Add connection and teleop support for Booster T1

[lichenbo]

Problem

dimOS does not currently provide a native locomotion connection or teleoperation blueprint for the Booster T1. This prevents Booster velocity commands from being sent through the standard dimOS cmd_vel stream.

Closes DIM-1050

Solution

Add native Booster B1 locomotion and keyboard teleoperation support:

• Wrap the Booster C++ SDK in a dimOS NativeModule.
• Pin and build the SDK reproducibly with Nix and CMake.
• Add the discoverable booster-b1-keyboard-teleop blueprint.
• Limit velocity commands to 0.2 m/s in X/Y and 1.0 rad/s in yaw.
• Add a 0.25-second command watchdog that stops the robot when commands expire.
• Send a final zero-velocity command and request damping mode during shutdown.
• Add tests covering build configuration, stream wiring, and blueprint registration.

The native C++ integration avoids requiring the Booster Python SDK.

How to Test

Run on a Booster B1 connected through the selected network interface:

ROBOT_INTERFACE=<interface> dimos run booster-b1-keyboard-teleop

Run the automated tests:
uv run pytest dimos/robot/booster/b1/test_connection.py -v
Hardware locomotion is not exercised by the automated tests.

[greptile-apps]

Greptile Summary

This PR adds native Booster B1 locomotion and keyboard teleop support. The main changes are:

• New Booster B1 blueprint and registry entries.
• Python NativeModule wrapper for the native driver.
• C++ SDK driver with command clipping, watchdog stop, and shutdown handling.
• Nix and CMake build files for the native binary.
• Tests for config, build wiring, stream wiring, and blueprint discovery.

Confidence Score: 4/5

The teleop path needs a fix before merging.

• The native driver only leaves prepare mode after a positive X command.
• Valid turn, strafe, reverse, and stop commands can be dropped before locomotion starts.
• The build and registration changes otherwise look consistent with the inspected diff.

dimos/robot/booster/b1/cpp/main.cpp

Important Files Changed

Filename	Overview
dimos/robot/all_blueprints.py	Adds discoverability entries for the Booster B1 teleop blueprint and connection module.
dimos/robot/booster/b1/blueprints/basic/booster_b1_keyboard_teleop.py	Adds the keyboard teleop blueprint that wires KeyboardTeleop to the Booster connection.
dimos/robot/booster/b1/connection.py	Adds the Python native-module wrapper and runtime configuration for the Booster driver.
dimos/robot/booster/b1/cpp/main.cpp	Adds the native Booster driver, including mode changes, command handling, watchdog stop, and shutdown cleanup.
dimos/robot/booster/b1/cpp/CMakeLists.txt	Adds the CMake target for the native Booster driver and SDK linkage.
dimos/robot/booster/b1/cpp/flake.nix	Adds a Nix build that packages the Booster SDK and native driver for supported Linux targets.
dimos/robot/booster/b1/README.md	Documents build and runtime usage for the Booster B1 connection.
dimos/robot/booster/b1/test_connection.py	Adds tests for the wrapper config, build file assumptions, stream wiring, and blueprint registration.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A[KeyboardTeleop publishes cmd_vel] --> B[Native LCM cmd_vel handler]
    B --> C{Walking mode enabled?}
    C -- No --> D{vx > 0?}
    D -- Yes --> E[Switch to walking]
    D -- No --> F[Drop command]
    C -- Yes --> G[Send clipped Move command]
    G --> H[Watchdog sends zero after timeout]

Loading

%%{init: {'theme': 'base', 'themeVariables': {"darkMode": true, "background": "#0d1117", "primaryColor": "#21262d", "primaryTextColor": "#e6edf3", "primaryBorderColor": "#8b949e", "lineColor": "#8b949e", "textColor": "#e6edf3", "edgeLabelBackground": "#161b22", "actorBkg": "#21262d", "actorBorder": "#8b949e", "actorTextColor": "#e6edf3", "actorLineColor": "#8b949e", "signalColor": "#8b949e", "signalTextColor": "#e6edf3", "noteBkgColor": "#373320", "noteBorderColor": "#d4a72c", "noteTextColor": "#f0e6c0", "labelBoxBkgColor": "#21262d", "labelBoxBorderColor": "#8b949e", "labelTextColor": "#e6edf3", "loopTextColor": "#e6edf3", "activationBkgColor": "#30363d", "activationBorderColor": "#8b949e"}}}%%
flowchart TD
    A[KeyboardTeleop publishes cmd_vel] --> B[Native LCM cmd_vel handler]
    B --> C{Walking mode enabled?}
    C -- No --> D{vx > 0?}
    D -- Yes --> E[Switch to walking]
    D -- No --> F[Drop command]
    C -- Yes --> G[Send clipped Move command]
    G --> H[Watchdog sends zero after timeout]

Loading

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[codecov]

Codecov Report

❌ Patch coverage is 97.53086% with 2 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/robot/booster/b1/connection.py	91.30%	1 Missing and 1 partial ⚠️

@@            Coverage Diff             @@
##             main    #2842      +/-   ##
==========================================
- Coverage   72.21%   71.93%   -0.29%     
==========================================
  Files        1001     1004       +3     
  Lines       89755    89836      +81     
  Branches     8196     8197       +1     
==========================================
- Hits        64818    64623     -195     
- Misses      22718    23014     +296     
+ Partials     2219     2199      -20     

Flag	Coverage Δ
OS-ubuntu-24.04-arm	65.13% <97.53%> (+0.03%)	⬆️
OS-ubuntu-latest	67.52% <97.53%> (+0.02%)	⬆️
Py-3.10	67.51% <97.53%> (+0.02%)	⬆️
Py-3.11	67.52% <97.53%> (+0.02%)	⬆️
Py-3.12	67.52% <97.53%> (+0.03%)	⬆️
Py-3.13	67.52% <97.53%> (+0.02%)	⬆️
Py-3.14	67.53% <97.53%> (+0.02%)	⬆️
Py-3.14t	67.51% <97.53%> (+0.02%)	⬆️
SelfHosted-macOS	?

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
dimos/robot/all_blueprints.py	100.00% <ø> (ø)
.../b1/blueprints/basic/booster_b1_keyboard_teleop.py	100.00% <100.00%> (ø)
dimos/robot/booster/b1/test_connection.py	100.00% <100.00%> (ø)
dimos/robot/booster/b1/connection.py	91.30% <91.30%> (ø)

... and 23 files with indirect coverage changes

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