feat: hosted teleop over Cloudflare RT

[ruthwikdasyam]

Detailed in #2372

Problem

Hosted Teleop setup for DimOS

Closes DIM-XXX

Solution

Add hosted teleop over WebRTC via a Cloudflare Realtime SFU broker: a HostedTeleopModule with cmd/state datachannels + a camera video track that drops into existing blueprints, plus a shared teleop/utils recording &
transport-stats stack (recorder, latency/jitter/loss report, VideoStats).

How to Test

dimos run teleop-hosted-go2 teleop-recorder

Contributor License Agreement

• I have read and approved the CLA.

[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
2121	1	2120	81

View the top 1 failed test(s) by shortest run time

dimos.e2e_tests.test_dimsim_path_replaning::test_path_replanning

Stack Traces | 240s run time

lcm_spy = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7269281d4bc0>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x726927721260>
dim_sim = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x72692802d640>
direct_cmd_vel_explorer = <dimos.simulation.mujoco.direct_cmd_vel_explorer.DirectCmdVelExplorer object at 0x7269299a6840>
spawn_wall_on_pose = <function spawn_wall_on_pose.<locals>.spawn at 0x7269277220c0>

    @pytest.mark.self_hosted_large
    def test_path_replanning(
        lcm_spy, start_blueprint, dim_sim, direct_cmd_vel_explorer, spawn_wall_on_pose
    ) -> None:
        start_blueprint(
            "--dimsim-scene=empty",
            "run",
            "unitree-go2-agentic",
            simulator="dimsim",
        )
        lcm_spy.save_topic(".../McpClient/on_system_modules/res")
        lcm_spy.wait_for_saved_topic(".../McpClient/on_system_modules/res", timeout=1200.0)
    
        # robot spawns at (3, 2)
    
        # side wall
        dim_sim.add_wall(2, -2.5, 12, -2.5)
        # other side wall
        dim_sim.add_wall(2, 3.5, 12, 3.5)
        # back wall (behind robot)
        dim_sim.add_wall(2, -2.5, 2, 3.5)
        # forward wall (far end)
        dim_sim.add_wall(12, -2.5, 12, 3.5)
        # dividing wall at x=7 with doors at y=[-1.5,-0.5] and y=[1.5,2.5]
        dim_sim.add_wall(7, -2.5, 7, -1.5)
        dim_sim.add_wall(7, -0.5, 7, 1.5)
        dim_sim.add_wall(7, 2.5, 7, 3.5)
    
        direct_cmd_vel_explorer.linear_speed = 0.8
        direct_cmd_vel_explorer.follow_points([(10, 2), (2.5, 2), (3, 2)])
    
        # When the robot comes within 1.5 m of the left door's centre, drop a wall
        # in the opening so the planner has to bail out and route through the
        # right door at y=-1 instead.
        spawn_wall_on_pose(
            point=(7, 2),
            threshold=1.5,
            wall=(7, 1.5, 7, 2.5),
        )
    
        dim_sim.publish_goal(10.913, 0.588)
    
>       lcm_spy.wait_until_odom_position(10.913, 0.588, threshold=1, timeout=120)

dim_sim    = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x72692802d640>
direct_cmd_vel_explorer = <dimos.simulation.mujoco.direct_cmd_vel_explorer.DirectCmdVelExplorer object at 0x7269299a6840>
lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7269281d4bc0>
spawn_wall_on_pose = <function spawn_wall_on_pose.<locals>.spawn at 0x7269277220c0>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x726927721260>

dimos/e2e_tests/test_dimsim_path_replaning.py:60: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/e2e_tests/lcm_spy.py:182: in wait_until_odom_position
    self.wait_for_message_result(
        predicate  = <function LcmSpy.wait_until_odom_position.<locals>.predicate at 0x726927722ac0>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7269281d4bc0>
        threshold  = 1
        timeout    = 120
        x          = 10.913
        y          = 0.588
dimos/e2e_tests/lcm_spy.py:168: in wait_for_message_result
    self.wait_until(
        event      = <threading.Event at 0x726927604560: unset>
        fail_message = 'Failed to get to position x=10.913, y=0.588'
        listener   = <function LcmSpy.wait_for_message_result.<locals>.listener at 0x726927722b60>
        predicate  = <function LcmSpy.wait_until_odom_position.<locals>.predicate at 0x726927722ac0>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7269281d4bc0>
        timeout    = 120
        topic      = '/odom#geometry_msgs.PoseStamped'
        type       = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7269281d4bc0>

    def wait_until(
        self,
        *,
        condition: Callable[[], bool],
        timeout: float,
        error_message: str,
        poll_interval: float = 0.1,
    ) -> None:
        start_time = time.time()
        while time.time() - start_time < timeout:
            if condition():
                return
            time.sleep(poll_interval)
>       raise TimeoutError(error_message)
E       TimeoutError: Failed to get to position x=10.913, y=0.588

condition  = <bound method Event.is_set of <threading.Event at 0x726927604560: unset>>
error_message = 'Failed to get to position x=10.913, y=0.588'
poll_interval = 0.1
self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7269281d4bc0>
start_time = 1780782505.6478946
timeout    = 120

dimos/e2e_tests/lcm_spy.py:105: TimeoutError

To view more test analytics, go to the Test Analytics Dashboard
_{📋 Got 3 mins? Take this short survey to help us improve Test Analytics.}