feat(robot): Go2 fleet support for multi-robot control

[ruthwikdasyam]

Problem

• No support for controlling multiple Go2 robots simultaneously
• Go2 startup was missing activation, robot doesn't move after stand_up()
• No feat to turn obstacle avoidance OFF

Solution

• Added Go2FleetConnection extending GO2Connection - first IP is the primary robot (provides sensor streams), additional robots receive broadcast commands (move, standup, liedown)
• Added ROBOT_IPS env var via GlobalConfig.robot_ips (comma-separated), following the same pattern as ROBOT_IP for single robot
• Added balance_stand() and disable_obstacle_avoidance() to Go2ConnectionProtocol
• Added configurable obstacle avoidance (DISABLE_OBSTACLE_AVOIDANCE=true) to Go2 startup

Breaking Changes

GO2Connection.start() now calls balance_stand() after standup with a 3s delay. Previously it only called standup(). May affect any timout checks (if)

How to Test

• ROBOT_IPS=10.0.0.102,10.0.0.209 dimos run unitree-go2-fleet

• dimos run unitree-go2-basic (robot can move - balance_stand() method unfreezes robot)

• Phone teleop blueprint to control all go2's ROBOT_IPS=10.0.0.152,10.0.0.102 dimos run phone-go2-fleet-teleop

Contributor License Agreement

• I have read and approved the CLA.

FUTURE WORK can be to map an env with multiple go2's together - spawning them in rerun and sharing the map. This PR just addresses blind go2 fleet control.

[greptile-apps]

Greptile Summary

This PR adds multi-robot fleet support for the Unitree Go2 by introducing Go2FleetConnection, a new unitree-go2-fleet blueprint, and ROBOT_IPS/DISABLE_OBSTACLE_AVOIDANCE env vars. It also fixes a single-robot startup regression by adding a balance_stand() call after standup().

Key Issues:

1. Broadcast commands lack error isolation (move, standup, liedown): List comprehensions without try/except means one failing robot stops the entire operation and leaves remaining robots unaddressed. Critical for liedown() which serves as emergency stop.

2. Exception from extra connections silences primary (publish_request): Extra robots are processed first; any exception prevents the primary from receiving commands. Since publish_request underlies most commands, a single unreliable secondary robot can block the primary.

3. Duplicate connections on repeated start(): _extra_connections is never reset, so calling start() twice appends new connections, causing duplicate commands to each robot.

4. WebRTC thread leak on stop(): UnitreeWebRTCConnection.stop() only cancels the timer; the background event loop and thread are left running. The correct full teardown is disconnect(). This leaks a thread per extra robot on fleet shutdown.

5. Blocking RPC handler with time.sleep(3): The hardcoded sleep in GO2Connection.start() blocks the entire RPC handler thread, delaying all other operations during startup.

The core fleet broadcast design is sound, but error handling and resource cleanup must be fixed before this PR is safe to merge.

Confidence Score: 1/5

• Not safe to merge — critical error handling and resource cleanup issues in fleet broadcast operations create operational reliability and safety risks.
• Five verified issues of high severity: (1) broadcast commands lack per-robot error isolation, so one failing extra robot prevents remaining robots from receiving commands, critical for emergency stop scenarios; (2) exceptions from extra connections silently prevent the primary robot from receiving commands; (3) _extra_connections grows unbounded on repeated start() calls; (4) WebRTC background threads leak on stop(); (5) blocking sleep in RPC handler delays all operations during startup. The fleet_connection.py file requires fixes to all broadcast methods and the stop() teardown path before this can be deployed reliably.
• dimos/robot/unitree/go2/fleet_connection.py requires fixes to all broadcast methods (move, standup, liedown, publish_request), the start() idempotency guard, and proper disconnect() cleanup in stop(); dimos/robot/unitree/go2/connection.py requires moving the 3-second delay out of the RPC handler.

_{Last reviewed commit: 37fedd3}