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

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"
@@ -46,6 +47,7 @@ class GlobalConfig(BaseSettings):
     planner_strategy: NavigationStrategy = "simple"
     planner_robot_speed: float | None = None
     dtop: bool = False
+    obstacle_avoidance: bool = True
 
     model_config = SettingsConfigDict(
         env_file=".env",

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",
@@ -77,6 +78,7 @@
     "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-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",
@@ -107,6 +109,7 @@
     "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",

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 set_obstacle_avoidance(self, enabled: bool = True) -> None:
+        self.publish_request(
+            RTC_TOPIC["OBSTACLES_AVOID"],
+            {"api_id": 1001, "parameter": {"enable": int(enabled)}},
+        )
+
     def liedown(self) -> bool:
         return bool(
             self.publish_request(RTC_TOPIC["SPORT_MOD"], {"api_id": SPORT_CMD["StandDown"]})

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"]

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) -> bool: ...
+    def set_obstacle_avoidance(self, enabled: bool = True) -> None: ...
     def publish_request(self, topic: str, data: dict) -> dict: ...  # type: ignore[type-arg]
 
 
@@ -81,6 +83,20 @@ def _camera_info_static() -> CameraInfo:
     )
 
 
+def make_connection(ip: str | None, cfg: GlobalConfig) -> Go2ConnectionProtocol:
+    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"
+        return UnitreeWebRTCConnection(ip)
+
+
 class ReplayConnection(UnitreeWebRTCConnection):
     dir_name = "unitree_go2_bigoffice"
 
@@ -108,6 +124,12 @@ def standup(self) -> bool:
     def liedown(self) -> bool:
         return True
 
+    def balance_stand(self) -> bool:
+        return True
+
+    def set_obstacle_avoidance(self, enabled: bool = True) -> 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 +203,7 @@ 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)
 
@@ -229,6 +240,10 @@ def onimage(image: Image) -> None:
         self._camera_info_thread.start()
 
         self.standup()
+        time.sleep(3)
+        self.connection.balance_stand()
+        self.connection.set_obstacle_avoidance(self._global_config.obstacle_avoidance)
+
         # self.record("go2_bigoffice")
 
     @rpc
@@ -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"]

dimos/robot/unitree/go2/fleet_connection.py

@@ -0,0 +1,140 @@
+# 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
+
+from typing import TYPE_CHECKING, Any
+
+from dimos.core.core import rpc
+from dimos.core.global_config import GlobalConfig, global_config
+from dimos.robot.unitree.go2.connection import (
+    GO2Connection,
+    Go2ConnectionProtocol,
+    make_connection,
+)
+from dimos.utils.logging_config import setup_logger
+
+if TYPE_CHECKING:
+    from dimos.msgs.geometry_msgs import Twist
+
+logger = setup_logger()
+
+
+class Go2FleetConnection(GO2Connection):
+    """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] | None = None,
+        cfg: GlobalConfig = global_config,
+        *args: object,
+        **kwargs: object,
+    ) -> None:
+        if not ips:
+            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] = []
+        super().__init__(ips[0], cfg, *args, **kwargs)
+
+    @rpc
+    def start(self) -> None:
+        self._extra_connections.clear()
+        for ip in self._extra_ips:
+            conn = make_connection(ip, self._global_config)
+            conn.start()
+            self._extra_connections.append(conn)
+
+        # Parent starts primary robot, subscribes sensors, calls standup() on all
+        super().start()
+        for conn in self._extra_connections:
+            conn.balance_stand()
+            conn.set_obstacle_avoidance(self._global_config.obstacle_avoidance)
+
+    @rpc
+    def stop(self) -> None:
+        # one robot's error should not prevent others from stopping
+        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}")
+        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:
+        results: list[bool] = []
+        for conn in self._all_connections:
+            try:
+                results.append(conn.move(twist, duration))
+            except Exception as e:
+                logger.error(f"Fleet move failed: {e}")
+                results.append(False)
+        return all(results)
+
+    @rpc
+    def standup(self) -> bool:
+        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:
+        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]:
+        """Publish a request to all robots, return primary's response."""
+        for conn in self._extra_connections:
+            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
+
+
+__all__ = ["Go2FleetConnection", "go2_fleet_connection"]

dimos/robot/unitree/mujoco_connection.py

@@ -229,6 +229,12 @@ def standup(self) -> bool:
     def liedown(self) -> bool:
         return True
 
+    def balance_stand(self) -> bool:
+        return True
+
+    def set_obstacle_avoidance(self, enabled: bool = True) -> None:
+        pass
+
     def get_video_frame(self) -> NDArray[Any] | None:
         if self.shm_data is None:
             return None

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"]