feat(imitation): add profile-driven dual-arm collection

dimos/robot/all_blueprints.py

@@ -67,6 +67,7 @@
     "drone-agentic": "dimos.robot.drone.blueprints.agentic.drone_agentic:drone_agentic",
     "drone-basic": "dimos.robot.drone.blueprints.basic.drone_basic:drone_basic",
     "dual-openyam-planner-coordinator": "dimos.robot.manipulators.dual_openyam.blueprints.basic:dual_openyam_planner_coordinator",
+    "dual-openyam-quest-collection": "dimos.robot.manipulators.dual_openyam.blueprints.learning_collection:dual_openyam_quest_collection",
     "dual-xarm6-planner-coordinator": "dimos.robot.manipulators.xarm.blueprints.basic:dual_xarm6_planner_coordinator",
     "go2-zenoh-basic": "dimos.robot.unitree.go2.zenoh.blueprints:go2_zenoh_basic",
     "go2-zenoh-htc": "dimos.robot.unitree.go2.zenoh.blueprints:go2_zenoh_htc",

dimos/robot/manipulators/dual_openyam/blueprints/learning_collection.py

@@ -0,0 +1,53 @@
+# Copyright 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.
+
+"""Dual OpenYAM collection using ordinary blueprint configuration."""
+
+from dimos.core.coordination.blueprints import autoconnect
+from dimos.hardware.sensors.camera.module import CameraModule
+from dimos.hardware.sensors.camera.webcam import WebcamConfig
+from dimos.imitation.collection.episode_monitor import EpisodeMonitorModule
+from dimos.imitation.collection.native_recorder import collection_recorder
+from dimos.manipulation.visualization.viser.config import ViserVisualizationConfig
+from dimos.robot.manipulators.dual_openyam.blueprints.teleop import build_dual_openyam_webxr
+from dimos.robot.manipulators.dual_openyam.learning import DUAL_OPENYAM_COLLECTION
+
+dual_openyam_quest_collection = autoconnect(
+    build_dual_openyam_webxr(visualization=ViserVisualizationConfig(host="0.0.0.0")),
+    CameraModule.blueprint(
+        instance_name="left_wrist",
+        hardware=WebcamConfig(
+            camera_index=0, width=640, height=480, fps=30, frame_id_prefix="left_wrist_image"
+        ),
+        frame_id="left_wrist_camera_link",
+    ),
+    CameraModule.blueprint(
+        instance_name="right_wrist",
+        hardware=WebcamConfig(
+            camera_index=1, width=640, height=480, fps=30, frame_id_prefix="right_wrist_image"
+        ),
+        frame_id="right_wrist_camera_link",
+    ),
+    collection_recorder(profile=DUAL_OPENYAM_COLLECTION),
+    EpisodeMonitorModule.blueprint(instance_name="episodes"),
+).remappings(
+    [
+        ("left_wrist", "color_image", "left_wrist_image"),
+        ("left_wrist", "camera_info", "left_wrist_camera_info"),
+        ("left_wrist", "tf", "left_wrist_tf"),
+        ("right_wrist", "color_image", "right_wrist_image"),
+        ("right_wrist", "camera_info", "right_wrist_camera_info"),
+        ("right_wrist", "tf", "right_wrist_tf"),
+    ]
+)

dimos/robot/manipulators/dual_openyam/blueprints/test_learning.py

@@ -0,0 +1,129 @@
+# Copyright 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.
+
+
+import numpy as np
+
+from dimos.core.coordination.blueprint_config.parser import BlueprintConfigParser
+from dimos.hardware.sensors.camera.module import CameraModule
+from dimos.imitation.dataprep.core import resolve_field
+from dimos.manipulation.manipulation_module import ManipulationModule
+from dimos.msgs.sensor_msgs.JointState import JointState
+from dimos.robot.manipulators.dual_openyam.blueprints.learning_collection import (
+    dual_openyam_quest_collection,
+)
+from dimos.robot.manipulators.dual_openyam.blueprints.teleop import teleop_webxr_dual_openyam
+from dimos.robot.manipulators.dual_openyam.joints import DUAL_OPENYAM_JOINTS
+from dimos.robot.manipulators.dual_openyam.learning import DUAL_OPENYAM_COLLECTION
+
+
+def test_dual_profile_projects_canonical_joint_order_and_records_both_cameras():
+    profile = DUAL_OPENYAM_COLLECTION
+    schema = profile.to_schema()
+    message = JointState(
+        name=list(reversed(DUAL_OPENYAM_JOINTS)), position=list(reversed(range(14)))
+    )
+    np.testing.assert_array_equal(resolve_field(message, schema.action["action"]), np.arange(14))
+    np.testing.assert_array_equal(
+        resolve_field(message, schema.observation["observation.state"]), np.arange(14)
+    )
+    assert schema.action["action"].source_kind == "joint_position_updates"
+    assert schema.observation["observation.state"].source_kind == "snapshot"
+    assert {
+        key: feature.stream
+        for key, feature in schema.observation.items()
+        if feature.dtype == "video"
+    } == {
+        "observation.images.left_wrist": "left_wrist_image",
+        "observation.images.right_wrist": "right_wrist_image",
+    }
+    [recorder] = [
+        atom for atom in dual_openyam_quest_collection.active_blueprints if atom.name == "recorder"
+    ]
+    # Every Module inherits tf; the profile recorder does not record that input.
+    assert {
+        port.name for port in recorder.streams if port.direction == "in" and port.name != "tf"
+    } == {
+        "left_wrist_image",
+        "right_wrist_image",
+        "coordinator_joint_state",
+        "applied_joint_position_command",
+        "status",
+    }
+
+
+def test_dual_collection_configures_both_cameras_and_buses_through_run(tmp_path):
+    blueprint = dual_openyam_quest_collection
+    parsed = BlueprintConfigParser(blueprint).parse(
+        [
+            "--recorder.recording",
+            str(tmp_path / "dual"),
+            "--episodes.task",
+            "fold towel",
+            "--controlcoordinator.left-can-port",
+            "follower_l",
+            "--controlcoordinator.right-can-port",
+            "follower_r",
+            "--left-wrist.hardware.camera-index",
+            "/dev/video2",
+            "--right-wrist.hardware.camera-index",
+            "/dev/video4",
+        ],
+        environ={},
+    )
+    cameras = [atom for atom in blueprint.active_blueprints if atom.module is CameraModule]
+    assert [camera.name for camera in cameras] == ["left_wrist", "right_wrist"]
+    assert blueprint.remapping_map[("left_wrist", "color_image")] == "left_wrist_image"
+    assert blueprint.remapping_map[("right_wrist", "color_image")] == "right_wrist_image"
+    assert parsed.module_configs["ControlCoordinator"]["left_can_port"] == "follower_l"
+    assert parsed.module_configs["ControlCoordinator"]["right_can_port"] == "follower_r"
+    assert parsed.module_configs["left_wrist"]["hardware"]["camera_index"] == "/dev/video2"
+    assert parsed.module_configs["right_wrist"]["hardware"]["camera_index"] == "/dev/video4"
+
+
+def test_collection_exposes_inherited_viser_without_changing_teleop(tmp_path, mocker):
+    download = mocker.patch(
+        "dimos.utils.data.get_data", side_effect=AssertionError("Config must not download models")
+    )
+    args = ["--recorder.recording", str(tmp_path / "dual"), "--episodes.task", "fold towel"]
+    parser = BlueprintConfigParser(dual_openyam_quest_collection)
+    collection = parser.parse(args, environ={}).module_kwargs("manipulationmodule")
+    teleop = (
+        BlueprintConfigParser(teleop_webxr_dual_openyam)
+        .parse(environ={})
+        .module_kwargs("manipulationmodule")
+    )
+
+    assert collection["visualization"]["host"] == "0.0.0.0"
+    assert teleop["visualization"]["host"] == "127.0.0.1"
+    assert collection["visualization"] == {**teleop["visualization"], "host": "0.0.0.0"}
+    assert collection["kinematics"] == teleop["kinematics"]
+    [collection_module] = [
+        atom
+        for atom in dual_openyam_quest_collection.active_blueprints
+        if atom.module is ManipulationModule
+    ]
+    [teleop_module] = [
+        atom
+        for atom in teleop_webxr_dual_openyam.active_blueprints
+        if atom.module is ManipulationModule
+    ]
+    # Check inheritance without resolving the copied lazy model paths.
+    assert collection_module.kwargs["model"] is teleop_module.kwargs["model"]
+
+    restricted = parser.parse(
+        [*args, "--manipulationmodule.visualization.host", "127.0.0.1"], environ={}
+    ).module_kwargs("manipulationmodule")
+    assert restricted["visualization"] == teleop["visualization"]
+    download.assert_not_called()

dimos/robot/manipulators/dual_openyam/learning.py

@@ -0,0 +1,60 @@
+# Copyright 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.
+
+"""Dual-arm collection preset, independent of policy backends and hardware."""
+
+from dimos.imitation.collection.profile import CollectionFeature, CollectionProfile
+from dimos.imitation.dataprep.core import QualityConfig, SyncConfig
+from dimos.msgs.sensor_msgs.Image import Image
+from dimos.msgs.sensor_msgs.JointState import JointState
+from dimos.robot.manipulators.dual_openyam.joints import DUAL_OPENYAM_JOINTS
+
+DUAL_OPENYAM_COLLECTION = CollectionProfile(
+    name="dual-openyam-quest",
+    robot_type="dual_openyam",
+    observations={
+        **{
+            f"observation.images.{side}_wrist": CollectionFeature(
+                stream=f"{side}_wrist_image",
+                message_type=Image,
+                field="data",
+                dtype="video",
+                shape=(480, 640, 3),
+                names=["height", "width", "channels"],
+            )
+            for side in ("left", "right")
+        },
+        "observation.state": CollectionFeature(
+            stream="coordinator_joint_state",
+            message_type=JointState,
+            field="position",
+            dtype="float32",
+            shape=(len(DUAL_OPENYAM_JOINTS),),
+            names=list(DUAL_OPENYAM_JOINTS),
+        ),
+    },
+    actions={
+        "action": CollectionFeature(
+            stream="applied_joint_position_command",
+            source_kind="joint_position_updates",
+            message_type=JointState,
+            field="position",
+            dtype="float32",
+            shape=(len(DUAL_OPENYAM_JOINTS),),
+            names=list(DUAL_OPENYAM_JOINTS),
+        ),
+    },
+    sync=SyncConfig(anchor="observation.images.left_wrist", rate_hz=30, tolerance_ms=20),
+    quality=QualityConfig(mode="strict"),
+)

docs/capabilities/manipulation/imitation-learning.md

@@ -36,6 +36,7 @@ before switching from collection to rollout.
 | --- | --- | --- |
 | `openyam-teach-collection` | Wrist RGB | Measured 7-D joints for both |
 | `openyam-quest-collection` | Wrist RGB | Measured state, accepted commands |
+| `dual-openyam-quest-collection` | Two wrist RGB cameras | Measured state, accepted commands; 14-D |
 
 ```bash
 dimos --can-port follower_l run openyam-teach-collection --daemon \
@@ -74,6 +75,35 @@ the arm before stopping the stack, since shutdown may de-torque it:
 dimos stop
 ```
 
+### Dual-arm collection with Quest
+
+For two arms with Quest, launch the dual collection blueprint and attach the
+same episode controls:
+
+```bash skip
+dimos run dual-openyam-quest-collection --daemon \
+  --recorder.recording recordings/fold-001 \
+  --recorder.format mcap \
+  --episodes.task "fold the towel" \
+  --controlcoordinator.left-can-port follower_l \
+  --controlcoordinator.right-can-port follower_r \
+  --left-wrist.hardware.camera-index /dev/video0 \
+  --right-wrist.hardware.camera-index /dev/video2
+dimos imitation collect
+```
+
+The dual profile uses 640x480 RGB images at 30 Hz with a 20 ms alignment
+tolerance anchored on the left wrist. Joint order is left arm joints 1-6,
+right arm joints 1-6, left gripper, right gripper. Images and measured state
+are snapshots; accepted actions declare `source_kind="joint_position_updates"`.
+Prepare and train using the same commands below with the dual recording and
+dataset paths. Dual-arm collection does not imply support for dual-arm rollout.
+
+The collection Blueprint constructs dual teleop with
+`ViserVisualizationConfig(host="0.0.0.0")`; ordinary dual teleop retains its
+local-only default. Open `http://ROBOT_HOST:8095` on a trusted network, or restrict
+access with `--manipulationmodule.visualization.host 127.0.0.1`.
+
 ## Recording directories
 
 ```text