feat(teleop): add LiveKit hosted teleop module

dimos/robot/all_blueprints.py

@@ -91,10 +91,13 @@
     "openarm-planner-coordinator": "dimos.robot.manipulators.openarm.blueprints.planner:openarm_planner_coordinator",
     "openyam-planner-coordinator": "dimos.robot.manipulators.openyam.blueprints.basic:openyam_planner_coordinator",
     "path-planner-eval": "dimos.navigation.nav_3d.evaluator.blueprints:path_planner_eval",
+    "teleop-hosted-go2-livekit": "dimos.teleop.hosted.blueprints.livekit:teleop_hosted_go2_livekit",
     "teleop-hosted-go2-multicam": "dimos.teleop.hosted.blueprints.cloudflare:teleop_hosted_go2_multicam",
     "teleop-hosted-go2-transport": "dimos.teleop.hosted.blueprints.cloudflare:teleop_hosted_go2_transport",
     "teleop-hosted-xarm6": "dimos.teleop.hosted.blueprints.cloudflare:teleop_hosted_xarm6",
+    "teleop-hosted-xarm6-livekit": "dimos.teleop.hosted.blueprints.livekit:teleop_hosted_xarm6_livekit",
     "teleop-hosted-xarm7": "dimos.teleop.hosted.blueprints.cloudflare:teleop_hosted_xarm7",
+    "teleop-hosted-xarm7-livekit": "dimos.teleop.hosted.blueprints.livekit:teleop_hosted_xarm7_livekit",
     "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",
@@ -224,6 +227,9 @@
     "joystick-module": "dimos.robot.unitree.b1.joystick_module.JoystickModule",
     "keyboard-teleop": "dimos.robot.unitree.keyboard_teleop.KeyboardTeleop",
     "keyboard-teleop-module": "dimos.teleop.keyboard.keyboard_teleop_module.KeyboardTeleopModule",
+    "live-kit-front-camera": "dimos.teleop.hosted.blueprints.livekit.LiveKitFrontCamera",
+    "live-kit-teleop-module": "dimos.teleop.hosted.livekit.LiveKitTeleopModule",
+    "live-kit-wrist-camera": "dimos.teleop.hosted.blueprints.livekit.LiveKitWristCamera",
     "local-planner": "dimos.navigation.cmu_nav.modules.local_planner.local_planner.LocalPlanner",
     "manipulation-module": "dimos.manipulation.manipulation_module.ManipulationModule",
     "map": "dimos.robot.unitree.type.map.Map",

dimos/teleop/hosted/blueprints/livekit.py

@@ -0,0 +1,121 @@
+# Copyright 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.
+
+"""Hosted teleoperation blueprints backed by a LiveKit edge module."""
+
+from __future__ import annotations
+
+from dimos.core.coordination.blueprints import autoconnect
+from dimos.core.transport import LCMTransport
+from dimos.hardware.sensors.camera.realsense.camera import RealSenseCamera
+from dimos.mapping.costmapper import CostMapper
+from dimos.mapping.voxels.module import VoxelGridMapper
+from dimos.msgs.geometry_msgs.Twist import Twist
+from dimos.navigation.movement_manager.movement_manager import MovementManager
+from dimos.navigation.replanning_a_star.module import ReplanningAStarPlanner
+from dimos.robot.manipulators.xarm.blueprints.teleop import (
+    coordinator_teleop_xarm6,
+    coordinator_teleop_xarm7,
+)
+from dimos.robot.unitree.go2.connection import GO2Connection
+from dimos.teleop.hosted.arm_command import ArmCommandModule
+from dimos.teleop.hosted.camera_mux import CameraMuxModule
+from dimos.teleop.hosted.go2_command import Go2CommandModule
+from dimos.teleop.hosted.hosted_stats import HostedStatsModule
+from dimos.teleop.hosted.livekit import LiveKitTeleopModule
+from dimos.teleop.hosted.map_compress import MapCompressModule
+from dimos.teleop.hosted.robot_type import RobotType
+
+
+class LiveKitFrontCamera(RealSenseCamera):
+    pass
+
+
+class LiveKitWristCamera(RealSenseCamera):
+    pass
+
+
+teleop_hosted_go2_livekit = (
+    autoconnect(
+        GO2Connection.blueprint(),
+        Go2CommandModule.blueprint(allow_acrobatics=True),
+        CameraMuxModule.blueprint(cameras=["cam1"]),
+        HostedStatsModule.blueprint(),
+        MapCompressModule.blueprint(),
+        LiveKitTeleopModule.blueprint(robot_type=RobotType.GO2),
+        VoxelGridMapper.blueprint(emit_every=5),
+        CostMapper.blueprint(),
+        ReplanningAStarPlanner.blueprint(),
+        MovementManager.blueprint(),
+    )
+    .remappings([(GO2Connection, "color_image", "cam1")])
+    .transports(
+        {
+            ("tele_cmd_vel", Twist): LCMTransport.spec("/hosted/tele_cmd_vel", Twist),
+            ("nav_cmd_vel", Twist): LCMTransport.spec("/hosted/nav_cmd_vel", Twist),
+            ("cmd_vel", Twist): LCMTransport.spec("/hosted/cmd_vel", Twist),
+        }
+    )
+    .global_config(viewer="none", n_workers=2)
+)
+
+
+teleop_hosted_xarm6_livekit = (
+    autoconnect(
+        ArmCommandModule.blueprint(task_names={"right": "teleop_xarm"}),
+        HostedStatsModule.blueprint(),
+        CameraMuxModule.blueprint(cameras=["cam1", "cam2"]),
+        LiveKitTeleopModule.blueprint(robot_type=RobotType.ARM),
+        coordinator_teleop_xarm6,
+        LiveKitFrontCamera.blueprint(
+            camera_name="front", enable_depth=False, enable_pointcloud=False
+        ),
+        LiveKitWristCamera.blueprint(
+            camera_name="wrist", enable_depth=False, enable_pointcloud=False
+        ),
+    )
+    .remappings(
+        [
+            (LiveKitFrontCamera, "color_image", "cam1"),
+            (LiveKitWristCamera, "color_image", "cam2"),
+            (ArmCommandModule, "right_controller_output", "coordinator_cartesian_command"),
+        ]
+    )
+    .global_config(viewer="none", n_workers=1)
+)
+
+
+teleop_hosted_xarm7_livekit = (
+    autoconnect(
+        ArmCommandModule.blueprint(task_names={"right": "teleop_xarm"}),
+        HostedStatsModule.blueprint(),
+        CameraMuxModule.blueprint(cameras=["cam1", "cam2"]),
+        LiveKitTeleopModule.blueprint(robot_type=RobotType.ARM),
+        coordinator_teleop_xarm7,
+        LiveKitFrontCamera.blueprint(
+            camera_name="front", enable_depth=False, enable_pointcloud=False
+        ),
+        LiveKitWristCamera.blueprint(
+            camera_name="wrist", enable_depth=False, enable_pointcloud=False
+        ),
+    )
+    .remappings(
+        [
+            (LiveKitFrontCamera, "color_image", "cam1"),
+            (LiveKitWristCamera, "color_image", "cam2"),
+            (ArmCommandModule, "right_controller_output", "coordinator_cartesian_command"),
+        ]
+    )
+    .global_config(viewer="none", n_workers=1)
+)