Feat/Quest VR teleoperation stack

.gitignore

@@ -65,3 +65,5 @@ yolo11n.pt
 
 *mobileclip*
 /results
+
+dimos/assets/teleop_certs/

dimos/msgs/geometry_msgs/Pose.py

@@ -222,6 +222,19 @@ def __add__(self, other: Pose | PoseConvertable | LCMTransform | Transform) -> P
 
         return Pose(new_position, new_orientation)
 
+    def __sub__(self, other: Pose) -> Pose:
+        """Compute the delta pose: self - other.
+
+        For position: simple subtraction.
+        For orientation: delta_quat = self.orientation * inverse(other.orientation)
+
+        Returns:
+            A new Pose representing the delta transformation
+        """
+        delta_position = self.position - other.position
+        delta_orientation = self.orientation * other.orientation.inverse()
+        return Pose(delta_position, delta_orientation)
+
     @classmethod
     def from_ros_msg(cls, ros_msg: ROSPose) -> Pose:
         """Create a Pose from a ROS geometry_msgs/Pose message.

dimos/msgs/std_msgs/UInt32.py

@@ -0,0 +1,30 @@
+#!/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.
+
+"""UInt32 message type."""
+
+from typing import ClassVar
+
+from dimos_lcm.std_msgs import UInt32 as LCMUInt32
+
+
+class UInt32(LCMUInt32):  # type: ignore[misc]
+    """ROS-compatible UInt32 message."""
+
+    msg_name: ClassVar[str] = "std_msgs.UInt32"
+
+    def __init__(self, data: int = 0) -> None:
+        """Initialize UInt32 with data value."""
+        self.data = data

dimos/msgs/std_msgs/__init__.py

@@ -16,5 +16,6 @@
 from .Header import Header
 from .Int8 import Int8
 from .Int32 import Int32
+from .UInt32 import UInt32
 
-__all__ = ["Bool", "Header", "Int8", "Int32"]
+__all__ = ["Bool", "Header", "Int8", "Int32", "UInt32"]

dimos/robot/all_blueprints.py

@@ -16,6 +16,8 @@
 # Run `pytest dimos/robot/test_all_blueprints_generation.py` to regenerate.
 
 all_blueprints = {
+    "arm-teleop": "dimos.teleop.blueprints:arm_teleop",
+    "arm-teleop-visualizing": "dimos.teleop.blueprints:arm_teleop_visualizing",
     "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",
@@ -65,6 +67,7 @@
 
 
 all_modules = {
+    "arm_teleop_module": "dimos.teleop.quest.quest_extensions",
     "camera_module": "dimos.hardware.sensors.camera.module",
     "cartesian_motion_controller": "dimos.manipulation.control.servo_control.cartesian_motion_controller",
     "control_coordinator": "dimos.control.coordinator",
@@ -94,15 +97,18 @@
     "osm_skill": "dimos.agents.skills.osm",
     "person_follow_skill": "dimos.agents.skills.person_follow",
     "person_tracker_module": "dimos.perception.detection.person_tracker",
+    "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_scene_wiring": "dimos.dashboard.rerun_scene_wiring",
     "ros_nav": "dimos.navigation.rosnav",
     "spatial_memory": "dimos.perception.spatial_perception",
     "speak_skill": "dimos.agents.skills.speak_skill",
     "temporal_memory": "dimos.perception.experimental.temporal_memory.temporal_memory",
+    "twist_teleop_module": "dimos.teleop.quest.quest_extensions",
     "unitree_skills": "dimos.robot.unitree_webrtc.unitree_skill_container",
     "utilization": "dimos.utils.monitoring",
+    "visualizing_teleop_module": "dimos.teleop.quest.quest_extensions",
     "vlm_agent": "dimos.agents.vlm_agent",
     "vlm_stream_tester": "dimos.agents.vlm_stream_tester",
     "voxel_mapper": "dimos.mapping.voxels",

dimos/teleop/README.md

@@ -0,0 +1,76 @@
+# Teleop Stack
+
+Teleoperation modules for DimOS. Currently supports Meta Quest 3 VR controllers.
+
+## Architecture
+
+```
+Quest Browser (WebXR)
+    │
+    │  PoseStamped + Joy via WebSocket
+    ▼
+Deno Bridge (teleop_server.ts)
+    │
+    │  LCM topics
+    ▼
+QuestTeleopModule
+    │  WebXR → robot frame transform
+    │  Pose computation + button state packing
+    ▼
+PoseStamped / TwistStamped / QuestButtons outputs
+```
+
+## Modules
+
+### QuestTeleopModule
+Base teleop module. Gets controller data, computes output poses, and publishes them. Default engage: hold primary button (X/A). Subclass to customize.
+
+### ArmTeleopModule
+Toggle-based engage — press primary button once to engage, press again to disengage.
+
+### TwistTeleopModule
+Outputs TwistStamped (linear + angular velocity) instead of PoseStamped.
+
+### VisualizingTeleopModule
+Adds Rerun visualization for debugging. Extends ArmTeleopModule (toggle engage).
+
+## Subclassing
+
+`QuestTeleopModule` is designed for extension. Override these methods:
+
+| Method | Purpose |
+|--------|---------|
+| `_handle_engage()` | Customize engage/disengage logic |
+| `_should_publish()` | Add conditions for when to publish |
+| `_get_output_pose()` | Customize pose computation |
+| `_publish_msg()` | Change output format |
+| `_publish_button_state()` | Change button output |
+
+### Rules for subclasses
+
+- **Do not acquire `self._lock` in overrides.** The control loop already holds it.
+  Access `self._controllers`, `self._current_poses`, `self._is_engaged`, etc. directly.
+- **Keep overrides fast** — they run inside the control loop at `control_loop_hz`.
+
+## File Structure
+
+```
+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, QuestButtons
+│   └── web/                     # Deno bridge + WebXR client
+│       ├── teleop_server.ts
+│       └── static/index.html
+├── utils/
+│   ├── teleop_transforms.py     # WebXR → robot frame math
+│   └── teleop_visualization.py  # Rerun visualization helpers
+└── blueprints.py                # Module blueprints for easy instantiation
+```
+
+## Quick Start
+
+See [Quest Web README](quest/web/README.md) for running the Deno bridge and connecting the Quest headset.

dimos/teleop/__init__.py

@@ -0,0 +1,19 @@
+# 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.
+
+"""Teleoperation modules for DimOS."""
+
+from dimos.teleop.base import TeleopProtocol
+
+__all__ = ["TeleopProtocol"]

dimos/teleop/base/__init__.py

@@ -0,0 +1,19 @@
+# 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.
+
+"""Teleoperation protocol."""
+
+from dimos.teleop.base.teleop_protocol import TeleopProtocol
+
+__all__ = ["TeleopProtocol"]

dimos/teleop/base/teleop_protocol.py

@@ -0,0 +1,58 @@
+#!/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.
+
+"""Teleoperation specifications: Protocol.
+
+Defines the interface that all teleoperation modules must implement.
+No implementation - just method signatures.
+"""
+
+from typing import Any, Protocol, runtime_checkable
+
+# ============================================================================
+# TELEOP PROTOCOL
+# ============================================================================
+
+
+@runtime_checkable
+class TeleopProtocol(Protocol):
+    """Protocol defining the teleoperation interface.
+
+    All teleop modules (Quest, keyboard, joystick, etc.) should implement these methods.
+    No state or implementation here - just the contract.
+    """
+
+    # --- Lifecycle ---
+
+    def start(self) -> None:
+        """Start the teleoperation module."""
+        ...
+
+    def stop(self) -> None:
+        """Stop the teleoperation module."""
+        ...
+
+    # --- Engage / Disengage ---
+
+    def engage(self, hand: Any = None) -> bool:
+        """Engage teleoperation. Hand type is device-specific (e.g., Hand enum for Quest)."""
+        ...
+
+    def disengage(self, hand: Any = None) -> None:
+        """Disengage teleoperation. Hand type is device-specific."""
+        ...
+
+
+__all__ = ["TeleopProtocol"]

dimos/teleop/blueprints.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.
+
+"""Teleop blueprints for testing and deployment."""
+
+from dimos.core.blueprints import autoconnect
+from dimos.core.transport import LCMTransport
+from dimos.msgs.geometry_msgs import PoseStamped
+from dimos.teleop.quest.quest_extensions import arm_teleop_module, visualizing_teleop_module
+from dimos.teleop.quest.quest_types import QuestButtons
+
+# -----------------------------------------------------------------------------
+# Quest Teleop Blueprints
+# -----------------------------------------------------------------------------
+
+# Arm teleop with toggle-based engage
+arm_teleop = autoconnect(
+    arm_teleop_module(),
+).transports(
+    {
+        ("left_controller_output", PoseStamped): LCMTransport("/teleop/left_delta", PoseStamped),
+        ("right_controller_output", PoseStamped): LCMTransport("/teleop/right_delta", PoseStamped),
+        ("buttons", QuestButtons): LCMTransport("/teleop/buttons", QuestButtons),
+    }
+)
+
+# Arm teleop with Rerun visualization
+arm_teleop_visualizing = autoconnect(
+    visualizing_teleop_module(),
+).transports(
+    {
+        ("left_controller_output", PoseStamped): LCMTransport("/teleop/left_delta", PoseStamped),
+        ("right_controller_output", PoseStamped): LCMTransport("/teleop/right_delta", PoseStamped),
+        ("buttons", QuestButtons): LCMTransport("/teleop/buttons", QuestButtons),
+    }
+)
+
+
+__all__ = ["arm_teleop", "arm_teleop_visualizing"]

dimos/teleop/quest/__init__.py

@@ -0,0 +1,54 @@
+# 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.
+
+"""Quest teleoperation module."""
+
+from dimos.teleop.quest.quest_extensions import (
+    ArmTeleopModule,
+    TwistTeleopModule,
+    VisualizingTeleopModule,
+    arm_teleop_module,
+    twist_teleop_module,
+    visualizing_teleop_module,
+)
+from dimos.teleop.quest.quest_teleop_module import (
+    Hand,
+    QuestTeleopConfig,
+    QuestTeleopModule,
+    QuestTeleopStatus,
+    quest_teleop_module,
+)
+from dimos.teleop.quest.quest_types import (
+    QuestButtons,
+    QuestControllerState,
+    ThumbstickState,
+)
+
+__all__ = [
+    "ArmTeleopModule",
+    "Hand",
+    "QuestButtons",
+    "QuestControllerState",
+    "QuestTeleopConfig",
+    "QuestTeleopModule",
+    "QuestTeleopStatus",
+    "ThumbstickState",
+    "TwistTeleopModule",
+    "VisualizingTeleopModule",
+    # Blueprints
+    "arm_teleop_module",
+    "quest_teleop_module",
+    "twist_teleop_module",
+    "visualizing_teleop_module",
+]