feat(go2): joystick, tele_cmd_vel and cmd_vel plots, live and in replay, with a dataset

[KrishnaH96]

Summary

Dataset sample with displaying of cmd_vel and joystock

Problem

--record already stores tele_cmd_vel and cmd_vel, but the viewer never shows them: Twist has no to_rerun(), so the Rerun bridge drops it. The viewer's WASD input is also not published in raw form.

Solution

• RerunWebSocketServer publishes the viewer's twist message as joystick: Out[Joy] before converting it to tele_cmd_vel.
• Twist.to_rerun() and Joy.to_rerun() return rr.Scalars, so these streams plot in any viewer config. Replaces the _plot_cmd_vel override from feat: replay blueprint - dimos --replay-db <memory.db> run replay #3738.
• Go2 layout: joystick, tele_cmd_vel, cmd_vel boxes under the camera, one color per axis, step interpolation so silent gaps do not draw as ramps.
• Replay fallback layout: one plot box per recorded Twist or Joy stream.
• LFS dataset go2_teleop_sf_office_2026-09-18 (379 MB): 3 min real Go2 run, WASD driving, then two click-to-go nav goals at 2:23 and 2:44.

Note: dimos-viewer converts keys to velocities itself, so today joystick equals tele_cmd_vel value for value. tele_cmd_vel vs cmd_vel is the pair that diverges, whenever nav drives.

No new blueprint needed: unitree-go2 already publishes all three streams.

How to Test

dimos --replay-db go2_teleop_sf_office_2026-09-18 run replay

Screencast_2026-09-18_14-50-29.mp4

Recorded and replayed on a real Go2 over WebRTC. Dataset recorded with #3914 applied, so the camera frustum shows in replay.

AI assistance

Claude Code (Claude Fable 5.1) helped survey the code, draft the change and run the checks. I reviewed and tested the code on hardware.

Checklist

• I have read and approved the CLA.

[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
6091	1	6090	103

View the full list of 1 ❄️ flaky test(s)

dimos.e2e_tests.test_voice_browser::test_hold_to_talk_ships_a_decodable_recording[firefox]

Flake rate in main: 68.75% (Passed 5 times, Failed 11 times)

Stack Traces | 22.8s run time

voice_bridge = ('http://127.0.0.1:63461/', [])
fake_mic_page = <Page url='http://127.0.0.1:63461/'>

    def test_hold_to_talk_ships_a_decodable_recording(
        voice_bridge: tuple[str, list[AudioChunk]], fake_mic_page: Page
    ) -> None:
        url, chunks = voice_bridge
        chunks.clear()  # the module fixture is shared across both engines
        fake_mic_page.goto(url)
        mic = fake_mic_page.get_by_test_id("chat-audio_in-mic")
        # Enabled == transport connected; the manifest already placed the panel.
        expect(mic).to_be_enabled(timeout=120_000)
        expect(mic).to_have_attribute("data-state", "idle")
    
        mic.hover()
        fake_mic_page.mouse.down()
>       expect(mic).to_have_attribute("data-state", "recording", timeout=15_000)
E       AssertionError: Locator expected to have attribute 'recording'
E       Actual value: arming 
E       Call log:
E         - Expect "to_have_attribute" with timeout 15000ms
E         - waiting for get_by_test_id("chat-audio_in-mic")
E       
E       Aria snapshot:
E       - button "hold to talk": talk

chunks     = []
fake_mic_page = <Page url='http://127.0.0.1:63461/'>
mic        = <Locator frame=<Frame name= url='http://127.0.0.1:63461/'> selector='internal:testid=[data-testid="chat-audio_in-mic"s]'>
url        = 'http://127.0.0.1:63461/'
voice_bridge = ('http://127.0.0.1:63461/', [])

dimos/e2e_tests/test_voice_browser.py:104: AssertionError

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[greptile-apps]

Confidence Score: 5/5

Safe to merge; there are no blocking issues.

Summary

The PR adds live and replay visualization for joystick and velocity-command telemetry, publishes raw viewer controls as Joy, supplies scalar conversions for Joy and Twist, and adds a recorded Go2 dataset. The replay layout now retains command plots for recordings that have no image stream.

_{Reviews (2) · Last reviewed commit: "fix(replay): keep plots in the fallback ..."}

[KrishnaH96]

Fixed in 4fb3363: the replay fallback layout now keeps the plot boxes when a recording has no image stream, with a test (test_rerun_layout_keeps_plots_without_an_image_stream). Also rebased onto main now that #3738 is merged, so the diff is back to just this PR's changes.

[KrishnaH96]

@greptileai please re-review.

[KrishnaH96]

Alternative: #4242 keeps the default unitree-go2 window untouched and adds a dedicated unitree-go2-joystick blueprint instead. Both are tested on hardware;
@spomichter pick either and I will close the other.