feat: WebSocket client mode for remote DimOS connection

Cargo.lock

@@ -2330,6 +2330,12 @@ dependencies = [
  "parking_lot_core",
 ]
 
+[[package]]
+name = "data-encoding"
+version = "2.10.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d7a1e2f27636f116493b8b860f5546edb47c8d8f8ea73e1d2a20be88e28d1fea"
+
 [[package]]
 name = "data-url"
 version = "0.3.1"
@@ -3110,15 +3116,17 @@ dependencies = [
 
 [[package]]
 name = "dimos-viewer"
-version = "0.30.0-alpha.5"
+version = "0.30.1"
 dependencies = [
  "bincode",
  "clap",
+ "futures-util",
  "mimalloc",
- "parking_lot",
  "rerun",
  "serde",
+ "serde_json",
  "tokio",
+ "tokio-tungstenite",
 ]
 
 [[package]]
@@ -12596,6 +12604,18 @@ dependencies = [
  "tokio-util",
 ]
 
+[[package]]
+name = "tokio-tungstenite"
+version = "0.28.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d25a406cddcc431a75d3d9afc6a7c0f7428d4891dd973e4d54c56b46127bf857"
+dependencies = [
+ "futures-util",
+ "log",
+ "tokio",
+ "tungstenite",
+]
+
 [[package]]
 name = "tokio-util"
 version = "0.7.16"
@@ -13013,6 +13033,23 @@ version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e78122066b0cb818b8afd08f7ed22f7fdbc3e90815035726f0840d0d26c0747a"
 
+[[package]]
+name = "tungstenite"
+version = "0.28.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8628dcc84e5a09eb3d8423d6cb682965dea9133204e8fb3efee74c2a0c259442"
+dependencies = [
+ "bytes",
+ "data-encoding",
+ "http",
+ "httparse",
+ "log",
+ "rand 0.9.2",
+ "sha1",
+ "thiserror 2.0.17",
+ "utf-8",
+]
+
 [[package]]
 name = "twox-hash"
 version = "2.1.2"
@@ -13192,6 +13229,12 @@ dependencies = [
  "xmlwriter",
 ]
 
+[[package]]
+name = "utf-8"
+version = "0.7.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "09cc8ee72d2a9becf2f2febe0205bbed8fc6615b7cb429ad062dc7b7ddd036a9"
+
 [[package]]
 name = "utf8-ranges"
 version = "1.0.5"

crates/top/rerun/src/commands/entrypoint.rs

@@ -196,6 +196,17 @@ When persisted, the state will be stored at the following locations:
     #[clap(long)]
     pub follow: bool,
 
+    /// WebSocket server URL for publishing viewer interaction events
+    /// (clicks, keyboard teleop commands).
+    ///
+    /// The viewer connects as a WebSocket client to this URL and sends
+    /// JSON events. Used by DimOS for click-to-navigate and WASD teleop.
+    ///
+    /// Also configurable via the DIMOS_VIEWER_WS_URL environment variable.
+    /// CLI flag takes priority over the environment variable.
+    #[clap(long, default_value = "ws://127.0.0.1:3030/ws")]
+    pub ws_url: String,
+
     /// The number of compute threads to use.
     ///
     /// If zero, the same number of threads as the number of cores will be used.

dimos/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "dimos-viewer"
-version = "0.30.0-alpha.6"
+version = "0.30.1"
 edition = "2024"
 rust-version = "1.92"
 license = "MIT OR Apache-2.0"
@@ -26,11 +26,12 @@ rerun = { path = "../crates/top/rerun", default-features = false, features = [
   "server",
 ] }
 
-clap = { workspace = true, features = ["derive"] }
 bincode.workspace = true
+clap.workspace = true
+futures-util.workspace = true
 mimalloc.workspace = true
-parking_lot.workspace = true
 serde = { workspace = true, features = ["derive"] }
+serde_json.workspace = true
 tokio = { workspace = true, features = [
   "io-util",
   "macros",
@@ -40,3 +41,7 @@ tokio = { workspace = true, features = [
   "sync",
   "time",
 ] }
+tokio-tungstenite = "0.28.0"
+
+[lints]
+workspace = true