3. Your robot appears under Available Robots — click Connect and drive the robot from the browser.
| Blueprint | Notes |
|-----------|-------|
| teleop-hosted-go2-transport | Browser teleop — drive + camera + minimap + click-to-nav (recommended) |
| teleop-hosted-go2-multicam | Adds a second RealSense, operator-selectable, mux'd into one video track |

> Full guide: dimTELE • WebRTC internals
Usage
Use DimOS as a Library
See below a simple robot connection module that sends streams of continuous cmd_vel to the robot and receives color_image to a simple Listener module. DimOS Modules are subsystems on a robot that communicate with other modules using standardized messages.

class RobotConnection(Module): cmd_vel: In[Twist] color_image: Out[Image]

@rpc def start(self): threading.Thread(target=self._image_loop, daemon=True).start()

def _image_loop(self): while True: img = Image.from_numpy( np.zeros((120, 160, 3), np.uint8), format=ImageFormat.RGB, frame_id="camera_optical", ) self.color_image.publish(img) time.sleep(0.2)

class Listener(Module): color_image: In[Image]

@rpc def start(self): self.color_image.subscribe(lambda img: print(f"image {img.width}x{img.height}"))

if __name__ == "__main__": autoconnect( RobotConnection.blueprint(), Listener.blueprint(), ).build().loop()

## Blueprints

Blueprints are instructions for how to construct and wire modules. We compose them with
autoconnect(...), which connects streams by (name, type) and returns a Blueprint.

Blueprints can be composed, remapped, and have transports overridden if autoconnect() fails due to conflicting variable names or In[] and Out[] message types.

A blueprint example that connects the image stream from a robot to an MCP-backed LLM agent for reasoning and action execution.

blueprint = autoconnect( go2_connection(), McpServer.blueprint(), McpClient.blueprint(), ).transports({("color_image", Image): LCMTransport("/color_image", Image)})

Run the blueprint

## Library API
Modules
LCM
Blueprints
Transports — LCM, SHM, DDS, Zenoh, ROS 2
Data Streams
Configuration
Visualization
Web: cockpit, web SDK, relay
Demos
<img src="assets/readme/dimos_demo.gif" alt="DimOS Demo" width="100%">
Development
Develop on DimOS

Run the default test suite (uv run syncs deps on demand; --all-groups

only needed for self-hosted tests / mypy — see docs/development/testing.md)