feat: keyboard mapping to velocity and pose via existing interfaces (#1159)

[christiefhyang]

This PR adds keyboard-based control for both velocity and pose using the existing control/navigation interfaces for the Unitree G1.> It keeps the existing KeyboardTeleop for continuous cmd_vel control and adds a new module to send small relative pose goals through the navigation stack.

Details:

• Velocity control
  • Reuse KeyboardTeleop to map keyboard input to Twist messages.
  • Commands are published to the existing /cmd_vel transport; no changes to the low-level control path.

• Pose control
  • Add KeyboardPoseTeleop, a pygame-based module that:
  • Subscribes to odom: In[PoseStamped] for the current robot pose.
  • Maps key presses (Arrow keys, Q/E, Space) to relative motion (forward, left, degrees).
  • Generates a new PoseStamped goal in the same frame as odom and publishes it on goal_pose: Out[PoseStamped].
  • Sends cancel_goal: Out[Bool] on Space for goal cancellation.
  • This reuses the existing navigation topics /odom, /goal_pose, and /cancel_goal instead of introducing new control interfaces.

• Blueprint wiring
  • Update unitree_g1_blueprints.with_joystick to include both:
  • keyboard_teleop() for velocity (cmd_vel).
  • keyboard_pose_teleop() for discrete pose goals.

Breaking Changes

None. This change only adds a new module and extends the G1 joystick blueprint; existing behavior is preserved.

How to Test

#In a supported Linux/WSL environment:
 uv sync --extra dev --extra cpu --extra sim
 uv run dimos --simulation run unitree-g1-joystick

• Focus the Keyboard Teleop window:
• W/S: forward/backward
• A/D: turn left/right
• Q/E: strafe left/right
• Shift / Ctrl: speed up / slow down
• Space: emergency stop (cmd_vel = 0)
• Focus the Keyboard Pose Teleop window:
• ArrowUp/ArrowDown: move forward/backward by a fixed step (relative to current heading).
• ArrowLeft/ArrowRight: move left/right by a fixed step.
• Q/E: rotate in place by a fixed yaw step.
• Space: cancel the current navigation goal.
• ESC: close the pose teleop window.

Contributor License Agreement

• I have read and approved the CLA.

[greptile-apps]

Confidence Score: 5/5

Safe to merge.

Findings

1.  Duplicates existing modular blueprint structure ▶

Summary

• This change adds keyboard-driven relative pose goals and navigation cancellation to the existing Unitree G1 joystick blueprint while preserving velocity keyboard teleoperation.

_{Reviews (3) · Last reviewed commit: "Merge legacy-dev-dont-merge into keyboar..."}

[greptile-apps]

Duplicates existing modular blueprint structure

This file re-declares all existing G1 blueprints (basic_ros, basic_sim, standard, agentic, detection, with_joystick, full_featured, etc.) in a single monolithic file, duplicating what already exists across the modular subdirectory structure at:

• basic/unitree_g1_basic.py, basic/unitree_g1_basic_sim.py, basic/unitree_g1_joystick.py
• agentic/unitree_g1_agentic.py, agentic/unitree_g1_agentic_sim.py, agentic/unitree_g1_full.py
• perceptive/unitree_g1.py, perceptive/unitree_g1_detection.py, perceptive/unitree_g1_shm.py
• primitive/uintree_g1_primitive_no_nav.py

The __init__.py in this directory already uses lazy_loader to expose these blueprints from the subdirectories — and it has no reference to this new file. As a result, this file is effectively dead code unless someone explicitly imports from dimos.robot.unitree.g1.blueprints.unitree_g1_blueprints.

The goal of adding keyboard_pose_teleop() to the joystick blueprint would be better achieved by modifying the existing basic/unitree_g1_joystick.py (which is only 6 lines of substance), and updating the __init__.py if needed. That avoids two competing definitions of the same blueprints that will inevitably drift.

[paul-nechifor]

Both this and the other PR contain unitree_g1_blueprints.py, a file which we haven't used in a while. They also use n_dask_workers which has been renamed to n_workers so these are old files.

[christiefhyang]

Addressed the review comments:

• Removed the duplicate monolithic G1 blueprint file.
• Added keyboard_pose_teleop to the existing modular unitree_g1_joystick blueprint.
• Fixed the KeyboardPoseTeleop lifecycle methods by restoring a proper stop method.

Validation:
python -m py_compile dimos/robot/unitree/g1/blueprints/basic/unitree_g1_joystick.py dimos/teleop/keyboard/keyboard_pose_teleop.py

[codecov]

❌ 2 Tests Failed:

Tests completed	Failed	Passed	Skipped
1866	2	1864	59

View the top 2 failed test(s) by shortest run time

dimos.robot.test_all_blueprints::test_all_blueprints_are_valid[unitree-g1-joystick]

Stack Traces | 0.007s run time

blueprint_name = 'unitree-g1-joystick'

    @pytest.mark.slow
    @pytest.mark.parametrize("blueprint_name", all_blueprints.keys())
    def test_all_blueprints_are_valid(blueprint_name: str) -> None:
        """Test that all blueprints in all_blueprints are valid Blueprint instances."""
        try:
>           blueprint = get_blueprint_by_name(blueprint_name)

dimos/robot/test_all_blueprints.py:34: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/get_all_blueprints.py:47: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
.../blueprints/basic/unitree_g1_joystick.py:21: in <module>
    from dimos.teleop.keyboard.keyboard_pose_teleop import keyboard_pose_teleop
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    #!.../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.
    
    from __future__ import annotations
    
    import math
    import os
    import threading
    
    import pygame
    
>   from dimos.core import In, Module, Out, rpc
E   ImportError: cannot import name 'In' from 'dimos.core' (unknown location)

.../teleop/keyboard/keyboard_pose_teleop.py:24: ImportError

dimos.robot.test_all_blueprints_generation::test_all_blueprints_is_current

Stack Traces | 3.61s run time

def test_all_blueprints_is_current() -> None:
        root = DIMOS_PROJECT_ROOT / "dimos"
        all_blueprints, all_modules = _scan_for_blueprints(root)
    
        common = set(all_blueprints.keys()) & set(all_modules.keys())
        assert not common, (
            f"Names must be unique across blueprints and modules, "
            f"but these appear in both: {sorted(common)}"
        )
    
        generated_content = _generate_all_blueprints_content(all_blueprints, all_modules)
    
        file_path = root / "robot" / "all_blueprints.py"
    
        if "CI" in os.environ:
            if not file_path.exists():
                pytest.fail(f"all_blueprints.py does not exist at {file_path}")
    
            current_content = file_path.read_text()
            if current_content != generated_content:
                diff = difflib.unified_diff(
                    current_content.splitlines(keepends=True),
                    generated_content.splitlines(keepends=True),
                    fromfile="all_blueprints.py (current)",
                    tofile="all_blueprints.py (generated)",
                )
                diff_str = "".join(diff)
>               pytest.fail(
                    f"all_blueprints.py is out of date. Run "
                    f"`pytest dimos/robot/test_all_blueprints_generation.py` locally to update.\n\n"
                    f"Diff:\n{diff_str}"
                )
E               Failed: all_blueprints.py is out of date. Run `pytest dimos/robot/test_all_blueprints_generation.py` locally to update.
E               
E               Diff:
E               --- all_blueprints.py (current)
E               +++ all_blueprints.py (generated)
E               @@ -145,6 +145,7 @@
E                    "gstreamer-camera-module": "dimos.hardware.sensors.camera.gstreamer.gstreamer_camera.GstreamerCameraModule",
E                    "joint-trajectory-controller": "dimos.manipulation.control.trajectory_controller.joint_trajectory_controller.JointTrajectoryController",
E                    "joystick-module": "dimos.robot.unitree.b1.joystick_module.JoystickModule",
E               +    "keyboard-pose-teleop": "dimos.teleop.keyboard.keyboard_pose_teleop.KeyboardPoseTeleop",
E                    "keyboard-teleop": "dimos.robot.unitree.keyboard_teleop.KeyboardTeleop",
E                    "keyboard-teleop-module": "dimos.teleop.keyboard.keyboard_teleop_module.KeyboardTeleopModule",
E                    "manipulation-module": "dimos.manipulation.manipulation_module.ManipulationModule",

dimos/robot/test_all_blueprints_generation.py:66: Failed

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[paul-nechifor]

Closed this old PR due to inactivity. Can be reopened later.