Add Booster K1 robot integration by KrishnaH96 · Pull Request #2525 · dimensionalOS/dimos

KrishnaH96 · 2026-06-18T06:10:22Z

Add Booster K1 robot integration

A dimos adapter for the Booster K1 humanoid base: connection plus runnable teleop/coordinator blueprints. Validated on hardware.

K1Connection wraps booster-rpc (gRPC control + WebSocket video):

Camera published as color_image; base velocity via gRPC move().
Non-blocking coalescing sender that decouples the caller from booster-rpc's blocking gRPC, so it keeps up with the coordinator's 100 Hz tick; dead-man stop on idle.
Auto standup on start.

Blueprints:

booster-k1-basic: connection + rerun camera/3D viz
booster-k1-keyboard-teleop: WASD to cmd_vel direct to the connection
booster-k1-coordinator: ControlCoordinator BASE velocity via the transport_lcm adapter
booster-k1-coordinator-keyboard-teleop: coordinator path + WASD

Also adds the booster extra to pyproject.toml and registers the blueprints in all_blueprints.

Run:

uv sync --extra booster
dimos --robot-ip <ip> --viewer rerun run booster-k1-coordinator-keyboard-teleop

Validated on hardware (K1 on gantry): WASD teleop + camera-in-rerun on both the direct and coordinator paths, smooth under the 100 Hz tick.

Contributor License Agreement

I have read and approved the CLA.

Add a dimos adapter for the Booster K1 humanoid base: - K1Connection: Module wrapping booster-rpc (gRPC + WebSocket). Camera frames over the WebSocket video stream, base velocity via gRPC move(). Non-blocking coalescing velocity sender decouples the caller from the blocking gRPC send ceiling, plus a dead-man stop on idle. Auto standup on start. - Blueprints: - booster-k1-basic: connection + rerun camera/3D visualization. - booster-k1-keyboard-teleop: WASD (pygame + viewer overlay) -> cmd_vel direct to the connection. - booster-k1-coordinator: ControlCoordinator BASE velocity task driving the connection through the transport_lcm adapter, with the rerun viewer and viewer-side WASD wired through twist_command. - booster-k1-coordinator-keyboard-teleop: coordinator path + pygame WASD. - pyproject: add the `booster` extra (booster-rpc, websockets). - Register the blueprints in all_blueprints. Validated on hardware (K1 on gantry): WASD teleop and camera-in-rerun work on both the direct and ControlCoordinator paths.

codecov · 2026-06-18T06:17:52Z

❌ 5 Tests Failed:

Tests completed	Failed	Passed	Skipped
1886	5	1881	155

View the top 3 failed test(s) by shortest run time

dimos.robot.test_all_blueprints::test_blueprint_is_valid[booster-k1-coordinator-keyboard-teleop]

Stack Traces | 0.004s run time

blueprint_name = 'booster-k1-coordinator-keyboard-teleop'

    @pytest.mark.parametrize("blueprint_name", UBUNTU_BLUEPRINTS)
    def test_blueprint_is_valid(blueprint_name: str) -> None:
        """Validate blueprints that should import on the ubuntu-latest runner."""
>       _check_blueprint(blueprint_name)

blueprint_name = 'booster-k1-coordinator-keyboard-teleop'

dimos/robot/test_all_blueprints.py:103: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/test_all_blueprints.py:79: in _check_blueprint
    blueprint = get_blueprint_by_name(blueprint_name)
        blueprint_name = 'booster-k1-coordinator-keyboard-teleop'
dimos/robot/get_all_blueprints.py:47: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'booster_k1_coordinator_keyboard_teleop'
        module_path = 'dimos.robot.booster.k1.blueprints.basic.booster_k1_coordinator_keyboard_teleop'
        name       = 'booster-k1-coordinator-keyboard-teleop'
.../blueprints/basic/booster_k1_coordinator_keyboard_teleop.py:28: in <module>
    from dimos.robot.booster.k1.blueprints.basic.booster_k1_coordinator import booster_k1_coordinator
        __builtins__ = <builtins>
        __cached__ = '.../basic/__pycache__/booster_k1_coordinator_keyboard_teleop.cpython-312.pyc'
        __doc__    = 'Booster K1 keyboard teleop through the ControlCoordinator path.\n\nWASD -> KeyboardTeleop.cmd_vel -> /cmd_vel -> Coor.../booster_k1/cmd_vel -> K1Connection.\n\nUsage:\n    dimos --robot-ip <ip> run booster-k1-coordinator-keyboard-teleop\n'
        __file__   = '/home/runner/work/dimos/dimos/.../blueprints/basic/booster_k1_coordinator_keyboard_teleop.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xfff5e0e7bfb0>
        __name__   = 'dimos.robot.booster.k1.blueprints.basic.booster_k1_coordinator_keyboard_teleop'
        __package__ = 'dimos.robot.booster.k1.blueprints.basic'
        __spec__   = ModuleSpec(name='dimos.robot.booster.k1.blueprints.basic.booster_k1_coordinator_keyboard_teleop', loader=<_frozen_impo...igin='/home/runner/work/dimos/dimos/.../blueprints/basic/booster_k1_coordinator_keyboard_teleop.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xfff67bbe3560>
.../blueprints/basic/booster_k1_coordinator.py:47: in <module>
    from dimos.robot.booster.k1.blueprints.basic.booster_k1_basic import booster_k1_basic
        ControlCoordinator = <class 'dimos.control.coordinator.ControlCoordinator'>
        HardwareComponent = <class 'dimos.control.components.HardwareComponent'>
        HardwareType = <enum 'HardwareType'>
        JointState = <class 'dimos.msgs.sensor_msgs.JointState.JointState'>
        LCMTransport = <class 'dimos.core.transport.LCMTransport'>
        TaskConfig = <class 'dimos.control.coordinator.TaskConfig'>
        Twist      = <class 'dimos.msgs.geometry_msgs.Twist.Twist'>
        __builtins__ = <builtins>
        __cached__ = '.../basic/__pycache__/booster_k1_coordinator.cpython-312.pyc'
        __doc__    = 'Booster K1 ControlCoordinator — basic blueprint + coordinator via LCM transport adapter.\n\nLike unitree_go2_coordina...Connection.move()\n\nUsage:\n    dimos --robot-ip <ip> --viewer rerun --rerun-open native run booster-k1-coordinator\n'
        __file__   = '/home/runner/work/dimos/dimos/.../blueprints/basic/booster_k1_coordinator.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xfff5e36f3d70>
        __name__   = 'dimos.robot.booster.k1.blueprints.basic.booster_k1_coordinator'
        __package__ = 'dimos.robot.booster.k1.blueprints.basic'
        __spec__   = ModuleSpec(name='dimos.robot.booster.k1.blueprints.basic.booster_k1_coordinator', loader=<_frozen_importlib_external.S...ff5e36f3d70>, origin='/home/runner/work/dimos/dimos/.../blueprints/basic/booster_k1_coordinator.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xfff67bbe3560>
        make_twist_base_joints = <function make_twist_base_joints at 0xfff60e03ede0>
.../blueprints/basic/booster_k1_basic.py:25: in <module>
    from dimos.robot.booster.k1.connection import K1Connection
        Any        = typing.Any
        DEFAULT_CAPACITY_COLOR_IMAGE = 6220800
        Image      = <class 'dimos.msgs.sensor_msgs.Image.Image'>
        __annotations__ = {}
        __builtins__ = <builtins>
        __cached__ = '.../basic/__pycache__/booster_k1_basic.cpython-312.pyc'
        __doc__    = 'Basic Booster K1 blueprint: connection + camera visualization.'
        __file__   = '/home/runner/work/dimos/dimos/.../blueprints/basic/booster_k1_basic.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xfff5e1029e20>
        __name__   = 'dimos.robot.booster.k1.blueprints.basic.booster_k1_basic'
        __package__ = 'dimos.robot.booster.k1.blueprints.basic'
        __spec__   = ModuleSpec(name='dimos.robot.booster.k1.blueprints.basic.booster_k1_basic', loader=<_frozen_importlib_external.SourceF...at 0xfff5e1029e20>, origin='/home/runner/work/dimos/dimos/.../blueprints/basic/booster_k1_basic.py')
        autoconnect = <function autoconnect at 0xfff67bbe3560>
        global_config = GlobalConfig(robot_ip=None, robot_ips=None, xarm7_ip=None, xarm6_ip=None, can_port=None, device_path=None, simulation=...e, obstacle_avoidance=True, detection_model='moondream', listen_host='127.0.0.1', dimsim_scene='apt', dimsim_port=8090)
        pSHMTransport = <class 'dimos.core.transport.pSHMTransport'>
        platform   = <module 'platform' from '....../usr/lib/python3.12/platform.py'>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # 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 humanoid connection module (built on the booster-rpc SDK).
    
    Scope: the K1 over booster-rpc exposes a camera (JPEG over WebSocket) and base
    velocity control (+ stand/sit mode changes). It has no world-frame odometry or
    lidar, so this connection implements only the `Camera` spec — no `odom`/`lidar`/
    `pointcloud` ports, and therefore no mapping/navigation tier.
    """
    
    import asyncio
    from threading import Event, Lock, Thread
    import time
    from typing import Any
    
>   from booster_rpc import (  # type: ignore[import-untyped]
        BoosterConnection,
        RobotMode,
        RpcApiId,
    )
E   ModuleNotFoundError: No module named 'booster_rpc'

Any        = typing.Any
Event      = <class 'threading.Event'>
Lock       = <built-in function allocate_lock>
Thread     = <class 'threading.Thread'>
__builtins__ = <builtins>
__cached__ = '.../k1/__pycache__/connection.cpython-312.pyc'
__doc__    = 'Booster K1 humanoid connection module (built on the booster-rpc SDK).\n\nScope: the K1 over booster-rpc exposes a cam...mplements only the `Camera` spec — no `odom`/`lidar`/\n`pointcloud` ports, and therefore no mapping/navigation tier.\n'
__file__   = '.../booster/k1/connection.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xfff5e33c2f90>
__name__   = 'dimos.robot.booster.k1.connection'
__package__ = 'dimos.robot.booster.k1'
__spec__   = ModuleSpec(name='dimos.robot.booster.k1.connection', loader=<_frozen_importlib_external.SourceFileLoader object at 0xfff5e33c2f90>, origin='.../booster/k1/connection.py')
asyncio    = <module 'asyncio' from '....../usr/lib/python3.12/asyncio/__init__.py'>
time       = <module 'time' (built-in)>

.../booster/k1/connection.py:28: ModuleNotFoundError

dimos.robot.test_all_blueprints::test_blueprint_is_valid[booster-k1-keyboard-teleop]

Stack Traces | 0.004s run time

blueprint_name = 'booster-k1-keyboard-teleop'

    @pytest.mark.parametrize("blueprint_name", UBUNTU_BLUEPRINTS)
    def test_blueprint_is_valid(blueprint_name: str) -> None:
        """Validate blueprints that should import on the ubuntu-latest runner."""
>       _check_blueprint(blueprint_name)

blueprint_name = 'booster-k1-keyboard-teleop'

dimos/robot/test_all_blueprints.py:103: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/test_all_blueprints.py:79: in _check_blueprint
    blueprint = get_blueprint_by_name(blueprint_name)
        blueprint_name = 'booster-k1-keyboard-teleop'
dimos/robot/get_all_blueprints.py:47: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'booster_k1_keyboard_teleop'
        module_path = 'dimos.robot.booster.k1.blueprints.basic.booster_k1_keyboard_teleop'
        name       = 'booster-k1-keyboard-teleop'
.../blueprints/basic/booster_k1_keyboard_teleop.py:35: in <module>
    from dimos.robot.booster.k1.blueprints.basic.booster_k1_basic import booster_k1_basic
        __builtins__ = <builtins>
        __cached__ = '.../basic/__pycache__/booster_k1_keyboard_teleop.cpython-312.pyc'
        __doc__    = 'Booster K1 keyboard teleop: WASD from two surfaces, camera in rerun.\n\nTwo control surfaces, both publishing Twist o...5x, ESC quit.\n\nUsage:\n    dimos --robot-ip <ip> --viewer rerun --rerun-open native run booster-k1-keyboard-teleop\n'
        __file__   = '/home/runner/work/dimos/dimos/.../blueprints/basic/booster_k1_keyboard_teleop.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xfff5cda03800>
        __name__   = 'dimos.robot.booster.k1.blueprints.basic.booster_k1_keyboard_teleop'
        __package__ = 'dimos.robot.booster.k1.blueprints.basic'
        __spec__   = ModuleSpec(name='dimos.robot.booster.k1.blueprints.basic.booster_k1_keyboard_teleop', loader=<_frozen_importlib_extern...da03800>, origin='/home/runner/work/dimos/dimos/.../blueprints/basic/booster_k1_keyboard_teleop.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xfff67bbe3560>
.../blueprints/basic/booster_k1_basic.py:25: in <module>
    from dimos.robot.booster.k1.connection import K1Connection
        Any        = typing.Any
        DEFAULT_CAPACITY_COLOR_IMAGE = 6220800
        Image      = <class 'dimos.msgs.sensor_msgs.Image.Image'>
        __annotations__ = {}
        __builtins__ = <builtins>
        __cached__ = '.../basic/__pycache__/booster_k1_basic.cpython-312.pyc'
        __doc__    = 'Basic Booster K1 blueprint: connection + camera visualization.'
        __file__   = '/home/runner/work/dimos/dimos/.../blueprints/basic/booster_k1_basic.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xfff5d0d73aa0>
        __name__   = 'dimos.robot.booster.k1.blueprints.basic.booster_k1_basic'
        __package__ = 'dimos.robot.booster.k1.blueprints.basic'
        __spec__   = ModuleSpec(name='dimos.robot.booster.k1.blueprints.basic.booster_k1_basic', loader=<_frozen_importlib_external.SourceF...at 0xfff5d0d73aa0>, origin='/home/runner/work/dimos/dimos/.../blueprints/basic/booster_k1_basic.py')
        autoconnect = <function autoconnect at 0xfff67bbe3560>
        global_config = GlobalConfig(robot_ip=None, robot_ips=None, xarm7_ip=None, xarm6_ip=None, can_port=None, device_path=None, simulation=...e, obstacle_avoidance=True, detection_model='moondream', listen_host='127.0.0.1', dimsim_scene='apt', dimsim_port=8090)
        pSHMTransport = <class 'dimos.core.transport.pSHMTransport'>
        platform   = <module 'platform' from '....../usr/lib/python3.12/platform.py'>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # 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 humanoid connection module (built on the booster-rpc SDK).
    
    Scope: the K1 over booster-rpc exposes a camera (JPEG over WebSocket) and base
    velocity control (+ stand/sit mode changes). It has no world-frame odometry or
    lidar, so this connection implements only the `Camera` spec — no `odom`/`lidar`/
    `pointcloud` ports, and therefore no mapping/navigation tier.
    """
    
    import asyncio
    from threading import Event, Lock, Thread
    import time
    from typing import Any
    
>   from booster_rpc import (  # type: ignore[import-untyped]
        BoosterConnection,
        RobotMode,
        RpcApiId,
    )
E   ModuleNotFoundError: No module named 'booster_rpc'

Any        = typing.Any
Event      = <class 'threading.Event'>
Lock       = <built-in function allocate_lock>
Thread     = <class 'threading.Thread'>
__builtins__ = <builtins>
__cached__ = '.../k1/__pycache__/connection.cpython-312.pyc'
__doc__    = 'Booster K1 humanoid connection module (built on the booster-rpc SDK).\n\nScope: the K1 over booster-rpc exposes a cam...mplements only the `Camera` spec — no `odom`/`lidar`/\n`pointcloud` ports, and therefore no mapping/navigation tier.\n'
__file__   = '.../booster/k1/connection.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xfff5cfdc8080>
__name__   = 'dimos.robot.booster.k1.connection'
__package__ = 'dimos.robot.booster.k1'
__spec__   = ModuleSpec(name='dimos.robot.booster.k1.connection', loader=<_frozen_importlib_external.SourceFileLoader object at 0xfff5cfdc8080>, origin='.../booster/k1/connection.py')
asyncio    = <module 'asyncio' from '....../usr/lib/python3.12/asyncio/__init__.py'>
time       = <module 'time' (built-in)>

.../booster/k1/connection.py:28: ModuleNotFoundError

dimos.robot.test_all_blueprints::test_blueprint_is_valid[booster-k1-coordinator]

Stack Traces | 0.005s run time

blueprint_name = 'booster-k1-coordinator'

    @pytest.mark.parametrize("blueprint_name", UBUNTU_BLUEPRINTS)
    def test_blueprint_is_valid(blueprint_name: str) -> None:
        """Validate blueprints that should import on the ubuntu-latest runner."""
>       _check_blueprint(blueprint_name)

blueprint_name = 'booster-k1-coordinator'

dimos/robot/test_all_blueprints.py:103: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/test_all_blueprints.py:79: in _check_blueprint
    blueprint = get_blueprint_by_name(blueprint_name)
        blueprint_name = 'booster-k1-coordinator'
dimos/robot/get_all_blueprints.py:47: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'booster_k1_coordinator'
        module_path = 'dimos.robot.booster.k1.blueprints.basic.booster_k1_coordinator'
        name       = 'booster-k1-coordinator'
.../blueprints/basic/booster_k1_coordinator.py:47: in <module>
    from dimos.robot.booster.k1.blueprints.basic.booster_k1_basic import booster_k1_basic
        ControlCoordinator = <class 'dimos.control.coordinator.ControlCoordinator'>
        HardwareComponent = <class 'dimos.control.components.HardwareComponent'>
        HardwareType = <enum 'HardwareType'>
        JointState = <class 'dimos.msgs.sensor_msgs.JointState.JointState'>
        LCMTransport = <class 'dimos.core.transport.LCMTransport'>
        TaskConfig = <class 'dimos.control.coordinator.TaskConfig'>
        Twist      = <class 'dimos.msgs.geometry_msgs.Twist.Twist'>
        __builtins__ = <builtins>
        __cached__ = '.../basic/__pycache__/booster_k1_coordinator.cpython-312.pyc'
        __doc__    = 'Booster K1 ControlCoordinator — basic blueprint + coordinator via LCM transport adapter.\n\nLike unitree_go2_coordina...Connection.move()\n\nUsage:\n    dimos --robot-ip <ip> --viewer rerun --rerun-open native run booster-k1-coordinator\n'
        __file__   = '/home/runner/work/dimos/dimos/.../blueprints/basic/booster_k1_coordinator.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xfff5d0f08680>
        __name__   = 'dimos.robot.booster.k1.blueprints.basic.booster_k1_coordinator'
        __package__ = 'dimos.robot.booster.k1.blueprints.basic'
        __spec__   = ModuleSpec(name='dimos.robot.booster.k1.blueprints.basic.booster_k1_coordinator', loader=<_frozen_importlib_external.S...ff5d0f08680>, origin='/home/runner/work/dimos/dimos/.../blueprints/basic/booster_k1_coordinator.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xfff67bbe3560>
        make_twist_base_joints = <function make_twist_base_joints at 0xfff60e03ede0>
.../blueprints/basic/booster_k1_basic.py:25: in <module>
    from dimos.robot.booster.k1.connection import K1Connection
        Any        = typing.Any
        DEFAULT_CAPACITY_COLOR_IMAGE = 6220800
        Image      = <class 'dimos.msgs.sensor_msgs.Image.Image'>
        __annotations__ = {}
        __builtins__ = <builtins>
        __cached__ = '.../basic/__pycache__/booster_k1_basic.cpython-312.pyc'
        __doc__    = 'Basic Booster K1 blueprint: connection + camera visualization.'
        __file__   = '/home/runner/work/dimos/dimos/.../blueprints/basic/booster_k1_basic.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xfff5d0f0b740>
        __name__   = 'dimos.robot.booster.k1.blueprints.basic.booster_k1_basic'
        __package__ = 'dimos.robot.booster.k1.blueprints.basic'
        __spec__   = ModuleSpec(name='dimos.robot.booster.k1.blueprints.basic.booster_k1_basic', loader=<_frozen_importlib_external.SourceF...at 0xfff5d0f0b740>, origin='/home/runner/work/dimos/dimos/.../blueprints/basic/booster_k1_basic.py')
        autoconnect = <function autoconnect at 0xfff67bbe3560>
        global_config = GlobalConfig(robot_ip=None, robot_ips=None, xarm7_ip=None, xarm6_ip=None, can_port=None, device_path=None, simulation=...e, obstacle_avoidance=True, detection_model='moondream', listen_host='127.0.0.1', dimsim_scene='apt', dimsim_port=8090)
        pSHMTransport = <class 'dimos.core.transport.pSHMTransport'>
        platform   = <module 'platform' from '....../usr/lib/python3.12/platform.py'>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # 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 humanoid connection module (built on the booster-rpc SDK).
    
    Scope: the K1 over booster-rpc exposes a camera (JPEG over WebSocket) and base
    velocity control (+ stand/sit mode changes). It has no world-frame odometry or
    lidar, so this connection implements only the `Camera` spec — no `odom`/`lidar`/
    `pointcloud` ports, and therefore no mapping/navigation tier.
    """
    
    import asyncio
    from threading import Event, Lock, Thread
    import time
    from typing import Any
    
>   from booster_rpc import (  # type: ignore[import-untyped]
        BoosterConnection,
        RobotMode,
        RpcApiId,
    )
E   ModuleNotFoundError: No module named 'booster_rpc'

Any        = typing.Any
Event      = <class 'threading.Event'>
Lock       = <built-in function allocate_lock>
Thread     = <class 'threading.Thread'>
__builtins__ = <builtins>
__cached__ = '.../k1/__pycache__/connection.cpython-312.pyc'
__doc__    = 'Booster K1 humanoid connection module (built on the booster-rpc SDK).\n\nScope: the K1 over booster-rpc exposes a cam...mplements only the `Camera` spec — no `odom`/`lidar`/\n`pointcloud` ports, and therefore no mapping/navigation tier.\n'
__file__   = '.../booster/k1/connection.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xfff5d0e4ed20>
__name__   = 'dimos.robot.booster.k1.connection'
__package__ = 'dimos.robot.booster.k1'
__spec__   = ModuleSpec(name='dimos.robot.booster.k1.connection', loader=<_frozen_importlib_external.SourceFileLoader object at 0xfff5d0e4ed20>, origin='.../booster/k1/connection.py')
asyncio    = <module 'asyncio' from '....../usr/lib/python3.12/asyncio/__init__.py'>
time       = <module 'time' (built-in)>

.../booster/k1/connection.py:28: ModuleNotFoundError

dimos.robot.test_all_blueprints::test_blueprint_is_valid[booster-k1-basic]

Stack Traces | 0.007s run time

blueprint_name = 'booster-k1-basic'

    @pytest.mark.parametrize("blueprint_name", UBUNTU_BLUEPRINTS)
    def test_blueprint_is_valid(blueprint_name: str) -> None:
        """Validate blueprints that should import on the ubuntu-latest runner."""
>       _check_blueprint(blueprint_name)

blueprint_name = 'booster-k1-basic'

dimos/robot/test_all_blueprints.py:103: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/test_all_blueprints.py:79: in _check_blueprint
    blueprint = get_blueprint_by_name(blueprint_name)
        blueprint_name = 'booster-k1-basic'
dimos/robot/get_all_blueprints.py:47: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'booster_k1_basic'
        module_path = 'dimos.robot.booster.k1.blueprints.basic.booster_k1_basic'
        name       = 'booster-k1-basic'
.../blueprints/basic/booster_k1_basic.py:25: in <module>
    from dimos.robot.booster.k1.connection import K1Connection
        Any        = typing.Any
        DEFAULT_CAPACITY_COLOR_IMAGE = 6220800
        Image      = <class 'dimos.msgs.sensor_msgs.Image.Image'>
        __annotations__ = {}
        __builtins__ = <builtins>
        __cached__ = '.../basic/__pycache__/booster_k1_basic.cpython-312.pyc'
        __doc__    = 'Basic Booster K1 blueprint: connection + camera visualization.'
        __file__   = '/home/runner/work/dimos/dimos/.../blueprints/basic/booster_k1_basic.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xfff5cfdc8080>
        __name__   = 'dimos.robot.booster.k1.blueprints.basic.booster_k1_basic'
        __package__ = 'dimos.robot.booster.k1.blueprints.basic'
        __spec__   = ModuleSpec(name='dimos.robot.booster.k1.blueprints.basic.booster_k1_basic', loader=<_frozen_importlib_external.SourceF...at 0xfff5cfdc8080>, origin='/home/runner/work/dimos/dimos/.../blueprints/basic/booster_k1_basic.py')
        autoconnect = <function autoconnect at 0xfff67bbe3560>
        global_config = GlobalConfig(robot_ip=None, robot_ips=None, xarm7_ip=None, xarm6_ip=None, can_port=None, device_path=None, simulation=...e, obstacle_avoidance=True, detection_model='moondream', listen_host='127.0.0.1', dimsim_scene='apt', dimsim_port=8090)
        pSHMTransport = <class 'dimos.core.transport.pSHMTransport'>
        platform   = <module 'platform' from '....../usr/lib/python3.12/platform.py'>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # 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 humanoid connection module (built on the booster-rpc SDK).
    
    Scope: the K1 over booster-rpc exposes a camera (JPEG over WebSocket) and base
    velocity control (+ stand/sit mode changes). It has no world-frame odometry or
    lidar, so this connection implements only the `Camera` spec — no `odom`/`lidar`/
    `pointcloud` ports, and therefore no mapping/navigation tier.
    """
    
    import asyncio
    from threading import Event, Lock, Thread
    import time
    from typing import Any
    
>   from booster_rpc import (  # type: ignore[import-untyped]
        BoosterConnection,
        RobotMode,
        RpcApiId,
    )
E   ModuleNotFoundError: No module named 'booster_rpc'

Any        = typing.Any
Event      = <class 'threading.Event'>
Lock       = <built-in function allocate_lock>
Thread     = <class 'threading.Thread'>
__builtins__ = <builtins>
__cached__ = '.../k1/__pycache__/connection.cpython-312.pyc'
__doc__    = 'Booster K1 humanoid connection module (built on the booster-rpc SDK).\n\nScope: the K1 over booster-rpc exposes a cam...mplements only the `Camera` spec — no `odom`/`lidar`/\n`pointcloud` ports, and therefore no mapping/navigation tier.\n'
__file__   = '.../booster/k1/connection.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xfff5cfdcaa80>
__name__   = 'dimos.robot.booster.k1.connection'
__package__ = 'dimos.robot.booster.k1'
__spec__   = ModuleSpec(name='dimos.robot.booster.k1.connection', loader=<_frozen_importlib_external.SourceFileLoader object at 0xfff5cfdcaa80>, origin='.../booster/k1/connection.py')
asyncio    = <module 'asyncio' from '....../usr/lib/python3.12/asyncio/__init__.py'>
time       = <module 'time' (built-in)>

.../booster/k1/connection.py:28: ModuleNotFoundError

dimos.project.test_no_sections::test_no_section_markers

Stack Traces | 0.472s run time

def test_no_section_markers():
        """
        Fail if any file contains section-style comment markers.
    
        If a file is too complicated to be understood without sections, then the
        sections should be files. We don't need "subfiles".
        """
        violations = find_section_markers()
        if violations:
            report_lines = [
                f"Found {len(violations)} section marker(s). "
                "If a file is too complicated to be understood without sections, "
                'then the sections should be files. We don\'t need "subfiles".',
                "",
            ]
            for path, lineno, text in violations:
                report_lines.append(f"  {path}:{lineno}: {text.strip()}")
>           raise AssertionError("\n".join(report_lines))
E           AssertionError: Found 6 section marker(s). If a file is too complicated to be understood without sections, then the sections should be files. We don't need "subfiles".
E           
E             .../booster/k1/connection.py:58: # --- Step 5: configuration ---------------------------------------------------
E             .../booster/k1/connection.py:63: # --- Step 3: connection backend (keep all booster-rpc protocol details out of the Module) ---
E             .../booster/k1/connection.py:211: # --- Step 4: backend factory (real-only for now; no K1 sim/replay yet) -------
E             .../booster/k1/connection.py:237: # --- Step 1: the connection Module -------------------------------------------
E             .../booster/k1/connection.py:300: # --- control verbs (callable across the graph / by the CLI) ---
E             .../booster/k1/connection.py:316: # --- agent-callable skills ---

lineno     = 316
path       = '.../booster/k1/connection.py'
report_lines = ['Found 6 section marker(s). If a file is too complicated to be understood without sections, then the sections should ....../booster/k1/connection.py:237: # --- Step 1: the connection Module -------------------------------------------', ...]
text       = '    # --- agent-callable skills ---'
violations = [('.../booster/k1/connection.py', 58, '# --- Step 5: configuration -------------------------------------------...ss the graph / by the CLI) ---'), ('.../booster/k1/connection.py', 316, '    # --- agent-callable skills ---')]

dimos/project/test_no_sections.py:145: AssertionError

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KrishnaH96 and others added 2 commits June 17, 2026 23:03

[autofix.ci] apply automated fixes

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Add Booster K1 robot integration#2525

Add Booster K1 robot integration#2525
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krishna/booster-k1-adapter

KrishnaH96 commented Jun 18, 2026

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codecov Bot commented Jun 18, 2026

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KrishnaH96 commented Jun 18, 2026