Feat: Phone teleoperation stack with Go2 example

dimos/msgs/geometry_msgs/Twist.py

@@ -88,6 +88,24 @@ def is_zero(self) -> bool:
         """Check if this is a zero twist (no linear or angular velocity)."""
         return self.linear.is_zero() and self.angular.is_zero()
 
+    def __sub__(self, other: Twist) -> Twist:
+        """Component-wise subtraction: self - other."""
+        if not isinstance(other, Twist):
+            return NotImplemented
+        return Twist(
+            linear=self.linear - other.linear,
+            angular=self.angular - other.angular,
+        )
+
+    def __add__(self, other: Twist) -> Twist:
+        """Component-wise addition: self + other."""
+        if not isinstance(other, Twist):
+            return NotImplemented
+        return Twist(
+            linear=self.linear + other.linear,
+            angular=self.angular + other.angular,
+        )
+
     def __bool__(self) -> bool:
         """Boolean conversion for Twist.
 

dimos/robot/all_blueprints.py

@@ -16,11 +16,11 @@
 # Run `pytest dimos/robot/test_all_blueprints_generation.py` to regenerate.
 
 all_blueprints = {
-    "arm-teleop": "dimos.teleop.blueprints:arm_teleop",
-    "arm-teleop-dual": "dimos.teleop.blueprints:arm_teleop_dual",
-    "arm-teleop-piper": "dimos.teleop.blueprints:arm_teleop_piper",
-    "arm-teleop-visualizing": "dimos.teleop.blueprints:arm_teleop_visualizing",
-    "arm-teleop-xarm6": "dimos.teleop.blueprints:arm_teleop_xarm6",
+    "arm-teleop": "dimos.teleop.quest.blueprints:arm_teleop",
+    "arm-teleop-dual": "dimos.teleop.quest.blueprints:arm_teleop_dual",
+    "arm-teleop-piper": "dimos.teleop.quest.blueprints:arm_teleop_piper",
+    "arm-teleop-visualizing": "dimos.teleop.quest.blueprints:arm_teleop_visualizing",
+    "arm-teleop-xarm6": "dimos.teleop.quest.blueprints:arm_teleop_xarm6",
     "coordinator-basic": "dimos.control.blueprints:coordinator_basic",
     "coordinator-cartesian-ik-mock": "dimos.control.blueprints:coordinator_cartesian_ik_mock",
     "coordinator-cartesian-ik-piper": "dimos.control.blueprints:coordinator_cartesian_ik_piper",
@@ -47,6 +47,8 @@
     "demo-osm": "dimos.mapping.osm.demo_osm:demo_osm",
     "demo-skill": "dimos.agents.skills.demo_skill:demo_skill",
     "dual-xarm6-planner": "dimos.manipulation.manipulation_blueprints:dual_xarm6_planner",
+    "phone-go2-teleop": "dimos.teleop.phone.blueprints:phone_go2_teleop",
+    "simple-phone-teleop": "dimos.teleop.phone.blueprints:simple_phone_teleop",
     "uintree-g1-primitive-no-nav": "dimos.robot.unitree.g1.blueprints.primitive.uintree_g1_primitive_no_nav:uintree_g1_primitive_no_nav",
     "unitree-g1": "dimos.robot.unitree.g1.blueprints.perceptive.unitree_g1:unitree_g1",
     "unitree-g1-agentic": "dimos.robot.unitree.g1.blueprints.agentic.unitree_g1_agentic:unitree_g1_agentic",
@@ -107,11 +109,13 @@
     "osm_skill": "dimos.agents.skills.osm",
     "person_follow_skill": "dimos.agents.skills.person_follow",
     "person_tracker_module": "dimos.perception.detection.person_tracker",
+    "phone_teleop_module": "dimos.teleop.phone.phone_teleop_module",
     "quest_teleop_module": "dimos.teleop.quest.quest_teleop_module",
     "realsense_camera": "dimos.hardware.sensors.camera.realsense.camera",
     "replanning_a_star_planner": "dimos.navigation.replanning_a_star.module",
     "rerun_bridge": "dimos.visualization.rerun.bridge",
     "ros_nav": "dimos.navigation.rosnav",
+    "simple_phone_teleop_module": "dimos.teleop.phone.phone_extensions",
     "simulation": "dimos.simulation.manipulators.sim_module",
     "spatial_memory": "dimos.perception.spatial_perception",
     "speak_skill": "dimos.agents.skills.speak_skill",

dimos/teleop/README.md

@@ -56,15 +56,20 @@ Adds Rerun visualization for debugging. Extends ArmTeleopModule (toggle engage).
 
 ```
 teleop/
-├── base/
-│   └── teleop_protocol.py      # TeleopProtocol interface
 ├── quest/
 │   ├── quest_teleop_module.py   # Base Quest teleop module
 │   ├── quest_extensions.py      # ArmTeleop, TwistTeleop, VisualizingTeleop
 │   ├── quest_types.py           # QuestControllerState, Buttons
 │   └── web/                     # Deno bridge + WebXR client
 │       ├── teleop_server.ts
 │       └── static/index.html
+├── phone/
+│   ├── phone_teleop_module.py   # Base Phone teleop module
+│   ├── phone_extensions.py      # SimplePhoneTeleop
+│   ├── blueprints.py            # Pre-wired configurations
+│   └── web/                     # Deno bridge + mobile web app
+│       ├── teleop_server.ts
+│       └── static/index.html
 ├── utils/
 │   ├── teleop_transforms.py     # WebXR → robot frame math
 │   └── teleop_visualization.py  # Rerun visualization helpers

dimos/teleop/__init__.py

@@ -13,7 +13,3 @@
 # limitations under the License.
 
 """Teleoperation modules for DimOS."""
-
-from dimos.teleop.base import TeleopProtocol
-
-__all__ = ["TeleopProtocol"]

dimos/teleop/phone/README.md

@@ -0,0 +1,70 @@
+# Phone Teleop
+
+Teleoperation via smartphone motion sensors. Tilt to drive.
+
+## Architecture
+
+```
+Phone Browser (DeviceOrientation + DeviceMotion)
+    |
+    |  TwistStamped + Bool via WebSocket
+    v
+Deno Bridge (teleop_server.ts)
+    |
+    |  LCM topics
+    v
+PhoneTeleopModule
+    |  Orientation delta from home pose
+    |  Gains -> velocity commands
+    v
+TwistStamped / Twist outputs
+```
+
+## Modules
+
+### PhoneTeleopModule
+Base module. Receives raw sensor data and button state. On engage (button hold), captures home orientation and publishes deltas as TwistStamped. Launches the Deno bridge server automatically.
+
+### SimplePhoneTeleop
+Filters to mobile-base axes (linear.x, linear.y, angular.z) and publishes as `Twist` on `cmd_vel` for direct autoconnect wiring with any module that has `cmd_vel: In[Twist]`.
+
+## Subclassing
+
+Override these methods:
+
+| Method | Purpose |
+|--------|---------|
+| `_handle_engage()` | Customize engage/disengage logic |
+| `_should_publish()` | Add conditions for when to publish |
+| `_publish_msg()` | Change output format |
+
+**Do not acquire `self._lock` in overrides.** The control loop already holds it.
+
+## LCM Topics
+
+| Topic | Type | Description |
+|-------|------|-------------|
+| `/phone_sensors` | TwistStamped | linear=(roll,pitch,yaw) deg, angular=(gyro) deg/s |
+| `/phone_button` | Bool | Teleop engage button (1=held) |
+| `/teleop/twist` | TwistStamped | Output velocity command |
+
+## Running
+
+```bash
+dimos run phone-go2-teleop     # Go2
+dimos run simple-phone-teleop  # Generic ground robot
+```
+
+Server starts on port `8444`. Open `https://<host-ip>:8444` on phone, accept the self-signed certificate, allow sensor permissions, connect, hold button to drive.
+
+## File Structure
+
+```
+phone/
+├── phone_teleop_module.py   # Base phone teleop module
+├── phone_extensions.py      # SimplePhoneTeleop
+├── blueprints.py            # Pre-wired configurations
+└── web/
+    ├── teleop_server.ts     # Deno WSS-to-LCM bridge
+    └── static/index.html    # Mobile web app
+```

dimos/teleop/base/__init__.py → dimos/teleop/phone/__init__.py

@@ -12,8 +12,22 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Teleoperation protocol."""
+"""Phone teleoperation module for DimOS."""
 
-from dimos.teleop.base.teleop_protocol import TeleopProtocol
+from dimos.teleop.phone.phone_extensions import (
+    SimplePhoneTeleop,
+    simple_phone_teleop_module,
+)
+from dimos.teleop.phone.phone_teleop_module import (
+    PhoneTeleopConfig,
+    PhoneTeleopModule,
+    phone_teleop_module,
+)
 
-__all__ = ["TeleopProtocol"]
+__all__ = [
+    "PhoneTeleopConfig",
+    "PhoneTeleopModule",
+    "SimplePhoneTeleop",
+    "phone_teleop_module",
+    "simple_phone_teleop_module",
+]

dimos/teleop/phone/blueprints.py

@@ -0,0 +1,32 @@
+#!/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.
+
+from dimos.core.blueprints import autoconnect
+from dimos.robot.unitree.go2.blueprints.basic.unitree_go2_basic import unitree_go2_basic
+from dimos.teleop.phone.phone_extensions import simple_phone_teleop_module
+
+# Simple phone teleop (mobile base axis filtering + cmd_vel output)
+simple_phone_teleop = autoconnect(
+    simple_phone_teleop_module(),
+)
+
+# Phone teleop wired to Unitree Go2
+phone_go2_teleop = autoconnect(
+    simple_phone_teleop_module(),
+    unitree_go2_basic,
+)
+
+
+__all__ = ["phone_go2_teleop", "simple_phone_teleop"]

dimos/teleop/phone/phone_extensions.py

@@ -0,0 +1,51 @@
+#!/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.
+
+"""Phone teleop module extensions.
+
+Available subclasses:
+    - SimplePhoneTeleop: Filters to ground robot axes and outputs cmd_vel: Out[Twist]
+"""
+
+from dimos.core import Out
+from dimos.msgs.geometry_msgs import Twist, TwistStamped, Vector3
+from dimos.teleop.phone.phone_teleop_module import PhoneTeleopModule
+
+
+class SimplePhoneTeleop(PhoneTeleopModule):
+    """Phone teleop for ground robots.
+
+    Filters the raw 6-axis twist to mobile base axes (linear.x, linear.y, angular.z)
+    and publishes as Twist on cmd_vel for direct autoconnect wiring with any
+    module that has cmd_vel: In[Twist].
+    """
+
+    cmd_vel: Out[Twist]
+
+    def _publish_msg(self, output_msg: TwistStamped) -> None:
+        self.cmd_vel.publish(
+            Twist(
+                linear=Vector3(x=output_msg.linear.x, y=output_msg.linear.y, z=0.0),
+                angular=Vector3(x=0.0, y=0.0, z=output_msg.linear.z),
+            )
+        )
+
+
+simple_phone_teleop_module = SimplePhoneTeleop.blueprint
+
+__all__ = [
+    "SimplePhoneTeleop",
+    "simple_phone_teleop_module",
+]