Booster K1 intergation

dimos/robot/all_blueprints.py

@@ -21,6 +21,9 @@
     "arm-teleop-piper": "dimos.teleop.quest.blueprints:arm_teleop_piper",
     "arm-teleop-visualizing": "dimos.teleop.quest.blueprints:arm_teleop_visualizing",
     "arm-teleop-xarm6": "dimos.teleop.quest.blueprints:arm_teleop_xarm6",
+    "booster-k1-agentic": "dimos.robot.booster.k1.blueprints.agentic.booster_k1_agentic:booster_k1_agentic",
+    "booster-k1-basic": "dimos.robot.booster.k1.blueprints.basic.booster_k1_basic:booster_k1_basic",
+    "booster-k1-spatial": "dimos.robot.booster.k1.blueprints.smart.booster_k1_spatial:booster_k1_spatial",
     "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",

dimos/robot/booster/k1/blueprints/__init__.py

@@ -0,0 +1,28 @@
+#!/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.
+
+"""Cascaded Booster K1 blueprints split into focused modules."""
+
+import lazy_loader as lazy
+
+__getattr__, __dir__, __all__ = lazy.attach(
+    __name__,
+    submod_attrs={
+        "agentic._common_agentic": ["_common_agentic"],
+        "agentic.booster_k1_agentic": ["booster_k1_agentic"],
+        "basic.booster_k1_basic": ["booster_k1_basic"],
+        "smart.booster_k1_spatial": ["booster_k1_spatial"],
+    },
+)

dimos/robot/booster/k1/blueprints/agentic/__init__.py

@@ -0,0 +1,16 @@
+#!/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.
+
+"""Agentic blueprints for Booster K1."""

dimos/robot/booster/k1/blueprints/agentic/_common_agentic.py

@@ -0,0 +1,31 @@
+#!/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.
+
+"""Shared agentic skills for Booster K1 blueprints."""
+
+from dimos.agents.skills.navigation import navigation_skill
+from dimos.agents.skills.speak_skill import speak_skill
+from dimos.agents.web_human_input import web_input
+from dimos.core.blueprints import autoconnect
+from dimos.robot.booster.k1.skill_container import booster_k1_skills
+
+_common_agentic = autoconnect(
+    navigation_skill(),
+    booster_k1_skills(),
+    web_input(),
+    speak_skill(),
+)
+
+__all__ = ["_common_agentic"]

dimos/robot/booster/k1/blueprints/agentic/booster_k1_agentic.py

@@ -0,0 +1,29 @@
+#!/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.
+
+"""Booster K1 agentic blueprint: spatial + agent + skills."""
+
+from dimos.agents.agent import agent
+from dimos.core.blueprints import autoconnect
+from dimos.robot.booster.k1.blueprints.agentic._common_agentic import _common_agentic
+from dimos.robot.booster.k1.blueprints.smart.booster_k1_spatial import booster_k1_spatial
+
+booster_k1_agentic = autoconnect(
+    booster_k1_spatial,
+    agent(),
+    _common_agentic,
+)
+
+__all__ = ["booster_k1_agentic"]

dimos/robot/booster/k1/blueprints/basic/__init__.py

@@ -0,0 +1,16 @@
+#!/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.
+
+"""Basic blueprints for Booster K1."""

dimos/robot/booster/k1/blueprints/basic/booster_k1_basic.py

@@ -0,0 +1,90 @@
+#!/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.
+
+"""Basic Booster K1 blueprint: connection + visualization."""
+
+import platform
+
+from dimos.constants import DEFAULT_CAPACITY_COLOR_IMAGE
+from dimos.core.blueprints import autoconnect
+from dimos.core.global_config import global_config
+from dimos.core.transport import pSHMTransport
+from dimos.msgs.sensor_msgs import Image
+from dimos.protocol.pubsub.impl.lcmpubsub import LCM
+from dimos.robot.booster.k1.connection import k1_connection
+from dimos.web.websocket_vis.websocket_vis_module import websocket_vis
+
+_mac_transports: dict[tuple[str, type], pSHMTransport[Image]] = {
+    ("color_image", Image): pSHMTransport(
+        "color_image", default_capacity=DEFAULT_CAPACITY_COLOR_IMAGE
+    ),
+}
+
+_transports_base = (
+    autoconnect() if platform.system() == "Linux" else autoconnect().transports(_mac_transports)
+)
+
+
+def _k1_blueprint():
+    import rerun as rr
+    import rerun.blueprint as rrb
+
+    return rrb.Blueprint(
+        rrb.Horizontal(
+            rrb.Spatial3DView(
+                origin="world",
+                background=rrb.Background(kind="SolidColor", color=[0, 0, 0]),
+                line_grid=rrb.LineGrid3D(
+                    plane=rr.components.Plane3D.XY.with_distance(0.2),
+                ),
+            ),
+            rrb.Spatial2DView(
+                name="Camera",
+                origin="world/color_image",
+            ),
+        ),
+    )
+
+
+rerun_config = {
+    "pubsubs": [LCM(autoconf=True)],
+    "blueprint": _k1_blueprint,
+    "visual_override": {
+        "world/camera_info": lambda camera_info: camera_info.to_rerun(
+            image_topic="/world/color_image",
+            optical_frame="camera_optical",
+        ),
+    },
+}
+
+match global_config.viewer_backend:
+    case "rerun":
+        from dimos.visualization.rerun.bridge import rerun_bridge
+
+        with_vis = autoconnect(_transports_base, rerun_bridge(**rerun_config))
+    case "rerun-web":
+        from dimos.visualization.rerun.bridge import rerun_bridge
+
+        with_vis = autoconnect(_transports_base, rerun_bridge(viewer_mode="web", **rerun_config))
+    case _:
+        with_vis = autoconnect(_transports_base)
+
+booster_k1_basic = autoconnect(
+    with_vis,
+    k1_connection(),
+    websocket_vis(),
+).global_config(n_dask_workers=4, robot_model="booster_k1")
+
+__all__ = ["booster_k1_basic"]

dimos/robot/booster/k1/blueprints/smart/__init__.py

@@ -0,0 +1,16 @@
+#!/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.
+
+"""Smart blueprints for Booster K1."""

dimos/robot/booster/k1/blueprints/smart/booster_k1.py

@@ -0,0 +1,23 @@
+#!/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 dimos.core.blueprints import autoconnect
+from dimos.robot.booster.k1.blueprints.basic.booster_k1_basic import booster_k1_basic
+
+booster_k1 = autoconnect(
+    booster_k1_basic,
+).global_config(n_dask_workers=6, robot_model="booster_k1")
+
+__all__ = ["booster_k1"]

dimos/robot/booster/k1/blueprints/smart/booster_k1_spatial.py

@@ -0,0 +1,27 @@
+#!/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 dimos.core.blueprints import autoconnect
+from dimos.perception.spatial_perception import spatial_memory
+from dimos.robot.booster.k1.blueprints.smart.booster_k1 import booster_k1
+from dimos.utils.monitoring import utilization
+
+booster_k1_spatial = autoconnect(
+    booster_k1,
+    spatial_memory(),
+    utilization(),
+).global_config(n_dask_workers=8)
+
+__all__ = ["booster_k1_spatial"]