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feat(webrtc): send robot_id through the broker transport #2492

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feat(webrtc): send robot_id through the broker transport #2492

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8 changes: 5 additions & 3 deletions dimos/protocol/pubsub/impl/webrtc/providers/broker.py
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Original file line number Diff line number Diff line change
Expand Up @@ -31,12 +31,14 @@
The aiortc/CF quirks this inherits (MAX_BUNDLE, the id=0 throwaway channel)
are documented in ``dimos/teleop/quest_hosted/README.md``.

``robot_id`` is a per-transport label (set on ``CloudflareTransport`` /
``BrokerConfig``) distinguishing multiple robots under one key — it lives on
the transport, not the process, so two robots on one machine stay distinct.

Env vars (fallback when config fields are unset):
TELEOP_BROKER_URL — default https://teleop.dimensionalos.com
TELEOP_API_KEY — robot API key (dtk_live_*); the broker derives the
robot identity from it
TELEOP_ROBOT_ID — optional robot identifier override (must match the
key's namespaced robot id when set)
TELEOP_ROBOT_NAME — human-readable robot name
"""

Expand Down Expand Up @@ -109,7 +111,7 @@ def __init__(self, config: BrokerConfig | None = None) -> None:
or os.environ.get("TELEOP_BROKER_URL", "https://teleop.dimensionalos.com")
).rstrip("/")
self._api_key = config.api_key or os.environ.get("TELEOP_API_KEY", "")
self._robot_id = config.robot_id or os.environ.get("TELEOP_ROBOT_ID", "")
self._robot_id = config.robot_id or ""
self._robot_name = config.robot_name or os.environ.get("TELEOP_ROBOT_NAME", "robot")
if not self._api_key:
raise RuntimeError(
Expand Down
6 changes: 5 additions & 1 deletion dimos/teleop/quest_hosted/blueprints.py
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Original file line number Diff line number Diff line change
Expand Up @@ -68,8 +68,12 @@
# CloudflareTransport("state_reliable_back", ...) the same way.
#
# Run: TELEOP_API_KEY=dtk_live_... dimos run teleop-hosted-go2-transport
# (robot identity is derived from the key; TELEOP_ROBOT_ID optional)
# then connect from https://teleop.dimensionalos.com (keyboard view).
#
# robot_id is a per-transport kwarg (rides the pickled config to the provider),
# so running several robots off one key just means a distinct id per blueprint —
# e.g. CloudflareTransport("cmd_unreliable", TwistStamped, robot_id="go2-a").
# Omitted here → empty; the broker still keeps sessions distinct by session id.
Comment on lines +73 to +76

@greptile-apps greptile-apps Bot Jun 14, 2026

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P1 The example sets robot_id only on CloudflareTransport while leaving CloudflareVideoTransport() with no robot_id. Because ProviderConfig.provider() is a per-process singleton keyed on config equality, a data transport with BrokerConfig(robot_id="go2-a") and a video transport with BrokerConfig(robot_id="") resolve to two different providers — two separate broker sessions. Video lands on one session; data channels on the other, silently breaking teleop. The robot_id must be set identically on every transport in the blueprint that should share a session.

Suggested change
# robot_id is a per-transport kwarg (rides the pickled config to the provider),
# so running several robots off one key just means a distinct id per blueprint —
# e.g. CloudflareTransport("cmd_unreliable", TwistStamped, robot_id="go2-a").
# Omitted here → empty; the broker still keeps sessions distinct by session id.
# robot_id is a per-blueprint label: every transport in the blueprint must carry
# the same robot_id so they all resolve to the same per-process provider
# singleton (configs are compared by equality — a mismatch creates two separate
# broker sessions, splitting data channels from the video track).
# e.g. CloudflareTransport("cmd_unreliable", TwistStamped, robot_id="go2-a"),
# CloudflareVideoTransport(robot_id="go2-a")
# Omitted here → empty; the broker still keeps sessions distinct by session id.

teleop_hosted_go2_transport = unitree_go2_basic.transports(
{
("cmd_vel", Twist): CloudflareTransport("cmd_unreliable", TwistStamped),
Expand Down
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