[DO NOT MERGE] dimensional os hackathon project - team golden state warriors

dimos/robot/all_blueprints.py

@@ -58,6 +58,7 @@
     "drone-agentic": "dimos.robot.drone.blueprints.agentic.drone_agentic:drone_agentic",
     "drone-basic": "dimos.robot.drone.blueprints.basic.drone_basic:drone_basic",
     "dual-xarm6-planner": "dimos.manipulation.blueprints:dual_xarm6_planner",
+    "greeter-agentic": "dimos.robot.unitree.go2.blueprints.agentic.greeter_agentic:greeter_agentic",
     "keyboard-teleop-a750": "dimos.robot.manipulators.a750.blueprints:keyboard_teleop_a750",
     "keyboard-teleop-openarm": "dimos.robot.manipulators.openarm.blueprints:keyboard_teleop_openarm",
     "keyboard-teleop-openarm-mock": "dimos.robot.manipulators.openarm.blueprints:keyboard_teleop_openarm_mock",

dimos/robot/unitree/go2/blueprints/agentic/greeter_agentic.py

@@ -0,0 +1,62 @@
+"""Version-controlled copy of the `greeter-agentic` `dimos run` blueprint.
+
+The greeter dog: wander (DimOS patrol) until a person sitting on a chair is
+found, pick a random not-yet-greeted one, walk over, circle to face them, and
+wave hello -- then resume the patrol. The autonomous loop lives in
+``GreeterSkillContainer``; start/stop it via MCP.
+
+Install it next to the stock agentic blueprints in the DimOS source tree and
+regenerate the registry:
+
+    cp integration/greeter_agentic.py \\
+        "$DIMOS_HOME/dimos/robot/unitree/go2/blueprints/agentic/"
+    pytest -o addopts="" \\
+        "$DIMOS_HOME/dimos/robot/test_all_blueprints_generation.py"
+
+Then (with the `pawtrack` package importable):
+
+    PYTHONPATH=src PAWTRACK_MODEL=openai:deepseek-chat \
+      dimos run greeter-agentic --robot-ip <dog_ip>
+    dimos mcp call start_greeting     # or tell the agent: "go greet people"
+    dimos mcp call stop_greeting      # halt
+
+This is the stock ``unitree-go2-agentic`` general agent **plus** the greeter
+skill container -- i.e. a normal Go2 agent that can navigate, speak, run sport
+commands, etc., and *also* knows how to greet. It uses the agent's default
+general system prompt (no narrow greeter prompt); the agent discovers the
+greeting from the skill docstrings (``start_greeting`` / ``stop_greeting`` /
+``greeter_status`` / ``wave_hello``) and calls it when asked, like any other
+skill. The wander/greet loop itself is autonomous once started. Model defaults
+to the agent's default; override with ``PAWTRACK_MODEL``.
+"""
+
+from __future__ import annotations
+
+import os
+
+from dimos.agents.mcp.mcp_client import McpClient
+from dimos.agents.mcp.mcp_server import McpServer
+from dimos.core.coordination.blueprints import autoconnect
+from dimos.robot.unitree.go2.blueprints.agentic._common_agentic import (
+    _common_agentic,
+)
+from dimos.robot.unitree.go2.blueprints.smart.unitree_go2_spatial import (
+    unitree_go2_spatial,
+)
+
+from pawtrack.greeter_container import GreeterSkillContainer
+
+_MODEL = os.environ.get("PAWTRACK_MODEL")
+
+# Stock unitree-go2-agentic (general agent, default prompt) + the greeter skill.
+_agent = (
+    McpClient.blueprint(model=_MODEL) if _MODEL else McpClient.blueprint()
+)
+
+greeter_agentic = autoconnect(
+    unitree_go2_spatial,
+    McpServer.blueprint(),
+    _agent,
+    _common_agentic,
+    GreeterSkillContainer.blueprint(),
+)

hackathon/pawtrack/README.md

@@ -0,0 +1,55 @@
+# PawTrack Greeter Hackathon Demo
+
+## Overview
+
+PawTrack adds a DimOS / Unitree Go2 autonomous greeter demo. The robot patrols, detects a target such as a person sitting on a chair, tracks it, approaches to a safe standoff, waves, records the visited location, and resumes patrol. The DimOS blueprint is registered as `greeter-agentic`.
+
+Source lives in `hackathon/pawtrack/src/pawtrack`. The runnable DimOS blueprint is placed at `dimos/robot/unitree/go2/blueprints/agentic/greeter_agentic.py` and registered in `dimos/robot/all_blueprints.py`.
+
+## Run
+
+From this DimOS checkout:
+
+```bash
+export DIMOS_HOME="${DIMOS_HOME:-$HOME/sam/dimos}"
+export DIMOS_VENV="${DIMOS_VENV:-$HOME/dimos-env}"
+export PYTHONPATH="$DIMOS_HOME/hackathon/pawtrack/src:$DIMOS_HOME:${PYTHONPATH:-}"
+source "$DIMOS_VENV/bin/activate"
+cd "$DIMOS_HOME"
+```
+
+Simulation:
+
+```bash
+hackathon/pawtrack/scripts/run_greeter_sim.sh
+```
+
+Then in another shell:
+
+```bash
+dimos mcp call start_greeting --arg target="a person"
+dimos mcp call greeter_status
+dimos mcp call stop_greeting
+```
+
+Real Go2:
+
+```bash
+dimos run greeter-agentic --robot-ip <robot_ip>
+dimos mcp call start_greeting --arg target="a person sitting on a chair"
+dimos mcp call stop_greeting
+```
+
+## Test
+
+```bash
+export DIMOS_HOME="${DIMOS_HOME:-$HOME/sam/dimos}"
+export DIMOS_VENV="${DIMOS_VENV:-$HOME/dimos-env}"
+source "$DIMOS_VENV/bin/activate"
+cd "$DIMOS_HOME"
+PYTHONPATH="$DIMOS_HOME/hackathon/pawtrack/src:$DIMOS_HOME" pytest -o addopts= \
+  hackathon/pawtrack/tests/test_identify.py \
+  hackathon/pawtrack/tests/test_greeter_state.py \
+  hackathon/pawtrack/tests/test_greeter_container.py \
+  hackathon/pawtrack/tests/test_occupancy.py
+```

hackathon/pawtrack/integration/greeter_agentic.py

@@ -0,0 +1,62 @@
+"""Version-controlled copy of the `greeter-agentic` `dimos run` blueprint.
+
+The greeter dog: wander (DimOS patrol) until a person sitting on a chair is
+found, pick a random not-yet-greeted one, walk over, circle to face them, and
+wave hello -- then resume the patrol. The autonomous loop lives in
+``GreeterSkillContainer``; start/stop it via MCP.
+
+Install it next to the stock agentic blueprints in the DimOS source tree and
+regenerate the registry:
+
+    cp integration/greeter_agentic.py \\
+        "$DIMOS_HOME/dimos/robot/unitree/go2/blueprints/agentic/"
+    pytest -o addopts="" \\
+        "$DIMOS_HOME/dimos/robot/test_all_blueprints_generation.py"
+
+Then (with the `pawtrack` package importable):
+
+    PYTHONPATH=src PAWTRACK_MODEL=openai:deepseek-chat \
+      dimos run greeter-agentic --robot-ip <dog_ip>
+    dimos mcp call start_greeting     # or tell the agent: "go greet people"
+    dimos mcp call stop_greeting      # halt
+
+This is the stock ``unitree-go2-agentic`` general agent **plus** the greeter
+skill container -- i.e. a normal Go2 agent that can navigate, speak, run sport
+commands, etc., and *also* knows how to greet. It uses the agent's default
+general system prompt (no narrow greeter prompt); the agent discovers the
+greeting from the skill docstrings (``start_greeting`` / ``stop_greeting`` /
+``greeter_status`` / ``wave_hello``) and calls it when asked, like any other
+skill. The wander/greet loop itself is autonomous once started. Model defaults
+to the agent's default; override with ``PAWTRACK_MODEL``.
+"""
+
+from __future__ import annotations
+
+import os
+
+from dimos.agents.mcp.mcp_client import McpClient
+from dimos.agents.mcp.mcp_server import McpServer
+from dimos.core.coordination.blueprints import autoconnect
+from dimos.robot.unitree.go2.blueprints.agentic._common_agentic import (
+    _common_agentic,
+)
+from dimos.robot.unitree.go2.blueprints.smart.unitree_go2_spatial import (
+    unitree_go2_spatial,
+)
+
+from pawtrack.greeter_container import GreeterSkillContainer
+
+_MODEL = os.environ.get("PAWTRACK_MODEL")
+
+# Stock unitree-go2-agentic (general agent, default prompt) + the greeter skill.
+_agent = (
+    McpClient.blueprint(model=_MODEL) if _MODEL else McpClient.blueprint()
+)
+
+greeter_agentic = autoconnect(
+    unitree_go2_spatial,
+    McpServer.blueprint(),
+    _agent,
+    _common_agentic,
+    GreeterSkillContainer.blueprint(),
+)

hackathon/pawtrack/integration/pawtrack_agentic.py

@@ -0,0 +1,46 @@
+"""Version-controlled copy of the PawTrack `dimos run` blueprint.
+
+`dimos run <name>` resolves names from a registry that the generator builds by
+scanning only the dimos source tree, so the blueprint object has to live inside
+that tree. This file is the canonical copy; install it with:
+
+    cp integration/pawtrack_agentic.py \\
+        "$DIMOS_HOME/dimos/robot/unitree/go2/blueprints/agentic/"
+    pytest "$DIMOS_HOME/dimos/robot/test_all_blueprints_generation.py"  # regen
+
+Then (with the `pawtrack` package importable):
+
+    PYTHONPATH=src dimos run pawtrack-agentic --robot-ip <dog_ip>
+
+It rebuilds the four parts of the stock ``unitree-go2-agentic`` blueprint but
+swaps in an ``McpClient`` with the PawTrack prompt and adds the PawTrack
+subject-tracking skill container -- reusing the stock stack, no duplicate
+agent.
+"""
+
+from __future__ import annotations
+
+import os
+
+from dimos.agents.mcp.mcp_client import McpClient
+from dimos.agents.mcp.mcp_server import McpServer
+from dimos.core.coordination.blueprints import autoconnect
+from dimos.robot.unitree.go2.blueprints.agentic._common_agentic import (
+    _common_agentic,
+)
+from dimos.robot.unitree.go2.blueprints.smart.unitree_go2_spatial import (
+    unitree_go2_spatial,
+)
+
+from pawtrack.skill_container import PawTrackSkillContainer
+from pawtrack.system_prompt import PAWTRACK_PROMPT
+
+_MODEL = os.environ.get("PAWTRACK_MODEL", "openai:gpt-5.1")
+
+pawtrack_agentic = autoconnect(
+    unitree_go2_spatial,
+    McpServer.blueprint(),
+    McpClient.blueprint(model=_MODEL, system_prompt=PAWTRACK_PROMPT),
+    _common_agentic,
+    PawTrackSkillContainer.blueprint(),
+)

hackathon/pawtrack/integration/pawtrack_agentic_relocalization.py

@@ -0,0 +1,50 @@
+"""PawTrack agentic blueprint with optional prebuilt-map relocalization.
+
+Install this next to ``pawtrack_agentic.py`` in the DimOS source tree, then
+regenerate ``all_blueprints``:
+
+    cp integration/pawtrack_agentic_relocalization.py \
+        "$DIMOS_HOME/dimos/robot/unitree/go2/blueprints/agentic/"
+    pytest -o addopts="" \
+        "$DIMOS_HOME/dimos/robot/test_all_blueprints_generation.py"
+
+Run with a prebuilt map:
+
+    PYTHONPATH=src dimos run pawtrack-agentic-relocalization \
+        --robot-ip <dog_ip> \
+        -o relocalizationmodule.map_file=<premap_name>
+
+This intentionally keeps the existing ``pawtrack-agentic`` blueprint
+unchanged.
+Use this blueprint only when you want ``subject_map_pose`` in addition to the
+always-on ``subject_world_pose``.
+"""
+
+from __future__ import annotations
+
+import os
+
+from dimos.agents.mcp.mcp_client import McpClient
+from dimos.agents.mcp.mcp_server import McpServer
+from dimos.core.coordination.blueprints import autoconnect
+from dimos.mapping.relocalization.module import RelocalizationModule
+from dimos.robot.unitree.go2.blueprints.agentic._common_agentic import (
+    _common_agentic,
+)
+from dimos.robot.unitree.go2.blueprints.smart.unitree_go2_spatial import (
+    unitree_go2_spatial,
+)
+
+from pawtrack.skill_container import PawTrackSkillContainer
+from pawtrack.system_prompt import PAWTRACK_PROMPT
+
+_MODEL = os.environ.get("PAWTRACK_MODEL", "openai:gpt-5.1")
+
+pawtrack_agentic_relocalization = autoconnect(
+    unitree_go2_spatial,
+    RelocalizationModule.blueprint(),
+    McpServer.blueprint(),
+    McpClient.blueprint(model=_MODEL, system_prompt=PAWTRACK_PROMPT),
+    _common_agentic,
+    PawTrackSkillContainer.blueprint(),
+)

hackathon/pawtrack/pyproject.toml

@@ -0,0 +1,19 @@
+[build-system]
+requires = ["setuptools>=70", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "pawtrack"
+version = "0.1.0"
+description = "PawTrack: a Unitree Go2 that finds and tracks a described subject."
+requires-python = ">=3.10"
+dependencies = []
+
+[tool.setuptools.packages.find]
+where = ["src"]
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]
+pythonpath = ["src"]
+addopts = "-q"
+