R1Pro Quest VR teleop: Viser, tuned waist redundancy, Home preset and real entrypoint by TomCC7 · Pull Request #5084 · dimensionalOS/dimos

TomCC7 · 2026-11-06T04:33:33Z

Overview

Add Quest VR teleoperation with a fake default and an explicit real-hardware entrypoint. Stacked on #5019.

Problem

Device input mapping should stay separate from robot commands, and waist lift should not compete with arm IK.

Changes

Publish original Joy on receipt; map it in an independent JoystickTeleopMapper.
Route Twist to native body-velocity actions and Float32 lift speed to the torso task.
Keep Odometry separate from actions in both real and fake connections.
Let lift own lower torso joints 1/2, alongside IK owning top pitch/yaw and arms.
Use right-stick click as the body clutch: left X/Y translate, right X turns, right Y lifts.
Bound lift through measured state, joint limits and rate limits; clear intent on timeout, preemption and E-stop.
Preserve independent jaws, upper-body hold, Home preset and Viser. No automatic Home.

Run

dimos run r1pro-vr-teleop --g.listen_host 0.0.0.0 --g.viewer none

Physical entrypoint: r1pro-vr-teleop-real; hardware startup requires operator precautions. Controls and configuration are in the adjacent teleop README.

Validation

46 focused fake/VR/mapper/lift/task checks passed; registry generation check passed.
Targeted mypy passed on seven production files; Ruff passed.
Evidence is a threaded in-process fake chain, not multiprocess/headset or hardware acceptance. Physical backend was parsed, never started.
Defaults: 0.3 m/s translation, 0.5 rad/s yaw and 0.03 m/s lift. Hardware dynamics and new CI remain unverified.

github-actions

go2 replay realtime (arm64)

Details

Benchmark suite	Current: `f03b8b2`	Previous: `14c62ab`	Ratio
`peak memory`	`1773.133` MB	`1762.355` MB	`1.01`
`peak threads`	`374` threads	`385` threads	`0.97`
`network (transport)`	`2726.649` MB	`2731.013` MB	`1.00`
`disk write`	`1.855` MB	`1.605` MB	`1.16`
`instructions`	`139.518` G	`138.791` G	`1.01`

This comment was automatically generated by workflow using github-action-benchmark.

codecov · 2026-11-06T04:46:14Z

❌ 21 Tests Failed:

Tests completed	Failed	Passed	Skipped
8174	21	8153	55

View the top 3 failed test(s) by shortest run time

dimos.codebase_checks.test_blueprint_kwargs::test_blueprint_atom_kwargs_match_module_config[xarm6-planner-coordinator]

Stack Traces | 0.002s run time

blueprint_name = 'xarm6-planner-coordinator'
monkeypatch = <_pytest.monkeypatch.MonkeyPatch object at 0x17c9a67d0>

    @pytest.mark.parametrize("blueprint_name", _blueprint_params())
    def test_blueprint_atom_kwargs_match_module_config(
        blueprint_name: str, monkeypatch: pytest.MonkeyPatch
    ) -> None:
        """Fail when blueprint kwargs cannot be consumed by their target module."""
        # The multi-robot blueprints read ROBOT_IPS at import time.
        monkeypatch.setattr(global_config, "robot_ips", "192.0.2.10,192.0.2.11")
        blueprint = _get_blueprint_or_skip(blueprint_name)
    
        violations: list[str] = []
        for atom in blueprint.blueprints:
            unknown_kwargs = sorted(set(atom.kwargs) - _allowed_kwarg_names(atom.module))
            if unknown_kwargs:
                violations.append(
                    f"{atom.module.__module__}.{atom.module.__name__}: unknown kwargs {unknown_kwargs}"
                )
    
        if violations:
            listing = "\n".join(f"  - {violation}" for violation in violations)
>           raise AssertionError(
                f"Blueprint {blueprint_name!r} passes unknown module kwargs:\n{listing}\n\n"
                "Blueprint kwargs are forwarded into the module constructor. "
                "use fields from the config model or explicitly declared `__init__` keyword names."
            )
E           AssertionError: Blueprint 'xarm6-planner-coordinator' passes unknown module kwargs:
E             - dimos.robot.manipulators.xarm.blueprints.basic.XArmCoordinator: unknown kwargs ['model']
E           
E           Blueprint kwargs are forwarded into the module constructor. use fields from the config model or explicitly declared `__init__` keyword names.

atom       = BlueprintAtom(kwargs={'arm': 'xarm6', 'gripper': 'xarm'}, module=<class 'dimos.robot.manipulators.xarm.connection.XArm...e', type=<class 'dimos.msgs.sensor_msgs.JointState.JointState'>, direction='out')), module_refs=(), instance_name=None)
blueprint  = Blueprint(blueprints=(BlueprintAtom(kwargs={'model': RobotModelConfig(rpc_transport=<class 'dimos.protocol.rpc.zenohrp...Coordinator', 'arm_joint_state'): 'joint_state'}), requirement_checks=(), configurator_checks=(), hosted_placements=())
blueprint_name = 'xarm6-planner-coordinator'
listing    = "  - dimos.robot.manipulators.xarm.blueprints.basic.XArmCoordinator: unknown kwargs ['model']"
monkeypatch = <_pytest.monkeypatch.MonkeyPatch object at 0x17c9a67d0>
unknown_kwargs = []
violations = ["dimos.robot.manipulators.xarm.blueprints.basic.XArmCoordinator: unknown kwargs ['model']"]

dimos/codebase_checks/test_blueprint_kwargs.py:90: AssertionError

dimos.codebase_checks.test_blueprint_kwargs::test_blueprint_atom_kwargs_match_module_config[piper-teleop]

Stack Traces | 0.003s run time

blueprint_name = 'piper-teleop'
monkeypatch = <_pytest.monkeypatch.MonkeyPatch object at 0x17ae44790>

    @pytest.mark.parametrize("blueprint_name", _blueprint_params())
    def test_blueprint_atom_kwargs_match_module_config(
        blueprint_name: str, monkeypatch: pytest.MonkeyPatch
    ) -> None:
        """Fail when blueprint kwargs cannot be consumed by their target module."""
        # The multi-robot blueprints read ROBOT_IPS at import time.
        monkeypatch.setattr(global_config, "robot_ips", "192.0.2.10,192.0.2.11")
        blueprint = _get_blueprint_or_skip(blueprint_name)
    
        violations: list[str] = []
        for atom in blueprint.blueprints:
            unknown_kwargs = sorted(set(atom.kwargs) - _allowed_kwarg_names(atom.module))
            if unknown_kwargs:
                violations.append(
                    f"{atom.module.__module__}.{atom.module.__name__}: unknown kwargs {unknown_kwargs}"
                )
    
        if violations:
            listing = "\n".join(f"  - {violation}" for violation in violations)
>           raise AssertionError(
                f"Blueprint {blueprint_name!r} passes unknown module kwargs:\n{listing}\n\n"
                "Blueprint kwargs are forwarded into the module constructor. "
                "use fields from the config model or explicitly declared `__init__` keyword names."
            )
E           AssertionError: Blueprint 'piper-teleop' passes unknown module kwargs:
E             - dimos.robot.manipulators.piper.blueprints.teleop.PiperTwistCoordinator: unknown kwargs ['model']
E           
E           Blueprint kwargs are forwarded into the module constructor. use fields from the config model or explicitly declared `__init__` keyword names.

atom       = BlueprintAtom(kwargs={'model': RobotModel(_source_path=PosixPath('.../Users/runner/.cache.../robot_assets/sources/9e20...Ref(name='file_info', type=<class 'dimos.msgs.files.File.File'>, direction='out')), module_refs=(), instance_name=None)
blueprint  = Blueprint(blueprints=(BlueprintAtom(kwargs={'instance_name': 'ControlCoordinator', 'model': RobotModel(_source_path=Po...Coordinator', 'arm_joint_state'): 'joint_state'}), requirement_checks=(), configurator_checks=(), hosted_placements=())
blueprint_name = 'piper-teleop'
listing    = "  - dimos.robot.manipulators.piper.blueprints.teleop.PiperTwistCoordinator: unknown kwargs ['model']"
monkeypatch = <_pytest.monkeypatch.MonkeyPatch object at 0x17ae44790>
unknown_kwargs = []
violations = ["dimos.robot.manipulators.piper.blueprints.teleop.PiperTwistCoordinator: unknown kwargs ['model']"]

dimos/codebase_checks/test_blueprint_kwargs.py:90: AssertionError

dimos.robot.manipulators.piper.test_connection::test_a_failed_start_puts_the_arm_in_its_emergency_stop

Stack Traces | 0.004s run time

rig = <function rig.<locals>.build at 0x3413f39a0>
monkeypatch = <_pytest.monkeypatch.MonkeyPatch object at 0x341413a90>

    def test_a_failed_start_puts_the_arm_in_its_emergency_stop(
        rig: Callable[..., Rig], monkeypatch: pytest.MonkeyPatch
    ) -> None:
        def stuck(self: PiperConnection, home: list[float], timeout_s: float = 0.0) -> None:
            raise PiperError("the arm did not reach home")
    
        monkeypatch.setattr(PiperConnection, "_go_home", stuck)
        sdk = FakePiper()
        with pytest.raises(PiperError):
>           rig(sdk)

monkeypatch = <_pytest.monkeypatch.MonkeyPatch object at 0x341413a90>
rig        = <function rig.<locals>.build at 0x3413f39a0>
sdk        = <dimos.robot.manipulators.piper.test_connection.FakePiper object at 0x3414136d0>
stuck      = <function test_a_failed_start_puts_the_arm_in_its_emergency_stop.<locals>.stuck at 0x3413f3ac0>

.../manipulators/piper/test_connection.py:406: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../manipulators/piper/test_connection.py:231: in build
    module.start()
        fake       = <dimos.robot.manipulators.piper.test_connection.FakePiper object at 0x3414136d0>
        made       = [<dimos.robot.manipulators.piper.test_connection.Rig object at 0x341413f70>]
        module     = <dimos.robot.manipulators.piper.connection.PiperConnection object at 0x3414135b0>
        monkeypatch = <_pytest.monkeypatch.MonkeyPatch object at 0x341413a90>
        sdk        = <dimos.robot.manipulators.piper.test_connection.FakePiper object at 0x3414136d0>
        tmp_path   = PosixPath('.../pytest-0/popen-gw3/test_a_failed_start_puts_the_a0')
.../manipulators/piper/connection.py:190: in start
    super().start()
        __class__  = <class 'dimos.robot.manipulators.piper.connection.PiperConnection'>
        self       = <dimos.robot.manipulators.piper.connection.PiperConnection object at 0x3414135b0>
.../control/connection/connection_module.py:184: in start
    self._limits = limits_of(self.config)
        __class__  = <class 'dimos.control.connection.connection_module.ConnectionModule'>
        self       = <dimos.robot.manipulators.piper.connection.PiperConnection object at 0x3414135b0>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

config = PiperConfig(rpc_transport=<class 'dimos.protocol.rpc.zenohrpc.ZenohRPC'>, default_rpc_timeout=120.0, rpc_timeouts={'bu...can_port='can9', setup_can=True, gripper=True, speed_percent=50, home=(0.0, 0.0, 0.0, 0.0, 0.0, 0.0), jump_limit_s=0.1)

    def limits(config: ConnectionConfig) -> dict[str, Limits]:
        """Every key a robot accepts, with how far each may go, from its config.
    
        Only declared interfaces get keys, in model order. Declare PD_INTERFACES
        for joints driven by position, velocity, effort and gains together. Bounds
        come from the model; commands outside these bounds are rejected.
    
        Raises:
            ValueError: If joints are commanded without a model, no joint of the
                model moves, the model lacks a bound a command needs, or the
                config commands nothing.
        """
        source = config.source
        if not config.joint_commands:
            raise ValueError(f"{source!r} is told nothing: set joint_commands")
        if config.model is None:
            raise ValueError(f"{source!r} commands joints but has no model: set `model`")
        joints = {joint.name: joint for joint in movable_joints(config.model)}
        if not joints:
            raise ValueError(f"{source!r} has no joints to drive: none in its model moves")
>       unknown = config.joint_commands.keys() - joints.keys()
E       AttributeError: 'tuple' object has no attribute 'keys'

config     = PiperConfig(rpc_transport=<class 'dimos.protocol.rpc.zenohrpc.ZenohRPC'>, default_rpc_timeout=120.0, rpc_timeouts={'bu...can_port='can9', setup_can=True, gripper=True, speed_percent=50, home=(0.0, 0.0, 0.0, 0.0, 0.0, 0.0), jump_limit_s=0.1)
joints     = {'gripper': JointDescription(name='gripper', type='prismatic', parent_link='link6', child_link='gripper_link', origin_....0, 0.0), lower=-2.0, upper=2.0, velocity=3.0, acceleration=None, effort=100.0, axis=(1.0, 0.0, 0.0), mimic=None), ...}
source     = 'arm'

.../control/contract/limits.py:98: AttributeError

dimos.robot.manipulators.piper.test_connection::test_a_home_outside_the_limits_is_refused_before_the_arm_is_touched

Stack Traces | 0.004s run time

tmp_path = PosixPath('.../pytest-0/popen-gw3/test_a_home_outside_the_limits0')
monkeypatch = <_pytest.monkeypatch.MonkeyPatch object at 0x3415403d0>

    def test_a_home_outside_the_limits_is_refused_before_the_arm_is_touched(
        tmp_path: Path, monkeypatch: pytest.MonkeyPatch
    ) -> None:
        sdk = FakePiper()
        monkeypatch.setattr(connection, "_open_sdk", lambda port: sdk)
        module = PiperConnection(
            can_port=PORT, home=(10.0, 0.0, 0.0, 0.0, 0.0, 0.0), model=piper_like_model(tmp_path)
        )
        Rig(module, sdk)
        try:
            with pytest.raises(ValueError, match="joint1"):
>               module.start()

module     = <dimos.robot.manipulators.piper.connection.PiperConnection object at 0x3415408b0>
monkeypatch = <_pytest.monkeypatch.MonkeyPatch object at 0x3415403d0>
sdk        = <dimos.robot.manipulators.piper.test_connection.FakePiper object at 0x341542f80>
tmp_path   = PosixPath('.../pytest-0/popen-gw3/test_a_home_outside_the_limits0')

.../manipulators/piper/test_connection.py:421: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../manipulators/piper/connection.py:190: in start
    super().start()
        __class__  = <class 'dimos.robot.manipulators.piper.connection.PiperConnection'>
        self       = <dimos.robot.manipulators.piper.connection.PiperConnection object at 0x3415408b0>
.../control/connection/connection_module.py:184: in start
    self._limits = limits_of(self.config)
        __class__  = <class 'dimos.control.connection.connection_module.ConnectionModule'>
        self       = <dimos.robot.manipulators.piper.connection.PiperConnection object at 0x3415408b0>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

config = PiperConfig(rpc_transport=<class 'dimos.protocol.rpc.zenohrpc.ZenohRPC'>, default_rpc_timeout=120.0, rpc_timeouts={'bu...n_port='can9', setup_can=True, gripper=False, speed_percent=50, home=(10.0, 0.0, 0.0, 0.0, 0.0, 0.0), jump_limit_s=0.1)

    def limits(config: ConnectionConfig) -> dict[str, Limits]:
        """Every key a robot accepts, with how far each may go, from its config.
    
        Only declared interfaces get keys, in model order. Declare PD_INTERFACES
        for joints driven by position, velocity, effort and gains together. Bounds
        come from the model; commands outside these bounds are rejected.
    
        Raises:
            ValueError: If joints are commanded without a model, no joint of the
                model moves, the model lacks a bound a command needs, or the
                config commands nothing.
        """
        source = config.source
        if not config.joint_commands:
            raise ValueError(f"{source!r} is told nothing: set joint_commands")
        if config.model is None:
            raise ValueError(f"{source!r} commands joints but has no model: set `model`")
        joints = {joint.name: joint for joint in movable_joints(config.model)}
        if not joints:
            raise ValueError(f"{source!r} has no joints to drive: none in its model moves")
>       unknown = config.joint_commands.keys() - joints.keys()
E       AttributeError: 'tuple' object has no attribute 'keys'

config     = PiperConfig(rpc_transport=<class 'dimos.protocol.rpc.zenohrpc.ZenohRPC'>, default_rpc_timeout=120.0, rpc_timeouts={'bu...n_port='can9', setup_can=True, gripper=False, speed_percent=50, home=(10.0, 0.0, 0.0, 0.0, 0.0, 0.0), jump_limit_s=0.1)
joints     = {'gripper': JointDescription(name='gripper', type='prismatic', parent_link='link6', child_link='gripper_link', origin_....0, 0.0), lower=-2.0, upper=2.0, velocity=3.0, acceleration=None, effort=100.0, axis=(1.0, 0.0, 0.0), mimic=None), ...}
source     = 'arm'

.../control/contract/limits.py:98: AttributeError

dimos.robot.manipulators.piper.test_connection::test_an_arm_with_a_fault_is_not_sent_home_when_stopping

Stack Traces | 0.004s run time

rig = <function rig.<locals>.build at 0x3413f0d30>

    def test_an_arm_with_a_fault_is_not_sent_home_when_stopping(rig: Callable[..., Rig]) -> None:
>       r = rig()

rig        = <function rig.<locals>.build at 0x3413f0d30>

.../manipulators/piper/test_connection.py:428: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../manipulators/piper/test_connection.py:231: in build
    module.start()
        fake       = <dimos.robot.manipulators.piper.test_connection.FakePiper object at 0x34149b370>
        made       = [<dimos.robot.manipulators.piper.test_connection.Rig object at 0x341499fc0>]
        module     = <dimos.robot.manipulators.piper.connection.PiperConnection object at 0x341499960>
        monkeypatch = <_pytest.monkeypatch.MonkeyPatch object at 0x3414996c0>
        sdk        = None
        tmp_path   = PosixPath('.../pytest-0/popen-gw3/test_an_arm_with_a_fault_is_no0')
.../manipulators/piper/connection.py:190: in start
    super().start()
        __class__  = <class 'dimos.robot.manipulators.piper.connection.PiperConnection'>
        self       = <dimos.robot.manipulators.piper.connection.PiperConnection object at 0x341499960>
.../control/connection/connection_module.py:184: in start
    self._limits = limits_of(self.config)
        __class__  = <class 'dimos.control.connection.connection_module.ConnectionModule'>
        self       = <dimos.robot.manipulators.piper.connection.PiperConnection object at 0x341499960>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

config = PiperConfig(rpc_transport=<class 'dimos.protocol.rpc.zenohrpc.ZenohRPC'>, default_rpc_timeout=120.0, rpc_timeouts={'bu...can_port='can9', setup_can=True, gripper=True, speed_percent=50, home=(0.0, 0.0, 0.0, 0.0, 0.0, 0.0), jump_limit_s=0.1)

    def limits(config: ConnectionConfig) -> dict[str, Limits]:
        """Every key a robot accepts, with how far each may go, from its config.
    
        Only declared interfaces get keys, in model order. Declare PD_INTERFACES
        for joints driven by position, velocity, effort and gains together. Bounds
        come from the model; commands outside these bounds are rejected.
    
        Raises:
            ValueError: If joints are commanded without a model, no joint of the
                model moves, the model lacks a bound a command needs, or the
                config commands nothing.
        """
        source = config.source
        if not config.joint_commands:
            raise ValueError(f"{source!r} is told nothing: set joint_commands")
        if config.model is None:
            raise ValueError(f"{source!r} commands joints but has no model: set `model`")
        joints = {joint.name: joint for joint in movable_joints(config.model)}
        if not joints:
            raise ValueError(f"{source!r} has no joints to drive: none in its model moves")
>       unknown = config.joint_commands.keys() - joints.keys()
E       AttributeError: 'tuple' object has no attribute 'keys'

config     = PiperConfig(rpc_transport=<class 'dimos.protocol.rpc.zenohrpc.ZenohRPC'>, default_rpc_timeout=120.0, rpc_timeouts={'bu...can_port='can9', setup_can=True, gripper=True, speed_percent=50, home=(0.0, 0.0, 0.0, 0.0, 0.0, 0.0), jump_limit_s=0.1)
joints     = {'gripper': JointDescription(name='gripper', type='prismatic', parent_link='link6', child_link='gripper_link', origin_....0, 0.0), lower=-2.0, upper=2.0, velocity=3.0, acceleration=None, effort=100.0, axis=(1.0, 0.0, 0.0), mimic=None), ...}
source     = 'arm'

.../control/contract/limits.py:98: AttributeError

dimos.robot.manipulators.piper.test_connection::test_a_silent_arm_is_not_reported_and_takes_no_joint_target