[codex] Add phone override for agentic Go2

dimos/robot/all_blueprints.py

@@ -73,6 +73,7 @@
     "openarm-planner-coordinator": "dimos.robot.manipulators.openarm.blueprints:openarm_planner_coordinator",
     "teleop-phone": "dimos.teleop.phone.blueprints:teleop_phone",
     "teleop-phone-go2": "dimos.teleop.phone.blueprints:teleop_phone_go2",
+    "teleop-phone-go2-agentic": "dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_agentic_phone:teleop_phone_go2_agentic",
     "teleop-phone-go2-fleet": "dimos.teleop.phone.blueprints:teleop_phone_go2_fleet",
     "teleop-quest-dual": "dimos.teleop.quest.blueprints:teleop_quest_dual",
     "teleop-quest-piper": "dimos.teleop.quest.blueprints:teleop_quest_piper",

dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic_phone.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.
+
+from dimos.core.coordination.blueprints import autoconnect
+from dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_agentic import unitree_go2_agentic
+from dimos.teleop.phone.phone_extensions import SimplePhoneTeleop
+
+teleop_phone_go2_agentic = autoconnect(
+    SimplePhoneTeleop.blueprint(),
+    unitree_go2_agentic,
+).remappings(
+    [
+        (SimplePhoneTeleop, "cmd_vel", "tele_cmd_vel"),
+    ]
+)
+
+__all__ = ["teleop_phone_go2_agentic"]

dimos/teleop/phone/README.md

@@ -13,11 +13,21 @@ Phone Browser  ──WebSocket──→  Embedded HTTPS Server  ──→  Phone
 
 ```bash
 dimos run teleop-phone-go2     # Go2
+dimos run teleop-phone-go2-agentic  # Go2 agentic stack with phone override
 dimos run teleop-phone         # Generic ground robot
 ```
 
 Open `https://<host-ip>:8444/teleop` on phone. Accept cert, allow sensors, connect, hold to drive.
 
+## Agentic Go2 Override
+
+`teleop-phone-go2-agentic` adds the phone controller to the full agentic Go2
+stack. Phone commands are remapped into `MovementManager.tele_cmd_vel`, so
+holding the phone teleop button cancels active navigation goals and temporarily
+takes over velocity control. Release the button to stop sending manual commands
+and allow autonomous navigation commands to resume after the movement manager's
+teleop cooldown.
+
 ## Subclassing
 
 | Method | Purpose |

pyproject.toml

@@ -212,6 +212,7 @@ agents = [
 
 web = [
     "fastapi>=0.115.6",
+    "python-multipart>=0.0.27",
     "sse-starlette>=2.2.1",
     "uvicorn>=0.34.0",
     "jinja2>=3.1.6",