From f6c33a21e7b8355793cf45e6f96bf5d9097bc6cc Mon Sep 17 00:00:00 2001
From: ruthwikdasyam <ruthwikdasyam@gmail.com>
Date: Fri, 6 Mar 2026 17:15:24 -0800
Subject: [PATCH 01/14] feat: obstacle avoid off + balance stand for go2

---
 dimos/core/global_config.py              |  1 +
 dimos/robot/unitree/connection.py        | 11 ++++++
 dimos/robot/unitree/go2/connection.py    | 43 ++++++++++++++++--------
 dimos/robot/unitree/mujoco_connection.py |  6 ++++
 4 files changed, 47 insertions(+), 14 deletions(-)

diff --git a/dimos/core/global_config.py b/dimos/core/global_config.py
index 15c37186ac..e3f95395d0 100644
--- a/dimos/core/global_config.py
+++ b/dimos/core/global_config.py
@@ -46,6 +46,7 @@ class GlobalConfig(BaseSettings):
     planner_strategy: NavigationStrategy = "simple"
     planner_robot_speed: float | None = None
     dtop: bool = False
+    disable_obstacle_avoidance: bool = False
 
     model_config = SettingsConfigDict(
         env_file=".env",
diff --git a/dimos/robot/unitree/connection.py b/dimos/robot/unitree/connection.py
index f3f8ffaafb..5672a659a1 100644
--- a/dimos/robot/unitree/connection.py
+++ b/dimos/robot/unitree/connection.py
@@ -277,6 +277,17 @@ def lowstate_stream(self) -> Observable[LowStateMsg]:
     def standup(self) -> bool:
         return bool(self.publish_request(RTC_TOPIC["SPORT_MOD"], {"api_id": SPORT_CMD["StandUp"]}))
 
+    def balance_stand(self) -> bool:
+        return bool(
+            self.publish_request(RTC_TOPIC["SPORT_MOD"], {"api_id": SPORT_CMD["BalanceStand"]})
+        )
+
+    def disable_obstacle_avoidance(self) -> None:
+        self.publish_request(
+            RTC_TOPIC["OBSTACLES_AVOID"],
+            {"api_id": 1001, "parameter": {"enable": 0}},
+        )
+
     def liedown(self) -> bool:
         return bool(
             self.publish_request(RTC_TOPIC["SPORT_MOD"], {"api_id": SPORT_CMD["StandDown"]})
diff --git a/dimos/robot/unitree/go2/connection.py b/dimos/robot/unitree/go2/connection.py
index 4c7d4755fb..b8ec6eefb2 100644
--- a/dimos/robot/unitree/go2/connection.py
+++ b/dimos/robot/unitree/go2/connection.py
@@ -60,6 +60,8 @@ def video_stream(self) -> Observable: ...  # type: ignore[type-arg]
     def move(self, twist: Twist, duration: float = 0.0) -> bool: ...
     def standup(self) -> bool: ...
     def liedown(self) -> bool: ...
+    def balance_stand(self) -> None: ...
+    def disable_obstacle_avoidance(self) -> None: ...
     def publish_request(self, topic: str, data: dict) -> dict: ...  # type: ignore[type-arg]
 
 
@@ -81,6 +83,21 @@ def _camera_info_static() -> CameraInfo:
     )
 
 
+def make_connection(ip: str | None, cfg: GlobalConfig) -> Go2ConnectionProtocol:
+    """Create a Go2 connection backend based on IP and config."""
+    connection_type = cfg.unitree_connection_type
+
+    if ip in ("fake", "mock", "replay") or connection_type == "replay":
+        return ReplayConnection()
+    elif ip == "mujoco" or connection_type == "mujoco":
+        from dimos.robot.unitree.mujoco_connection import MujocoConnection
+
+        return MujocoConnection(cfg)
+    else:
+        assert ip is not None, "IP address must be provided for hardware connection"
+        return UnitreeWebRTCConnection(ip)
+
+
 class ReplayConnection(UnitreeWebRTCConnection):
     dir_name = "unitree_go2_bigoffice"
 
@@ -108,6 +125,12 @@ def standup(self) -> bool:
     def liedown(self) -> bool:
         return True
 
+    def balance_stand(self) -> None:
+        pass
+
+    def disable_obstacle_avoidance(self) -> None:
+        pass
+
     @simple_mcache
     def lidar_stream(self):  # type: ignore[no-untyped-def]
         lidar_store = TimedSensorReplay(f"{self.dir_name}/lidar")  # type: ignore[var-annotated]
@@ -181,18 +204,7 @@ def __init__(  # type: ignore[no-untyped-def]
         self._global_config = cfg
 
         ip = ip if ip is not None else self._global_config.robot_ip
-
-        connection_type = self._global_config.unitree_connection_type
-
-        if ip in ["fake", "mock", "replay"] or connection_type == "replay":
-            self.connection = ReplayConnection()
-        elif ip == "mujoco" or connection_type == "mujoco":
-            from dimos.robot.unitree.mujoco_connection import MujocoConnection
-
-            self.connection = MujocoConnection(self._global_config)
-        else:
-            assert ip is not None, "IP address must be provided"
-            self.connection = UnitreeWebRTCConnection(ip)
+        self.connection = make_connection(ip, self._global_config)
 
         Module.__init__(self, *args, **kwargs)
 
@@ -229,7 +241,10 @@ def onimage(image: Image) -> None:
         self._camera_info_thread.start()
 
         self.standup()
-        # self.record("go2_bigoffice")
+        time.sleep(3)
+        self.connection.balance_stand()
+        if self._global_config.disable_obstacle_avoidance:
+            self.connection.disable_obstacle_avoidance()
 
     @rpc
     def stop(self) -> None:
@@ -337,4 +352,4 @@ def deploy(dimos: ModuleCoordinator, ip: str, prefix: str = "") -> "ModuleProxy"
     return connection
 
 
-__all__ = ["GO2Connection", "deploy", "go2_connection"]
+__all__ = ["GO2Connection", "deploy", "go2_connection", "make_connection"]
diff --git a/dimos/robot/unitree/mujoco_connection.py b/dimos/robot/unitree/mujoco_connection.py
index f998ae1dd9..d649b89ab5 100644
--- a/dimos/robot/unitree/mujoco_connection.py
+++ b/dimos/robot/unitree/mujoco_connection.py
@@ -229,6 +229,12 @@ def standup(self) -> bool:
     def liedown(self) -> bool:
         return True
 
+    def balance_stand(self) -> None:
+        pass
+
+    def disable_obstacle_avoidance(self) -> None:
+        pass
+
     def get_video_frame(self) -> NDArray[Any] | None:
         if self.shm_data is None:
             return None

From 2f1afbe27b776eee0f52e3e6762a938cb4b9b234 Mon Sep 17 00:00:00 2001
From: ruthwikdasyam <ruthwikdasyam@gmail.com>
Date: Fri, 6 Mar 2026 17:15:37 -0800
Subject: [PATCH 02/14] feat: connection to multiple go2

---
 dimos/robot/unitree/go2/fleet_connection.py | 141 ++++++++++++++++++++
 1 file changed, 141 insertions(+)
 create mode 100644 dimos/robot/unitree/go2/fleet_connection.py

diff --git a/dimos/robot/unitree/go2/fleet_connection.py b/dimos/robot/unitree/go2/fleet_connection.py
new file mode 100644
index 0000000000..c845337905
--- /dev/null
+++ b/dimos/robot/unitree/go2/fleet_connection.py
@@ -0,0 +1,141 @@
+# 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.
+
+"""Go2 Fleet Connection - manage multiple Go2 robots as a fleet"""
+
+from __future__ import annotations
+
+import logging
+import time
+from typing import TYPE_CHECKING, Any
+
+from dimos.core.core import rpc
+from dimos.core.global_config import GlobalConfig, global_config
+from dimos.core.module_coordinator import ModuleCoordinator
+from dimos.core.transport import LCMTransport, pSHMTransport
+from dimos.msgs.geometry_msgs import Twist
+from dimos.msgs.sensor_msgs import CameraInfo
+from dimos.robot.unitree.go2.connection import (
+    GO2Connection,
+    Go2ConnectionProtocol,
+    make_connection,
+)
+
+if TYPE_CHECKING:
+    from dimos.core.rpc_client import ModuleProxy
+
+logger = logging.getLogger(__name__)
+
+
+class Go2FleetConnection(GO2Connection):
+    """Multiple Go2 robots as a fleet.
+
+    Inherits all single-robot behaviour from GO2Connection for the primary
+    (first) robot. Additional robots only receive broadcast commands
+    (move, standup, liedown, publish_request).
+    """
+
+    def __init__(
+        self,
+        ips: list[str],
+        cfg: GlobalConfig = global_config,
+        *args: object,
+        **kwargs: object,
+    ) -> None:
+        if not ips:
+            raise ValueError("At least one IP address is required")
+        self._extra_ips = ips[1:]
+        self._extra_connections: list[Go2ConnectionProtocol] = []
+        # Primary robot handled by parent
+        super().__init__(ip=ips[0], cfg=cfg, *args, **kwargs)
+
+    @rpc
+    def start(self) -> None:
+        # Start extra connections before parent starts the primary
+        for ip in self._extra_ips:
+            logger.info(f"Connecting to fleet Go2 at {ip}...")
+            conn = make_connection(ip, self._global_config)
+            conn.start()
+            self._extra_connections.append(conn)
+
+        # Parent starts primary robot, subscribes sensors, stands up, balance stands
+        super().start()
+
+        # Stand up and configure extra robots
+        for conn in self._extra_connections:
+            conn.standup()
+        time.sleep(3)
+        for conn in self._extra_connections:
+            conn.balance_stand()
+            if self._global_config.disable_obstacle_avoidance:
+                conn.disable_obstacle_avoidance()
+
+    @rpc
+    def stop(self) -> None:
+        for conn in self._extra_connections:
+            try:
+                conn.liedown()
+                conn.stop()
+            except Exception as e:
+                logger.error(f"Error stopping fleet Go2: {e}")
+        self._extra_connections.clear()
+        super().stop()
+
+    @property
+    def _all_connections(self) -> list[Go2ConnectionProtocol]:
+        return [self.connection] + self._extra_connections
+
+    @rpc
+    def move(self, twist: Twist, duration: float = 0.0) -> bool:
+        """Send movement command to all robots."""
+        return all(conn.move(twist, duration) for conn in self._all_connections)
+
+    @rpc
+    def standup(self) -> bool:
+        """Make all robots stand up."""
+        return all(conn.standup() for conn in self._all_connections)
+
+    @rpc
+    def liedown(self) -> bool:
+        """Make all robots lie down."""
+        return all(conn.liedown() for conn in self._all_connections)
+
+    @rpc
+    def publish_request(self, topic: str, data: dict[str, Any]) -> list[dict[Any, Any]]:
+        """Publish a request to all robots."""
+        return [conn.publish_request(topic, data) for conn in self._all_connections]
+
+
+go2_fleet_connection = Go2FleetConnection.blueprint
+
+
+def deploy(dimos: ModuleCoordinator, ips: list[str], prefix: str = "") -> "ModuleProxy":
+    from dimos.constants import DEFAULT_CAPACITY_COLOR_IMAGE
+
+    connection = dimos.deploy(Go2FleetConnection, ips)  # type: ignore[attr-defined]
+
+    connection.pointcloud.transport = pSHMTransport(
+        f"{prefix}/lidar", default_capacity=DEFAULT_CAPACITY_COLOR_IMAGE
+    )
+    connection.color_image.transport = pSHMTransport(
+        f"{prefix}/image", default_capacity=DEFAULT_CAPACITY_COLOR_IMAGE
+    )
+    connection.cmd_vel.transport = LCMTransport(f"{prefix}/cmd_vel", Twist)
+    connection.camera_info.transport = LCMTransport(f"{prefix}/camera_info", CameraInfo)
+    connection.start()
+
+    return connection
+
+
+__all__ = ["Go2FleetConnection", "deploy", "go2_fleet_connection"]

From f76fe0fc5617851bee79400313c8d8cabb9d6c5a Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Sat, 7 Mar 2026 14:06:18 -0800
Subject: [PATCH 03/14] feat: robot_ips env variable

---
 dimos/core/global_config.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/dimos/core/global_config.py b/dimos/core/global_config.py
index e3f95395d0..ff3bbba3e8 100644
--- a/dimos/core/global_config.py
+++ b/dimos/core/global_config.py
@@ -28,6 +28,7 @@ def _get_all_numbers(s: str) -> list[float]:
 
 class GlobalConfig(BaseSettings):
     robot_ip: str | None = None
+    robot_ips: str | None = None
     simulation: bool = False
     replay: bool = False
     viewer_backend: ViewerBackend = "rerun-web"

From fe4902501f200cb52dfa2623c94804df1d16691c Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Sat, 7 Mar 2026 14:07:45 -0800
Subject: [PATCH 04/14] feat: fleet connection

---
 dimos/robot/unitree/go2/fleet_connection.py | 34 +++++++++------------
 1 file changed, 14 insertions(+), 20 deletions(-)

diff --git a/dimos/robot/unitree/go2/fleet_connection.py b/dimos/robot/unitree/go2/fleet_connection.py
index c845337905..cd6a10f701 100644
--- a/dimos/robot/unitree/go2/fleet_connection.py
+++ b/dimos/robot/unitree/go2/fleet_connection.py
@@ -22,7 +22,6 @@
 
 from dimos.core.core import rpc
 from dimos.core.global_config import GlobalConfig, global_config
-from dimos.core.module_coordinator import ModuleCoordinator
 from dimos.core.transport import LCMTransport, pSHMTransport
 from dimos.msgs.geometry_msgs import Twist
 from dimos.msgs.sensor_msgs import CameraInfo
@@ -33,28 +32,32 @@
 )
 
 if TYPE_CHECKING:
+    from dimos.core.module_coordinator import ModuleCoordinator
     from dimos.core.rpc_client import ModuleProxy
 
 logger = logging.getLogger(__name__)
 
 
 class Go2FleetConnection(GO2Connection):
-    """Multiple Go2 robots as a fleet.
-
-    Inherits all single-robot behaviour from GO2Connection for the primary
+    """Inherits all single-robot behaviour from GO2Connection for the primary
     (first) robot. Additional robots only receive broadcast commands
     (move, standup, liedown, publish_request).
     """
 
     def __init__(
         self,
-        ips: list[str],
+        ips: list[str] | None = None,
         cfg: GlobalConfig = global_config,
         *args: object,
         **kwargs: object,
     ) -> None:
         if not ips:
-            raise ValueError("At least one IP address is required")
+            raw = cfg.robot_ips
+            if not raw:
+                raise ValueError(
+                    "No IPs provided. Pass ips= or set ROBOT_IPS (e.g. ROBOT_IPS=10.0.0.102,10.0.0.209)"
+                )
+            ips = [ip.strip() for ip in raw.split(",") if ip.strip()]
         self._extra_ips = ips[1:]
         self._extra_connections: list[Go2ConnectionProtocol] = []
         # Primary robot handled by parent
@@ -62,17 +65,15 @@ def __init__(
 
     @rpc
     def start(self) -> None:
-        # Start extra connections before parent starts the primary
         for ip in self._extra_ips:
             logger.info(f"Connecting to fleet Go2 at {ip}...")
             conn = make_connection(ip, self._global_config)
             conn.start()
             self._extra_connections.append(conn)
 
-        # Parent starts primary robot, subscribes sensors, stands up, balance stands
+        # Parent starts primary robot, subscribes sensors
         super().start()
 
-        # Stand up and configure extra robots
         for conn in self._extra_connections:
             conn.standup()
         time.sleep(3)
@@ -84,31 +85,24 @@ def start(self) -> None:
     @rpc
     def stop(self) -> None:
         for conn in self._extra_connections:
-            try:
-                conn.liedown()
-                conn.stop()
-            except Exception as e:
-                logger.error(f"Error stopping fleet Go2: {e}")
+            conn.stop()
         self._extra_connections.clear()
         super().stop()
 
     @property
     def _all_connections(self) -> list[Go2ConnectionProtocol]:
-        return [self.connection] + self._extra_connections
+        return [self.connection, *self._extra_connections]
 
     @rpc
     def move(self, twist: Twist, duration: float = 0.0) -> bool:
-        """Send movement command to all robots."""
         return all(conn.move(twist, duration) for conn in self._all_connections)
 
     @rpc
     def standup(self) -> bool:
-        """Make all robots stand up."""
         return all(conn.standup() for conn in self._all_connections)
 
     @rpc
     def liedown(self) -> bool:
-        """Make all robots lie down."""
         return all(conn.liedown() for conn in self._all_connections)
 
     @rpc
@@ -120,10 +114,10 @@ def publish_request(self, topic: str, data: dict[str, Any]) -> list[dict[Any, An
 go2_fleet_connection = Go2FleetConnection.blueprint
 
 
-def deploy(dimos: ModuleCoordinator, ips: list[str], prefix: str = "") -> "ModuleProxy":
+def deploy(dimos: ModuleCoordinator, ips: list[str], prefix: str = "") -> ModuleProxy:
     from dimos.constants import DEFAULT_CAPACITY_COLOR_IMAGE
 
-    connection = dimos.deploy(Go2FleetConnection, ips)  # type: ignore[attr-defined]
+    connection = dimos.deploy(Go2FleetConnection, ips)
 
     connection.pointcloud.transport = pSHMTransport(
         f"{prefix}/lidar", default_capacity=DEFAULT_CAPACITY_COLOR_IMAGE

From eae4d355e69b838d09d1d4c0ba94984938853087 Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Sat, 7 Mar 2026 14:08:16 -0800
Subject: [PATCH 05/14] feat: fleet blueprints

---
 dimos/robot/all_blueprints.py                 |  1 +
 .../go2/blueprints/basic/unitree_go2_fleet.py | 39 +++++++++++++++++++
 2 files changed, 40 insertions(+)
 create mode 100644 dimos/robot/unitree/go2/blueprints/basic/unitree_go2_fleet.py

diff --git a/dimos/robot/all_blueprints.py b/dimos/robot/all_blueprints.py
index 6026572388..e37a0be045 100644
--- a/dimos/robot/all_blueprints.py
+++ b/dimos/robot/all_blueprints.py
@@ -76,6 +76,7 @@
     "unitree-go2-agentic-mcp": "dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_agentic_mcp:unitree_go2_agentic_mcp",
     "unitree-go2-agentic-ollama": "dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_agentic_ollama:unitree_go2_agentic_ollama",
     "unitree-go2-basic": "dimos.robot.unitree.go2.blueprints.basic.unitree_go2_basic:unitree_go2_basic",
+    "unitree-go2-fleet": "dimos.robot.unitree.go2.blueprints.basic.unitree_go2_fleet:unitree_go2_fleet",
     "unitree-go2-detection": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2_detection:unitree_go2_detection",
     "unitree-go2-ros": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2_ros:unitree_go2_ros",
     "unitree-go2-spatial": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2_spatial:unitree_go2_spatial",
diff --git a/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_fleet.py b/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_fleet.py
new file mode 100644
index 0000000000..015cfcdba4
--- /dev/null
+++ b/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_fleet.py
@@ -0,0 +1,39 @@
+#!/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.
+
+"""Blueprint for Go2 fleet — multiple Go2 robots controlled together.
+
+Usage:
+    ROBOT_IPS=10.0.0.102,10.0.0.209 dimos run unitree-go2-fleet
+"""
+
+from dimos.core.blueprints import autoconnect
+from dimos.protocol.service.system_configurator import ClockSyncConfigurator
+from dimos.robot.unitree.go2.blueprints.basic.unitree_go2_basic import with_vis
+from dimos.robot.unitree.go2.fleet_connection import go2_fleet_connection
+from dimos.web.websocket_vis.websocket_vis_module import websocket_vis
+
+unitree_go2_fleet = (
+    autoconnect(
+        with_vis,
+        go2_fleet_connection(),
+        websocket_vis(),
+    )
+    .global_config(n_workers=4, robot_model="unitree_go2")
+    .configurators(ClockSyncConfigurator())
+)
+
+__all__ = ["unitree_go2_fleet"]

From 8729005d311849faeed47c2e99f3ebc588fb8ae3 Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Sat, 7 Mar 2026 14:22:56 -0800
Subject: [PATCH 06/14] misc: fixes

---
 dimos/robot/unitree/go2/connection.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/dimos/robot/unitree/go2/connection.py b/dimos/robot/unitree/go2/connection.py
index b8ec6eefb2..34fac839e0 100644
--- a/dimos/robot/unitree/go2/connection.py
+++ b/dimos/robot/unitree/go2/connection.py
@@ -84,7 +84,6 @@ def _camera_info_static() -> CameraInfo:
 
 
 def make_connection(ip: str | None, cfg: GlobalConfig) -> Go2ConnectionProtocol:
-    """Create a Go2 connection backend based on IP and config."""
     connection_type = cfg.unitree_connection_type
 
     if ip in ("fake", "mock", "replay") or connection_type == "replay":
@@ -94,7 +93,7 @@ def make_connection(ip: str | None, cfg: GlobalConfig) -> Go2ConnectionProtocol:
 
         return MujocoConnection(cfg)
     else:
-        assert ip is not None, "IP address must be provided for hardware connection"
+        assert ip is not None, "IP address must be provided"
         return UnitreeWebRTCConnection(ip)
 
 
@@ -245,6 +244,8 @@ def onimage(image: Image) -> None:
         self.connection.balance_stand()
         if self._global_config.disable_obstacle_avoidance:
             self.connection.disable_obstacle_avoidance()
+        
+        # self.record("go2_bigoffice")
 
     @rpc
     def stop(self) -> None:

From 0ea0a11934006ad933a5ddaf8cd53f6a2091fc97 Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Sat, 7 Mar 2026 14:23:14 -0800
Subject: [PATCH 07/14] fix: pre-commit issues

---
 dimos/robot/unitree/go2/connection.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/dimos/robot/unitree/go2/connection.py b/dimos/robot/unitree/go2/connection.py
index 34fac839e0..16f2a1b4d5 100644
--- a/dimos/robot/unitree/go2/connection.py
+++ b/dimos/robot/unitree/go2/connection.py
@@ -244,7 +244,7 @@ def onimage(image: Image) -> None:
         self.connection.balance_stand()
         if self._global_config.disable_obstacle_avoidance:
             self.connection.disable_obstacle_avoidance()
-        
+
         # self.record("go2_bigoffice")
 
     @rpc

From 90319620b99b8e305975a98cf3bb076cd95369fa Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Sat, 7 Mar 2026 14:34:17 -0800
Subject: [PATCH 08/14] fix: try except every error

---
 dimos/robot/unitree/go2/fleet_connection.py | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/dimos/robot/unitree/go2/fleet_connection.py b/dimos/robot/unitree/go2/fleet_connection.py
index cd6a10f701..b31a30fba1 100644
--- a/dimos/robot/unitree/go2/fleet_connection.py
+++ b/dimos/robot/unitree/go2/fleet_connection.py
@@ -84,8 +84,12 @@ def start(self) -> None:
 
     @rpc
     def stop(self) -> None:
+        # one robot's error should not prevent others from stopping
         for conn in self._extra_connections:
-            conn.stop()
+            try:
+                conn.stop()
+            except Exception as e:
+                logger.error(f"Error stopping fleet Go2: {e}")
         self._extra_connections.clear()
         super().stop()
 

From 75d6053c138f4995d0a0c48d514a17a6a42d481b Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Sat, 7 Mar 2026 15:27:16 -0800
Subject: [PATCH 09/14] fix: greptile issues

---
 dimos/robot/unitree/go2/connection.py       |  2 +-
 dimos/robot/unitree/go2/fleet_connection.py | 24 ++++++++++-----------
 2 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/dimos/robot/unitree/go2/connection.py b/dimos/robot/unitree/go2/connection.py
index 16f2a1b4d5..16a3350d93 100644
--- a/dimos/robot/unitree/go2/connection.py
+++ b/dimos/robot/unitree/go2/connection.py
@@ -60,7 +60,7 @@ def video_stream(self) -> Observable: ...  # type: ignore[type-arg]
     def move(self, twist: Twist, duration: float = 0.0) -> bool: ...
     def standup(self) -> bool: ...
     def liedown(self) -> bool: ...
-    def balance_stand(self) -> None: ...
+    def balance_stand(self) -> bool: ...
     def disable_obstacle_avoidance(self) -> None: ...
     def publish_request(self, topic: str, data: dict) -> dict: ...  # type: ignore[type-arg]
 
diff --git a/dimos/robot/unitree/go2/fleet_connection.py b/dimos/robot/unitree/go2/fleet_connection.py
index b31a30fba1..702431c397 100644
--- a/dimos/robot/unitree/go2/fleet_connection.py
+++ b/dimos/robot/unitree/go2/fleet_connection.py
@@ -17,7 +17,6 @@
 from __future__ import annotations
 
 import logging
-import time
 from typing import TYPE_CHECKING, Any
 
 from dimos.core.core import rpc
@@ -71,12 +70,8 @@ def start(self) -> None:
             conn.start()
             self._extra_connections.append(conn)
 
-        # Parent starts primary robot, subscribes sensors
+        # Parent starts primary robot, subscribes sensors, calls standup() on all
         super().start()
-
-        for conn in self._extra_connections:
-            conn.standup()
-        time.sleep(3)
         for conn in self._extra_connections:
             conn.balance_stand()
             if self._global_config.disable_obstacle_avoidance:
@@ -99,20 +94,25 @@ def _all_connections(self) -> list[Go2ConnectionProtocol]:
 
     @rpc
     def move(self, twist: Twist, duration: float = 0.0) -> bool:
-        return all(conn.move(twist, duration) for conn in self._all_connections)
+        results = [conn.move(twist, duration) for conn in self._all_connections]
+        return all(results)
 
     @rpc
     def standup(self) -> bool:
-        return all(conn.standup() for conn in self._all_connections)
+        results = [conn.standup() for conn in self._all_connections]
+        return all(results)
 
     @rpc
     def liedown(self) -> bool:
-        return all(conn.liedown() for conn in self._all_connections)
+        results = [conn.liedown() for conn in self._all_connections]
+        return all(results)
 
     @rpc
-    def publish_request(self, topic: str, data: dict[str, Any]) -> list[dict[Any, Any]]:
-        """Publish a request to all robots."""
-        return [conn.publish_request(topic, data) for conn in self._all_connections]
+    def publish_request(self, topic: str, data: dict[str, Any]) -> dict[Any, Any]:
+        """Publish a request to all robots, return primary's response."""
+        for conn in self._extra_connections:
+            conn.publish_request(topic, data)
+        return self.connection.publish_request(topic, data)
 
 
 go2_fleet_connection = Go2FleetConnection.blueprint

From 37fedd372244dfee9d24f345874711ed9134ae4b Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Sat, 7 Mar 2026 15:51:25 -0800
Subject: [PATCH 10/14] fix: liedown method missing

---
 dimos/robot/unitree/go2/connection.py       | 4 ++--
 dimos/robot/unitree/go2/fleet_connection.py | 4 ++--
 dimos/robot/unitree/mujoco_connection.py    | 4 ++--
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/dimos/robot/unitree/go2/connection.py b/dimos/robot/unitree/go2/connection.py
index 16a3350d93..e1841385a7 100644
--- a/dimos/robot/unitree/go2/connection.py
+++ b/dimos/robot/unitree/go2/connection.py
@@ -124,8 +124,8 @@ def standup(self) -> bool:
     def liedown(self) -> bool:
         return True
 
-    def balance_stand(self) -> None:
-        pass
+    def balance_stand(self) -> bool:
+        return True
 
     def disable_obstacle_avoidance(self) -> None:
         pass
diff --git a/dimos/robot/unitree/go2/fleet_connection.py b/dimos/robot/unitree/go2/fleet_connection.py
index 702431c397..e2bc981ebb 100644
--- a/dimos/robot/unitree/go2/fleet_connection.py
+++ b/dimos/robot/unitree/go2/fleet_connection.py
@@ -59,8 +59,7 @@ def __init__(
             ips = [ip.strip() for ip in raw.split(",") if ip.strip()]
         self._extra_ips = ips[1:]
         self._extra_connections: list[Go2ConnectionProtocol] = []
-        # Primary robot handled by parent
-        super().__init__(ip=ips[0], cfg=cfg, *args, **kwargs)
+        super().__init__(*args, ip=ips[0], cfg=cfg, **kwargs)
 
     @rpc
     def start(self) -> None:
@@ -82,6 +81,7 @@ def stop(self) -> None:
         # one robot's error should not prevent others from stopping
         for conn in self._extra_connections:
             try:
+                conn.liedown()
                 conn.stop()
             except Exception as e:
                 logger.error(f"Error stopping fleet Go2: {e}")
diff --git a/dimos/robot/unitree/mujoco_connection.py b/dimos/robot/unitree/mujoco_connection.py
index d649b89ab5..b6932e3cf0 100644
--- a/dimos/robot/unitree/mujoco_connection.py
+++ b/dimos/robot/unitree/mujoco_connection.py
@@ -229,8 +229,8 @@ def standup(self) -> bool:
     def liedown(self) -> bool:
         return True
 
-    def balance_stand(self) -> None:
-        pass
+    def balance_stand(self) -> bool:
+        return True
 
     def disable_obstacle_avoidance(self) -> None:
         pass

From b73376fe1de693fa7deb3437bd06d038bd37713c Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Sat, 7 Mar 2026 16:52:18 -0800
Subject: [PATCH 11/14] fix: remove deploy

---
 dimos/robot/all_blueprints.py               |  3 +-
 dimos/robot/unitree/go2/fleet_connection.py | 57 +++++++++------------
 2 files changed, 27 insertions(+), 33 deletions(-)

diff --git a/dimos/robot/all_blueprints.py b/dimos/robot/all_blueprints.py
index e37a0be045..a2566b79fe 100644
--- a/dimos/robot/all_blueprints.py
+++ b/dimos/robot/all_blueprints.py
@@ -76,8 +76,8 @@
     "unitree-go2-agentic-mcp": "dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_agentic_mcp:unitree_go2_agentic_mcp",
     "unitree-go2-agentic-ollama": "dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_agentic_ollama:unitree_go2_agentic_ollama",
     "unitree-go2-basic": "dimos.robot.unitree.go2.blueprints.basic.unitree_go2_basic:unitree_go2_basic",
-    "unitree-go2-fleet": "dimos.robot.unitree.go2.blueprints.basic.unitree_go2_fleet:unitree_go2_fleet",
     "unitree-go2-detection": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2_detection:unitree_go2_detection",
+    "unitree-go2-fleet": "dimos.robot.unitree.go2.blueprints.basic.unitree_go2_fleet:unitree_go2_fleet",
     "unitree-go2-ros": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2_ros:unitree_go2_ros",
     "unitree-go2-spatial": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2_spatial:unitree_go2_spatial",
     "unitree-go2-temporal-memory": "dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_temporal_memory:unitree_go2_temporal_memory",
@@ -108,6 +108,7 @@
     "g1-sim-connection": "dimos.robot.unitree.g1.sim",
     "g1-skills": "dimos.robot.unitree.g1.skill_container",
     "go2-connection": "dimos.robot.unitree.go2.connection",
+    "go2-fleet-connection": "dimos.robot.unitree.go2.fleet_connection",
     "google-maps-skill": "dimos.agents.skills.google_maps_skill_container",
     "gps-nav-skill": "dimos.agents.skills.gps_nav_skill",
     "grasping-module": "dimos.manipulation.grasping.grasping",
diff --git a/dimos/robot/unitree/go2/fleet_connection.py b/dimos/robot/unitree/go2/fleet_connection.py
index e2bc981ebb..58d8e98fb5 100644
--- a/dimos/robot/unitree/go2/fleet_connection.py
+++ b/dimos/robot/unitree/go2/fleet_connection.py
@@ -21,9 +21,6 @@
 
 from dimos.core.core import rpc
 from dimos.core.global_config import GlobalConfig, global_config
-from dimos.core.transport import LCMTransport, pSHMTransport
-from dimos.msgs.geometry_msgs import Twist
-from dimos.msgs.sensor_msgs import CameraInfo
 from dimos.robot.unitree.go2.connection import (
     GO2Connection,
     Go2ConnectionProtocol,
@@ -31,8 +28,7 @@
 )
 
 if TYPE_CHECKING:
-    from dimos.core.module_coordinator import ModuleCoordinator
-    from dimos.core.rpc_client import ModuleProxy
+    from dimos.msgs.geometry_msgs import Twist
 
 logger = logging.getLogger(__name__)
 
@@ -59,10 +55,11 @@ def __init__(
             ips = [ip.strip() for ip in raw.split(",") if ip.strip()]
         self._extra_ips = ips[1:]
         self._extra_connections: list[Go2ConnectionProtocol] = []
-        super().__init__(*args, ip=ips[0], cfg=cfg, **kwargs)
+        super().__init__(ips[0], cfg, *args, **kwargs)
 
     @rpc
     def start(self) -> None:
+        self._extra_connections.clear()
         for ip in self._extra_ips:
             logger.info(f"Connecting to fleet Go2 at {ip}...")
             conn = make_connection(ip, self._global_config)
@@ -82,6 +79,9 @@ def stop(self) -> None:
         for conn in self._extra_connections:
             try:
                 conn.liedown()
+            except Exception as e:
+                logger.error(f"Error lying down fleet Go2: {e}")
+            try:
                 conn.stop()
             except Exception as e:
                 logger.error(f"Error stopping fleet Go2: {e}")
@@ -92,48 +92,41 @@ def stop(self) -> None:
     def _all_connections(self) -> list[Go2ConnectionProtocol]:
         return [self.connection, *self._extra_connections]
 
+    def _broadcast(self, method: str, *args: object, **kwargs: object) -> list[bool]:
+        """Call a method on all connections, isolating errors per robot."""
+        results: list[bool] = []
+        for conn in self._all_connections:
+            try:
+                results.append(getattr(conn, method)(*args, **kwargs))
+            except Exception as e:
+                logger.error(f"Fleet {method} failed: {e}")
+                results.append(False)
+        return results
+
     @rpc
     def move(self, twist: Twist, duration: float = 0.0) -> bool:
-        results = [conn.move(twist, duration) for conn in self._all_connections]
-        return all(results)
+        return all(self._broadcast("move", twist, duration))
 
     @rpc
     def standup(self) -> bool:
-        results = [conn.standup() for conn in self._all_connections]
-        return all(results)
+        return all(self._broadcast("standup"))
 
     @rpc
     def liedown(self) -> bool:
-        results = [conn.liedown() for conn in self._all_connections]
-        return all(results)
+        return all(self._broadcast("liedown"))
 
     @rpc
     def publish_request(self, topic: str, data: dict[str, Any]) -> dict[Any, Any]:
         """Publish a request to all robots, return primary's response."""
         for conn in self._extra_connections:
-            conn.publish_request(topic, data)
+            try:
+                conn.publish_request(topic, data)
+            except Exception as e:
+                logger.error(f"Fleet publish_request failed: {e}")
         return self.connection.publish_request(topic, data)
 
 
 go2_fleet_connection = Go2FleetConnection.blueprint
 
 
-def deploy(dimos: ModuleCoordinator, ips: list[str], prefix: str = "") -> ModuleProxy:
-    from dimos.constants import DEFAULT_CAPACITY_COLOR_IMAGE
-
-    connection = dimos.deploy(Go2FleetConnection, ips)
-
-    connection.pointcloud.transport = pSHMTransport(
-        f"{prefix}/lidar", default_capacity=DEFAULT_CAPACITY_COLOR_IMAGE
-    )
-    connection.color_image.transport = pSHMTransport(
-        f"{prefix}/image", default_capacity=DEFAULT_CAPACITY_COLOR_IMAGE
-    )
-    connection.cmd_vel.transport = LCMTransport(f"{prefix}/cmd_vel", Twist)
-    connection.camera_info.transport = LCMTransport(f"{prefix}/camera_info", CameraInfo)
-    connection.start()
-
-    return connection
-
-
-__all__ = ["Go2FleetConnection", "deploy", "go2_fleet_connection"]
+__all__ = ["Go2FleetConnection", "go2_fleet_connection"]

From de8b8cb7c5b4d452ca050635a414be1a153611b8 Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Sat, 7 Mar 2026 16:55:33 -0800
Subject: [PATCH 12/14] feat: phone teleop blueprint

---
 dimos/robot/all_blueprints.py    | 1 +
 dimos/teleop/phone/blueprints.py | 9 ++++++++-
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/dimos/robot/all_blueprints.py b/dimos/robot/all_blueprints.py
index a2566b79fe..d02abd61b9 100644
--- a/dimos/robot/all_blueprints.py
+++ b/dimos/robot/all_blueprints.py
@@ -57,6 +57,7 @@
     "mid360-fastlio": "dimos.hardware.sensors.lidar.fastlio2.fastlio_blueprints:mid360_fastlio",
     "mid360-fastlio-voxels": "dimos.hardware.sensors.lidar.fastlio2.fastlio_blueprints:mid360_fastlio_voxels",
     "mid360-fastlio-voxels-native": "dimos.hardware.sensors.lidar.fastlio2.fastlio_blueprints:mid360_fastlio_voxels_native",
+    "phone-go2-fleet-teleop": "dimos.teleop.phone.blueprints:phone_go2_fleet_teleop",
     "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",
diff --git a/dimos/teleop/phone/blueprints.py b/dimos/teleop/phone/blueprints.py
index 6328af8612..6e68e726e3 100644
--- a/dimos/teleop/phone/blueprints.py
+++ b/dimos/teleop/phone/blueprints.py
@@ -15,6 +15,7 @@
 
 from dimos.core.blueprints import autoconnect
 from dimos.robot.unitree.go2.blueprints.basic.unitree_go2_basic import unitree_go2_basic
+from dimos.robot.unitree.go2.blueprints.basic.unitree_go2_fleet import unitree_go2_fleet
 from dimos.teleop.phone.phone_extensions import simple_phone_teleop_module
 
 # Simple phone teleop (mobile base axis filtering + cmd_vel output)
@@ -28,5 +29,11 @@
     unitree_go2_basic,
 )
 
+# Phone teleop wired to Go2 fleet — twist commands sent to all robots
+phone_go2_fleet_teleop = autoconnect(
+    simple_phone_teleop_module(),
+    unitree_go2_fleet,
+)
+
 
-__all__ = ["phone_go2_teleop", "simple_phone_teleop"]
+__all__ = ["phone_go2_fleet_teleop", "phone_go2_teleop", "simple_phone_teleop"]

From a247600d290cd2d45b978f7588a88fe446348d4b Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Sat, 7 Mar 2026 17:18:47 -0800
Subject: [PATCH 13/14] feat: obstcale_avoidance variable

---
 dimos/core/global_config.py                 | 2 +-
 dimos/robot/unitree/connection.py           | 4 ++--
 dimos/robot/unitree/go2/connection.py       | 7 +++----
 dimos/robot/unitree/go2/fleet_connection.py | 3 +--
 dimos/robot/unitree/mujoco_connection.py    | 2 +-
 5 files changed, 8 insertions(+), 10 deletions(-)

diff --git a/dimos/core/global_config.py b/dimos/core/global_config.py
index ff3bbba3e8..014da1b32b 100644
--- a/dimos/core/global_config.py
+++ b/dimos/core/global_config.py
@@ -47,7 +47,7 @@ class GlobalConfig(BaseSettings):
     planner_strategy: NavigationStrategy = "simple"
     planner_robot_speed: float | None = None
     dtop: bool = False
-    disable_obstacle_avoidance: bool = False
+    obstacle_avoidance: bool = True
 
     model_config = SettingsConfigDict(
         env_file=".env",
diff --git a/dimos/robot/unitree/connection.py b/dimos/robot/unitree/connection.py
index 5672a659a1..ff73d922ee 100644
--- a/dimos/robot/unitree/connection.py
+++ b/dimos/robot/unitree/connection.py
@@ -282,10 +282,10 @@ def balance_stand(self) -> bool:
             self.publish_request(RTC_TOPIC["SPORT_MOD"], {"api_id": SPORT_CMD["BalanceStand"]})
         )
 
-    def disable_obstacle_avoidance(self) -> None:
+    def set_obstacle_avoidance(self, enabled: bool = True) -> None:
         self.publish_request(
             RTC_TOPIC["OBSTACLES_AVOID"],
-            {"api_id": 1001, "parameter": {"enable": 0}},
+            {"api_id": 1001, "parameter": {"enable": int(enabled)}},
         )
 
     def liedown(self) -> bool:
diff --git a/dimos/robot/unitree/go2/connection.py b/dimos/robot/unitree/go2/connection.py
index e1841385a7..8baeae41f1 100644
--- a/dimos/robot/unitree/go2/connection.py
+++ b/dimos/robot/unitree/go2/connection.py
@@ -61,7 +61,7 @@ def move(self, twist: Twist, duration: float = 0.0) -> bool: ...
     def standup(self) -> bool: ...
     def liedown(self) -> bool: ...
     def balance_stand(self) -> bool: ...
-    def disable_obstacle_avoidance(self) -> None: ...
+    def set_obstacle_avoidance(self, enabled: bool = True) -> None: ...
     def publish_request(self, topic: str, data: dict) -> dict: ...  # type: ignore[type-arg]
 
 
@@ -127,7 +127,7 @@ def liedown(self) -> bool:
     def balance_stand(self) -> bool:
         return True
 
-    def disable_obstacle_avoidance(self) -> None:
+    def set_obstacle_avoidance(self, enabled: bool = True) -> None:
         pass
 
     @simple_mcache
@@ -242,8 +242,7 @@ def onimage(image: Image) -> None:
         self.standup()
         time.sleep(3)
         self.connection.balance_stand()
-        if self._global_config.disable_obstacle_avoidance:
-            self.connection.disable_obstacle_avoidance()
+        self.connection.set_obstacle_avoidance(self._global_config.obstacle_avoidance)
 
         # self.record("go2_bigoffice")
 
diff --git a/dimos/robot/unitree/go2/fleet_connection.py b/dimos/robot/unitree/go2/fleet_connection.py
index 58d8e98fb5..f8d49474cc 100644
--- a/dimos/robot/unitree/go2/fleet_connection.py
+++ b/dimos/robot/unitree/go2/fleet_connection.py
@@ -70,8 +70,7 @@ def start(self) -> None:
         super().start()
         for conn in self._extra_connections:
             conn.balance_stand()
-            if self._global_config.disable_obstacle_avoidance:
-                conn.disable_obstacle_avoidance()
+            conn.set_obstacle_avoidance(self._global_config.obstacle_avoidance)
 
     @rpc
     def stop(self) -> None:
diff --git a/dimos/robot/unitree/mujoco_connection.py b/dimos/robot/unitree/mujoco_connection.py
index b6932e3cf0..36673ecb3e 100644
--- a/dimos/robot/unitree/mujoco_connection.py
+++ b/dimos/robot/unitree/mujoco_connection.py
@@ -232,7 +232,7 @@ def liedown(self) -> bool:
     def balance_stand(self) -> bool:
         return True
 
-    def disable_obstacle_avoidance(self) -> None:
+    def set_obstacle_avoidance(self, enabled: bool = True) -> None:
         pass
 
     def get_video_frame(self) -> NDArray[Any] | None:

From 08b2e92259dd9718826fc92c2db55866901047b1 Mon Sep 17 00:00:00 2001
From: Ruthwik <ruthwikdasyam@gmail.com>
Date: Sat, 7 Mar 2026 18:01:45 -0800
Subject: [PATCH 14/14] fix: correct logging + remove broadcast method

---
 dimos/robot/unitree/go2/fleet_connection.py | 37 +++++++++++++--------
 1 file changed, 23 insertions(+), 14 deletions(-)

diff --git a/dimos/robot/unitree/go2/fleet_connection.py b/dimos/robot/unitree/go2/fleet_connection.py
index f8d49474cc..4dd2be2984 100644
--- a/dimos/robot/unitree/go2/fleet_connection.py
+++ b/dimos/robot/unitree/go2/fleet_connection.py
@@ -16,7 +16,6 @@
 
 from __future__ import annotations
 
-import logging
 from typing import TYPE_CHECKING, Any
 
 from dimos.core.core import rpc
@@ -26,11 +25,12 @@
     Go2ConnectionProtocol,
     make_connection,
 )
+from dimos.utils.logging_config import setup_logger
 
 if TYPE_CHECKING:
     from dimos.msgs.geometry_msgs import Twist
 
-logger = logging.getLogger(__name__)
+logger = setup_logger()
 
 
 class Go2FleetConnection(GO2Connection):
@@ -61,7 +61,6 @@ def __init__(
     def start(self) -> None:
         self._extra_connections.clear()
         for ip in self._extra_ips:
-            logger.info(f"Connecting to fleet Go2 at {ip}...")
             conn = make_connection(ip, self._global_config)
             conn.start()
             self._extra_connections.append(conn)
@@ -91,28 +90,38 @@ def stop(self) -> None:
     def _all_connections(self) -> list[Go2ConnectionProtocol]:
         return [self.connection, *self._extra_connections]
 
-    def _broadcast(self, method: str, *args: object, **kwargs: object) -> list[bool]:
-        """Call a method on all connections, isolating errors per robot."""
+    @rpc
+    def move(self, twist: Twist, duration: float = 0.0) -> bool:
         results: list[bool] = []
         for conn in self._all_connections:
             try:
-                results.append(getattr(conn, method)(*args, **kwargs))
+                results.append(conn.move(twist, duration))
             except Exception as e:
-                logger.error(f"Fleet {method} failed: {e}")
+                logger.error(f"Fleet move failed: {e}")
                 results.append(False)
-        return results
-
-    @rpc
-    def move(self, twist: Twist, duration: float = 0.0) -> bool:
-        return all(self._broadcast("move", twist, duration))
+        return all(results)
 
     @rpc
     def standup(self) -> bool:
-        return all(self._broadcast("standup"))
+        results: list[bool] = []
+        for conn in self._all_connections:
+            try:
+                results.append(conn.standup())
+            except Exception as e:
+                logger.error(f"Fleet standup failed: {e}")
+                results.append(False)
+        return all(results)
 
     @rpc
     def liedown(self) -> bool:
-        return all(self._broadcast("liedown"))
+        results: list[bool] = []
+        for conn in self._all_connections:
+            try:
+                results.append(conn.liedown())
+            except Exception as e:
+                logger.error(f"Fleet liedown failed: {e}")
+                results.append(False)
+        return all(results)
 
     @rpc
     def publish_request(self, topic: str, data: dict[str, Any]) -> dict[Any, Any]: