-authored-by: mintlify[bot] <109931778+mintlify[bot]@users.noreply.github.com> Co-authored-by: Paul Nechifor <paul@nechifor.net> * feat: visualize manipulation obstacles (dimensionalOS#3108) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> * feat(web): PR 3 - Python client (dimensionalOS#3044) * feat(web): PR 4 - E2E (dimensionalOS#3045) * Swastika/chore/readme update (dimensionalOS#3027) * Persist dependencies on disk (dimensionalOS#3167) * ci: label first-time contributor PRs (dimensionalOS#3171) * Add @Dreamsorcerer as global codeowner (dimensionalOS#3165) * feat(m20): integrate official MuJoCo model * docs(m20): add official MuJoCo integration guide * docs(m20): add English guide and fidelity review * docs(m20): make English guide primary * docs(m20): document lateral and yaw limitation * docs(m20): add MuJoCo test matrix * docs(m20): consolidate test matrix into guides * docs(m20): clarify guide reading order * fix(memory2): preserve recorder ingress timing * fix(memory2): avoid undefined frame in pose warning * fix(config): merge nested module overrides (dimensionalOS#2829) (cherry picked from commit 66ce423) * style: format Zenoh service --------- Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: Andrew Lauer <69774903+aclauer@users.noreply.github.com> Co-authored-by: Jeff Hykin <jeff.hykin@gmail.com> Co-authored-by: Swastika <44317853+swstica@users.noreply.github.com> Co-authored-by: Dan Vi <bogwi@tutamail.com> Co-authored-by: danvi <bogdan@dimensionalos.com> Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> Co-authored-by: leshy <lesh@sysphere.org> Co-authored-by: cc <55869557+TomCC7@users.noreply.github.com> Co-authored-by: Paul Nechifor <paul@nechifor.net> Co-authored-by: Sam Bull <git@sambull.org> Co-authored-by: Krishna_Hundekari <113392023+KrishnaH96@users.noreply.github.com> Co-authored-by: cc <cc7@duck.com> Co-authored-by: Jheng-Yi Lin <75511000+jhengyilin@users.noreply.github.com> Co-authored-by: Pim Van den Bosch <49974392+Nabla7@users.noreply.github.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: stash <pomichterstash@gmail.com> Co-authored-by: ruthwikdasyam <63036454+ruthwikdasyam@users.noreply.github.com> Co-authored-by: Viswajit <39920874+Viswa4599@users.noreply.github.com> Co-authored-by: Copilot Autofix powered by AI <62310815+github-advanced-security[bot]@users.noreply.github.com> Co-authored-by: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Co-authored-by: dimos-release-bot[bot] <4143859+dimos-release-bot[bot]@users.noreply.github.com> Co-authored-by: Mustafa Bhadsorawala <39084056+mustafab0@users.noreply.github.com> Co-authored-by: 起岚 <155608604+xiaoyaoqilan@users.noreply.github.com> Co-authored-by: Daniel Eneh <72442267+Danny024@users.noreply.github.com> Co-authored-by: mintlify[bot] <109931778+mintlify[bot]@users.noreply.github.com>

@Dreamsorcerer

* fix: better save path for nav recordings (dimensionalOS#2796) * feat(transport): rust zenoh support and api refactor (dimensionalOS#2753) * feat(arduino): add ArduinoModule with full arduino sim (and real arduino) support (dimensionalOS#1879) * Swastika/docs chore/cleanup and fix links (dimensionalOS#2832) * Velocity API (dimensionalOS#2859) * holonomic trajectory controller (dimensionalOS#2697) Co-authored-by: danvi <bogdan@dimensionalos.com> Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> Co-authored-by: leshy <lesh@sysphere.org> * fix(config): merge nested module overrides (dimensionalOS#2829) * fix(mls-planner): macOS fix, link pyo3 cdylib (dimensionalOS#2836) * revert(voxels): drop unused time_window mode from VoxelGrid (dimensionalOS#2845) * Revert "feat(arduino): add ArduinoModule with full arduino sim (and r… (dimensionalOS#2868) * feat: external blueprint registration (dimensionalOS#2517) * Fix test_basic_deployment in CI (dimensionalOS#2767) * Run CI on merge queue (dimensionalOS#2936) * fix: disallow unused _ variables (dimensionalOS#2928) * Add Galaxea A1Z arm in simulation (dimensionalOS#2947) Co-authored-by: cc <cc7@duck.com> Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> Co-authored-by: cc <55869557+TomCC7@users.noreply.github.com> * Initial xArm6 WorldBelief perception stack (dimensionalOS#2665) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> * feat(g1-groot): navigation on the real G1 (Point-LIO + raytracing costmap) (dimensionalOS#2861) Co-authored-by: Jeff Hykin <jeff.hykin@gmail.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> * Swastika/docs/navigation relocalization (dimensionalOS#2764) Co-authored-by: Cursor <cursoragent@cursor.com> * docs(teleop): rename Hosted Teleop page to Remote Teleop (dimensionalOS#2967) * feat(hosted-teleop): Go2 teleoperation over Cloudflare broker (dimensionalOS#2798) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> Co-authored-by: spomichter <pomichterstash@gmail.com> Co-authored-by: Sam Bull <git@sambull.org> Co-authored-by: Paul Nechifor <paul@nechifor.net> * DimSim scene editing/authoring in JS + moving inside dimos (dimensionalOS#2187) Co-authored-by: Paul Nechifor <paul@nechifor.net> Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: Copilot Autofix powered by AI <62310815+github-advanced-security[bot]@users.noreply.github.com> Co-authored-by: Claude Opus 4.8 (1M context) <noreply@anthropic.com> * fix(unitree): marshal stop_movement zero-twist onto the loop thread (dimensionalOS#2977) * chore: bump version to 0.0.14b1 (beta pre-release) (dimensionalOS#2971) * add latency graph and description to hosted teleop page (dimensionalOS#2982) * docs(hosted-teleop): operator how-to + config/architecture refresh (dimensionalOS#2945) Co-authored-by: stash <pomichterstash@gmail.com> * serve LFS media via dimos-docs-assets so it renders on mintlify (dimensionalOS#2973) * style(docs): fix trailing whitespace breaking lint on main (dimensionalOS#2991) * add dimTELE banner (dimensionalOS#2984) Co-authored-by: stash <pomichterstash@gmail.com> * feat: blueprint namespaces (dimensionalOS#2725) * fix: delete dead dimsim code (dimensionalOS#2980) Co-authored-by: leshy <lesh@sysphere.org> * fix: run all tests locally (dimensionalOS#2995) * add gitHub community files for contributors and AI-assisted development (dimensionalOS#2347) * fix: large file (dimensionalOS#3003) * Fix/ivan/3d planner voxel colors (dimensionalOS#2983) * feat: ban `__new__` (dimensionalOS#3009) * fix: remove removed cibuildwheel enable group breaking release builds (dimensionalOS#3007) * [Backport release/0.0.14b1] fix: remove removed cibuildwheel enable group breaking release builds (dimensionalOS#3013) Co-authored-by: stash <pomichterstash@gmail.com> * build(deps): bump the actions group across 1 directory with 6 updates (dimensionalOS#3056) Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> * fix(manipulation): stabilize agentic xArm simulation (dimensionalOS#2999) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> Co-authored-by: Paul Nechifor <paul@nechifor.net> * fewer fields (dimensionalOS#3052) * Build all GC Roots into Cachix (dimensionalOS#2866) * Control coordinator refactor to add declarative task (dimensionalOS#2959) Co-authored-by: Paul Nechifor <paul@nechifor.net> Co-authored-by: leshy <lesh@sysphere.org> * feat(hosted-teleop): Arm hosted teleoperation over the Cloudflare broker (dimensionalOS#3004) * feat(control): removes frozen set of input streams - now Any Input stream can be routed to the control coordinator (dimensionalOS#3110) * chore: add OpenYAM URDF support (dimensionalOS#3049) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> * feat: add Viser robot mesh display options (dimensionalOS#3112) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> * add links to cards (dimensionalOS#3065) * [Tests] Add unit tests for SequentialIds (dimensionalOS#3060) * feat(web): PR 1 - Deno (dimensionalOS#3042) * Ivan/feat/go2zenoh (dimensionalOS#3141) * feat: Piper teleop polishing (dimensionalOS#3101) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> * feat(hosted-teleop): auto-select operator view via robot_type broker config (dimensionalOS#3144) * chore: remove get_project_root (dimensionalOS#3131) * Add backport label to Dependabot PRs and check docker weekly (dimensionalOS#3067) * fix memory issues DIM-1326 (dimensionalOS#3149) Co-authored-by: danvi <bogdan@dimensionalos.com> * docs(drone): fix dead pre-built RosettaDrone APK link (dimensionalOS#2546) Co-authored-by: Paul Nechifor <paul@nechifor.net> * feat: manipulation planning group (dimensionalOS#2645) Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> * Go2 holonomic Pose tracker trajectory controller (dimensionalOS#2948) Co-authored-by: Ivan Nikolic <lesh@sysphere.org> * feat(web): PR 2 - Relay (dimensionalOS#3043) * ai disclose rule update (dimensionalOS#3028) * Replace httpx with aiohttp (dimensionalOS#2974) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> Co-authored-by: Paul Nechifor <paul@nechifor.net> * fix(memory2): recorder ingress reception_ts + poseless streams (dimensionalOS#2927) * ci: smoke-build a wheel on PRs touching release build config (dimensionalOS#3008) * Fix typos and grammar (dimensionalOS#2726) Co-authored-by: mintlify[bot] <109931778+mintlify[bot]@users.noreply.github.com> Co-authored-by: Paul Nechifor <paul@nechifor.net> * feat: visualize manipulation obstacles (dimensionalOS#3108) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> * feat(web): PR 3 - Python client (dimensionalOS#3044) * feat(web): PR 4 - E2E (dimensionalOS#3045) * Swastika/chore/readme update (dimensionalOS#3027) * Persist dependencies on disk (dimensionalOS#3167) * ci: label first-time contributor PRs (dimensionalOS#3171) * Add @Dreamsorcerer as global codeowner (dimensionalOS#3165) * feat: add RoboPlan multi-robot planning (dimensionalOS#3155) --------- Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: Andrew Lauer <69774903+aclauer@users.noreply.github.com> Co-authored-by: Jeff Hykin <jeff.hykin@gmail.com> Co-authored-by: Swastika <44317853+swstica@users.noreply.github.com> Co-authored-by: Dan Vi <bogwi@tutamail.com> Co-authored-by: danvi <bogdan@dimensionalos.com> Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> Co-authored-by: leshy <lesh@sysphere.org> Co-authored-by: cc <55869557+TomCC7@users.noreply.github.com> Co-authored-by: Paul Nechifor <paul@nechifor.net> Co-authored-by: Sam Bull <git@sambull.org> Co-authored-by: Krishna_Hundekari <113392023+KrishnaH96@users.noreply.github.com> Co-authored-by: cc <cc7@duck.com> Co-authored-by: Jheng-Yi Lin <75511000+jhengyilin@users.noreply.github.com> Co-authored-by: Pim Van den Bosch <49974392+Nabla7@users.noreply.github.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: stash <pomichterstash@gmail.com> Co-authored-by: ruthwikdasyam <63036454+ruthwikdasyam@users.noreply.github.com> Co-authored-by: Viswajit <39920874+Viswa4599@users.noreply.github.com> Co-authored-by: Copilot Autofix powered by AI <62310815+github-advanced-security[bot]@users.noreply.github.com> Co-authored-by: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Co-authored-by: dimos-release-bot[bot] <4143859+dimos-release-bot[bot]@users.noreply.github.com> Co-authored-by: Mustafa Bhadsorawala <39084056+mustafab0@users.noreply.github.com> Co-authored-by: 起岚 <155608604+xiaoyaoqilan@users.noreply.github.com> Co-authored-by: Daniel Eneh <72442267+Danny024@users.noreply.github.com> Co-authored-by: mintlify[bot] <109931778+mintlify[bot]@users.noreply.github.com>

ruthwikdasyam force-pushed the ruthwik/hostedteleop/3 branch from 3813ac5 to e916677 Compare July 16, 2026 19:06

ruthwikdasyam mentioned this pull request Jul 16, 2026

feat(keyboard-teleop): Space toggles a Bool output; faster jog speeds #3006

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ruthwikdasyam added 2 commits July 16, 2026 13:48

feat(hosted-teleop): xarm hosted teleop over the cloudflare broker

680e440

revert keyboard-teleop changes (split to ruthwik/fix/keyboardteleop, PR

eb6426e

#3006)

ruthwikdasyam force-pushed the ruthwik/hostedteleop/3 branch from 76da6f6 to eb6426e Compare July 16, 2026 20:49

ruthwikdasyam added 15 commits July 16, 2026 13:55

revert core changes (dead livekit config-key machinery + worker provi…

121b605

…der-shutdown hook)

feat(hosted-arm): drop stale/out-of-order ee_twist commands with rate…

512e779

…-limited warn

revert realsense color_format option (yuyv escape hatch, not needed f…

032ad01

…or this PR)

revert provider shutdown fix (moved to ruthwik/hostedteleop/5)

1c8a4aa

strip sim support (moved to ruthwik/hostedteleop/3.2) — hosted arm is…

9935ac2

… hardware-cameras only

refactor(hosted-arm): inline transports, self-wire LCM ports, remap V…

57b1154

…R pose by name

style(xarm-adapter): trim fault-clear comment, restore main docstring

9410e57

refactor(hosted-arm): drop provider shutdown from stop (worker hook m…

fbca056

…oves to /5); warn on future-stamped twists

style(hosted-blueprints): move arm blueprints below the go2 ones

3e30700

refactor(xarm): hoist gripper params to config as XARM_GRIPPER_PARAMS

8ee4eb6

rename legacy hosted xarm7 to teleop-hosted-module-xarm7; regen bluep…

24a8827

…rint registry

revert teleop_ik delta-cap default to 5 deg; blueprints opt into 50

90df0be

style: trim comments and docstrings across hosted-arm files

1d78a96

test(arm-command): standardize on module fixture naming per review co…

549f45c

…nvention

review: revert buttons sub to teleop_ik-only, add module docstring + …

aaa656c

…eef gripper tests, logger over print, comment fixes

ruthwikdasyam changed the title ~~Ruthwik/hostedteleop/3~~ feat(hosted-teleop): xArm hosted teleoperation over the Cloudflare broker Jul 17, 2026

ruthwikdasyam changed the title ~~feat(hosted-teleop): xArm hosted teleoperation over the Cloudflare broker~~ feat(hosted-teleop): Arm hosted teleoperation over the Cloudflare broker Jul 17, 2026

Merge branch 'main' into ruthwik/hostedteleop/3

713385b

ruthwikdasyam marked this pull request as ready for review July 17, 2026 19:01

ruthwikdasyam requested review from leshy, mustafab0, paul-nechifor and spomichter as code owners July 17, 2026 19:01

ruthwikdasyam added the backport:skip Skip creating a backport to any release branches label Jul 17, 2026

ruthwikdasyam assigned mustafab0 and spomichter Jul 17, 2026

greptile-apps Bot reviewed Jul 17, 2026

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Comment thread dimos/teleop/hosted/arm_command.py

Comment thread dimos/control/tasks/eef_twist_task/eef_twist_task.py

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Comment thread dimos/control/tasks/eef_twist_task/eef_twist_task.py Outdated

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Comment thread dimos/teleop/hosted/arm_command.py

ruthwikdasyam added 2 commits July 20, 2026 16:16

review(eef-twist): lock is_active read; trim set_estop docstring, kee…

0b09b6d

…p gripper-hold note

Merge branch 'main' into ruthwik/hostedteleop/3

1ec7368

github-actions Bot added ready-to-merge Required CI checks have passed on this PR and removed ready-to-merge Required CI checks have passed on this PR labels Jul 20, 2026

feat(hosted-arm): drop stale/out-of-order VR poses (cmd_unreliable is…

a75dcb6

… unordered/lossy)

github-actions Bot added ready-to-merge Required CI checks have passed on this PR and removed ready-to-merge Required CI checks have passed on this PR labels Jul 21, 2026

Merge origin/main into ruthwik/hostedteleop/3 (port gripper onto decl…

4410b88

…arative task routing)

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Comment thread dimos/control/tasks/eef_twist_task/eef_twist_task.py

fix(eef-twist): reject twist/gripper commands while E-STOPped so in-t…

90287e0

…ransit ones can't replay on clear

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Comment thread dimos/control/coordinator.py

mustafab0 approved these changes Jul 21, 2026

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ruthwikdasyam unassigned paul-nechifor, spomichter and mustafab0 Jul 21, 2026

ruthwikdasyam enabled auto-merge July 21, 2026 19:27

ruthwikdasyam added this pull request to the merge queue Jul 21, 2026

github-actions Bot added the ready-to-merge Required CI checks have passed on this PR label Jul 21, 2026

Merged via the queue into main with commit 3871007 Jul 21, 2026
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ruthwikdasyam deleted the ruthwik/hostedteleop/3 branch July 21, 2026 20:08

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feat(hosted-teleop): Arm hosted teleoperation over the Cloudflare broker - #3004

feat(hosted-teleop): Arm hosted teleoperation over the Cloudflare broker#3004
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