krishna/Booster_K1_robot_integration

dimos/robot/all_blueprints.py

@@ -17,6 +17,10 @@
 
 all_blueprints = {
     "alfred-nav": "dimos.robot.diy.alfred.blueprints.alfred_nav:alfred_nav",
+    "booster-k1-basic": "dimos.robot.booster.k1.blueprints.basic.booster_k1_basic:booster_k1_basic",
+    "booster-k1-coordinator": "dimos.robot.booster.k1.blueprints.basic.booster_k1_coordinator:booster_k1_coordinator",
+    "booster-k1-coordinator-keyboard-teleop": "dimos.robot.booster.k1.blueprints.basic.booster_k1_coordinator_keyboard_teleop:booster_k1_coordinator_keyboard_teleop",
+    "booster-k1-keyboard-teleop": "dimos.robot.booster.k1.blueprints.basic.booster_k1_keyboard_teleop:booster_k1_keyboard_teleop",
     "coordinator-basic": "dimos.control.blueprints.basic:coordinator_basic",
     "coordinator-cartesian-ik-mock": "dimos.control.blueprints.teleop:coordinator_cartesian_ik_mock",
     "coordinator-cartesian-ik-piper": "dimos.control.blueprints.teleop:coordinator_cartesian_ik_piper",
@@ -178,6 +182,7 @@
     "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",
+    "k1-connection": "dimos.robot.booster.k1.connection.K1Connection",
     "keyboard-teleop": "dimos.robot.unitree.keyboard_teleop.KeyboardTeleop",
     "keyboard-teleop-module": "dimos.teleop.keyboard.keyboard_teleop_module.KeyboardTeleopModule",
     "local-planner": "dimos.navigation.nav_stack.modules.local_planner.local_planner.LocalPlanner",

dimos/robot/booster/k1/blueprints/basic/booster_k1_basic.py

@@ -0,0 +1,88 @@
+# 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.
+
+"""Basic Booster K1 blueprint: connection + camera visualization."""
+
+import platform
+from typing import Any
+
+from dimos.constants import DEFAULT_CAPACITY_COLOR_IMAGE
+from dimos.core.coordination.blueprints import autoconnect
+from dimos.core.global_config import global_config
+from dimos.core.transport import pSHMTransport
+from dimos.msgs.sensor_msgs.Image import Image
+from dimos.robot.booster.k1.connection import K1Connection
+from dimos.visualization.vis_module import vis_module
+
+# High-bandwidth camera frames go over shared memory (esp. needed on macOS UDP).
+_mac_transports: dict[tuple[str, type], pSHMTransport[Image]] = {
+    ("color_image", Image): pSHMTransport(
+        "color_image", default_capacity=DEFAULT_CAPACITY_COLOR_IMAGE
+    ),
+}
+
+_transports_base = (
+    autoconnect() if platform.system() == "Linux" else autoconnect().transports(_mac_transports)
+)
+
+
+def _convert_camera_info(camera_info: Any) -> Any:
+    return camera_info.to_rerun(
+        image_topic="/world/color_image",
+        optical_frame="camera_optical",
+    )
+
+
+def _k1_rerun_blueprint() -> Any:
+    """Camera feed + 3D world view side by side."""
+    import rerun.blueprint as rrb
+
+    return rrb.Blueprint(
+        rrb.Horizontal(
+            rrb.Spatial2DView(origin="world/color_image", name="Camera"),
+            rrb.Spatial3DView(origin="world", name="3D"),
+            column_shares=[1, 2],
+        ),
+        rrb.TimePanel(state="hidden"),
+        rrb.SelectionPanel(state="hidden"),
+    )
+
+
+rerun_config = {
+    "blueprint": _k1_rerun_blueprint,
+    "visual_override": {
+        "world/camera_info": _convert_camera_info,
+    },
+    "max_hz": {
+        "world/color_image": 0,
+    },
+}
+
+_with_vis = autoconnect(
+    _transports_base,
+    vis_module(
+        viewer_backend=global_config.viewer,
+        rerun_config=rerun_config,
+    ),
+)
+
+booster_k1_basic = autoconnect(
+    _with_vis,
+    K1Connection.blueprint(),
+).global_config(n_workers=4, robot_model="booster_k1")
+
+__all__ = [
+    "booster_k1_basic",
+    "rerun_config",
+]

dimos/robot/booster/k1/blueprints/basic/booster_k1_coordinator.py

@@ -0,0 +1,92 @@
+#!/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.
+
+"""Booster K1 ControlCoordinator: basic blueprint + coordinator via the LCM transport adapter.
+
+Like unitree_go2_coordinator, a twist base (vx, vy, wz) is driven through the
+ControlCoordinator velocity task and the `transport_lcm` adapter (which republishes base
+velocity on /booster_k1/cmd_vel). The K1 reports no odometry, so there is no odom wiring.
+Built on `booster_k1_basic`, so it carries the rerun viewer + camera; the viewer-side WASD
+surfaces (tele_cmd_vel) are remapped onto /cmd_vel to feed the coordinator's twist_command.
+Add KeyboardTeleop for a pygame window (booster_k1_coordinator_keyboard_teleop).
+
+Control path:
+    WASD -> /cmd_vel -> Coordinator.twist_command -> velocity task
+        -> transport_lcm adapter -> /booster_k1/cmd_vel -> K1Connection.move()
+
+Usage:
+    dimos --robot-ip <ip> --viewer rerun run booster-k1-coordinator
+"""
+
+from __future__ import annotations
+
+from dimos.control.components import HardwareComponent, HardwareType, make_twist_base_joints
+from dimos.control.coordinator import ControlCoordinator, TaskConfig
+from dimos.core.coordination.blueprints import autoconnect
+from dimos.core.transport import LCMTransport
+from dimos.msgs.geometry_msgs.Twist import Twist
+from dimos.msgs.sensor_msgs.JointState import JointState
+from dimos.robot.booster.k1.blueprints.basic.booster_k1_basic import booster_k1_basic
+from dimos.robot.booster.k1.connection import K1Connection
+from dimos.visualization.rerun.websocket_server import RerunWebSocketServer
+from dimos.web.websocket_vis.websocket_vis_module import WebsocketVisModule
+
+_k1_joints = make_twist_base_joints("booster_k1")
+
+booster_k1_coordinator = (
+    autoconnect(
+        booster_k1_basic,
+        ControlCoordinator.blueprint(
+            hardware=[
+                HardwareComponent(
+                    hardware_id="booster_k1",
+                    hardware_type=HardwareType.BASE,
+                    joints=_k1_joints,
+                    adapter_type="transport_lcm",
+                ),
+            ],
+            tasks=[
+                TaskConfig(
+                    name="vel_booster_k1",
+                    type="velocity",
+                    joint_names=_k1_joints,
+                    priority=10,
+                ),
+            ],
+        ),
+    )
+    .remappings(
+        [
+            # Free up the bare `cmd_vel` name for the teleop/twist publishers; the
+            # connection now listens on /booster_k1/cmd_vel (what the adapter emits).
+            (K1Connection, "cmd_vel", "k1_cmd_vel"),
+            # Route the viewer-side WASD surfaces onto /cmd_vel so they feed the
+            # coordinator's twist_command instead of a dead-end topic.
+            (WebsocketVisModule, "tele_cmd_vel", "cmd_vel"),
+            (RerunWebSocketServer, "tele_cmd_vel", "cmd_vel"),
+        ]
+    )
+    .transports(
+        {
+            ("cmd_vel", Twist): LCMTransport("/cmd_vel", Twist),
+            ("twist_command", Twist): LCMTransport("/cmd_vel", Twist),
+            ("k1_cmd_vel", Twist): LCMTransport("/booster_k1/cmd_vel", Twist),
+            ("joint_state", JointState): LCMTransport("/coordinator/joint_state", JointState),
+        }
+    )
+    .global_config(n_workers=6, robot_model="booster_k1")
+)
+
+__all__ = ["booster_k1_coordinator"]

dimos/robot/booster/k1/blueprints/basic/booster_k1_coordinator_keyboard_teleop.py

@@ -0,0 +1,36 @@
+#!/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.
+
+"""Booster K1 keyboard teleop through the ControlCoordinator path.
+
+WASD -> KeyboardTeleop.cmd_vel -> /cmd_vel -> Coordinator.twist_command
+   -> velocity task -> transport_lcm adapter -> /booster_k1/cmd_vel -> K1Connection.
+
+Usage:
+    dimos --robot-ip <ip> run booster-k1-coordinator-keyboard-teleop
+"""
+
+from __future__ import annotations
+
+from dimos.core.coordination.blueprints import autoconnect
+from dimos.robot.booster.k1.blueprints.basic.booster_k1_coordinator import booster_k1_coordinator
+from dimos.robot.unitree.keyboard_teleop import KeyboardTeleop
+
+booster_k1_coordinator_keyboard_teleop = autoconnect(
+    booster_k1_coordinator,
+    KeyboardTeleop.blueprint(publish_only_when_active=True),
+)
+
+__all__ = ["booster_k1_coordinator_keyboard_teleop"]

dimos/robot/booster/k1/blueprints/basic/booster_k1_keyboard_teleop.py

@@ -0,0 +1,49 @@
+# 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.
+
+"""Booster K1 keyboard teleop: WASD direct to the connection, camera in rerun.
+
+Two control surfaces both publish Twist on /cmd_vel -> K1Connection.move(): the
+pygame KeyboardTeleop window, and the rerun/Dashboard WASD overlay (its tele_cmd_vel
+remapped to cmd_vel). Camera renders in the rerun viewer (from booster_k1_basic).
+
+Controls: W/S fwd/back, Q/E strafe, A/D turn, Space e-stop, Shift 2x, Ctrl 0.5x, ESC quit.
+
+Usage:
+    dimos --robot-ip <ip> --viewer rerun run booster-k1-keyboard-teleop
+"""
+
+from __future__ import annotations
+
+from dimos.core.coordination.blueprints import autoconnect
+from dimos.robot.booster.k1.blueprints.basic.booster_k1_basic import booster_k1_basic
+from dimos.robot.unitree.keyboard_teleop import KeyboardTeleop
+from dimos.visualization.rerun.websocket_server import RerunWebSocketServer
+from dimos.web.websocket_vis.websocket_vis_module import WebsocketVisModule
+
+# publish_only_when_active keeps each surface silent while idle (one zero Twist on
+# release, then quiet) so the two /cmd_vel publishers don't fight; the connection's
+# dead-man timer halts the robot when commands stop. The viewer WASD output
+# (tele_cmd_vel) is remapped onto cmd_vel so it reaches K1Connection.
+booster_k1_keyboard_teleop = autoconnect(
+    booster_k1_basic,
+    KeyboardTeleop.blueprint(publish_only_when_active=True),
+).remappings(
+    [
+        (WebsocketVisModule, "tele_cmd_vel", "cmd_vel"),
+        (RerunWebSocketServer, "tele_cmd_vel", "cmd_vel"),
+    ]
+)
+
+__all__ = ["booster_k1_keyboard_teleop"]