feat(teleop): hosted Go2 one-session module + robot commands, multicam, battery, LiveKit by ruthwikdasyam · Pull Request #2562 · dimensionalOS/dimos

ruthwikdasyam · 2026-06-22T20:24:22Z

Problem

feat/webrtc-transport shipped hosted teleop as a pure transport swap, but the Go2 driver and the hosted state plane lived in separate modules → separate processes. Because the broker provider is a per-process singleton and GO2Connection is dedicated_worker=True, the state-plane module opened a second Cloudflare session the operator never saw — so robot→operator telemetry (battery, command-plane stats) silently never arrived. The transport path also had no robot-command channel (posture/actions), no multi-camera support, and only one SFU backend (Cloudflare).

Solution

Consolidate the hosted control plane into the Go2 driver as one dedicated_worker module (Go2HostedConnection(GO2Connection)) so everything shares one CF session, then build the operator-facing features on top:

One-session module — dimos/robot/unitree/go2/hosted_connection.py. Folds state-plane + camera mux into the driver's process; replaces the standalone TeleopStateBridge (removed).
Robot commands (allow-listed sport_cmd on state_reliable, acked back): posture (StandReady combo / Sit / StandDown / RecoveryStand), actions (Hello / Stretch / FrontPounce / FrontJump), and an E-stop (Damp) out-of-band of the twist stream. New sport_command(api_id) + bidirectional set_rage_mode(enable) on the connection.
Speed modes — set_mode → Normal / High (browser scale) + Rage (firmware FSM toggle).
Multi-camera mux — composites Go2 + RealSense into one video track, operator-selectable (cam1 / cam2 / side-by-side via camera_select), graceful degrade to Go2-only. New teleop-hosted-go2-multicam blueprint.
Battery telemetry — get_battery_soc() + _on_lowstate (caches bms_state.soc).
Command-plane telemetry (compute-and-forward) — robot measures latency/jitter/rate over the inbound twist wire and forwards snapshots + cmd_ack on state_reliable_back; restored inline pong answering (_maybe_answer_ping) so clock-sync RTT works on the transport path.
LiveKit transport — LiveKitBrokerProvider + LiveKitTransport/LiveKitVideoTransport as a drop-in alternative SFU to Cloudflare; new teleop-hosted-go2-livekit blueprint.

Removed the teleop-state-bridge and hosted-teleop-recorder blueprints (the latter only set a path; compose the generic teleop-recorder instead).

Operator-side cockpit UI, STUN/TURN display, and the ICE-negotiation speedup (10s→<1s) are in the dimensional-teleop repo (branch ruthwik/UI) — separate PR.

How to Test

dimos run teleop-hosted-go2-transport -o transports.broker.api_key=dtk_live_...

Connect from the operator web client: drive (WASD → twist), fire posture/actions, watch live battery + command-plane telemetry in the HUD. For the two-camera path (needs a RealSense on the dimos host) use teleop-hosted-go2-multicam; for the LiveKit SFU use teleop-hosted-go2-livekit.

Contributor License Agreement

I have read and approved the CLA.

…ort path

…ailure; surface heartbeat errors

…m, battery

codecov · 2026-06-22T20:33:29Z

❌ 3 Tests Failed:

Tests completed	Failed	Passed	Skipped
1862	3	1859	155

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

dimos.protocol.pubsub.impl.webrtc.test_transport::test_transport_overrides_coerce_string_values

Stack Traces | 0.001s run time

def test_transport_overrides_coerce_string_values() -> None:
        """CLI/env overrides arrive as raw strings; non-str fields must coerce, not pass through."""
        bp = Blueprint(blueprints=()).transports({("topic", FakeLCMMsg): MockTransport("topic")})
>       new_bp = _apply_transport_overrides(bp, {"mock": {"count": "5"}})
E       NameError: name '_apply_transport_overrides' is not defined

bp         = Blueprint(blueprints=(), disabled_modules_tuple=(), transport_map=mappingproxy({('topic', <class 'dimos.protocol.pubsu...lobal_config_overrides=mappingproxy({}), remapping_map=mappingproxy({}), requirement_checks=(), configurator_checks=())

.../impl/webrtc/test_transport.py:280: NameError

dimos.robot.test_all_blueprints_generation::test_all_blueprints_is_current

Stack Traces | 2.58s run time

def test_all_blueprints_is_current() -> None:
        root = DIMOS_PROJECT_ROOT / "dimos"
        all_blueprints, all_modules = _scan_for_blueprints(root)
    
        common = set(all_blueprints.keys()) & set(all_modules.keys())
        assert not common, (
            f"Names must be unique across blueprints and modules, "
            f"but these appear in both: {sorted(common)}"
        )
    
        generated_content = _generate_all_blueprints_content(all_blueprints, all_modules)
    
        file_path = root / "robot" / "all_blueprints.py"
    
        if "CI" in os.environ:
            if not file_path.exists():
                pytest.fail(f"all_blueprints.py does not exist at {file_path}")
    
            current_content = file_path.read_text()
            if current_content != generated_content:
                diff = difflib.unified_diff(
                    current_content.splitlines(keepends=True),
                    generated_content.splitlines(keepends=True),
                    fromfile="all_blueprints.py (current)",
                    tofile="all_blueprints.py (generated)",
                )
                diff_str = "".join(diff)
>               pytest.fail(
                    f"all_blueprints.py is out of date. Run "
                    f"`pytest dimos/robot/test_all_blueprints_generation.py` locally to update.\n\n"
                    f"Diff:\n{diff_str}"
                )
E               Failed: all_blueprints.py is out of date. Run `pytest dimos/robot/test_all_blueprints_generation.py` locally to update.
E               
E               Diff:
E               --- all_blueprints.py (current)
E               +++ all_blueprints.py (generated)
E               @@ -74,8 +74,8 @@
E                    "path-planner-eval": "dimos.navigation.nav_3d.evaluator.blueprints:path_planner_eval",
E                    "teleop-hosted-go2": "dimos.teleop.quest_hosted.blueprints:teleop_hosted_go2",
E                    "teleop-hosted-go2-livekit": "dimos.teleop.quest_hosted.blueprints:teleop_hosted_go2_livekit",
E               +    "teleop-hosted-go2-multicam": "dimos.teleop.quest_hosted.blueprints:teleop_hosted_go2_multicam",
E                    "teleop-hosted-go2-transport": "dimos.teleop.quest_hosted.blueprints:teleop_hosted_go2_transport",
E               -    "teleop-hosted-go2-multicam": "dimos.teleop.quest_hosted.blueprints:teleop_hosted_go2_multicam",
E                    "teleop-hosted-xarm7": "dimos.teleop.quest_hosted.blueprints:teleop_hosted_xarm7",
E                    "teleop-phone": "dimos.teleop.phone.blueprints:teleop_phone",
E                    "teleop-phone-go2": "dimos.teleop.phone.blueprints:teleop_phone_go2",
E               @@ -165,6 +165,7 @@
E                    "g1-whole-body-connection": "dimos.robot.unitree.g1.wholebody_connection.G1WholeBodyConnection",
E                    "go2-connection": "dimos.robot.unitree.go2.connection.GO2Connection",
E                    "go2-fleet-connection": "dimos.robot.unitree.go2.fleet_connection.Go2FleetConnection",
E               +    "go2-hosted-connection": "dimos.robot.unitree.go2.hosted_connection.Go2HostedConnection",
E                    "go2-memory": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2.Go2Memory",
E                    "go2-teleop-module": "dimos.teleop.quest.quest_extensions.Go2TeleopModule",
E                    "google-maps-skill-container": "dimos.agents.skills.google_maps_skill_container.GoogleMapsSkillContainer",

all_blueprints = {'alfred-nav': 'dimos.robot.diy.alfred.blueprints.alfred_nav:alfred_nav', 'coordinator-basic': 'dimos.control.blueprin...sian_ik_mock', 'coordinator-cartesian-ik-piper': 'dimos.control.blueprints.teleop:coordinator_cartesian_ik_piper', ...}
all_modules = {'alfred-high-level': 'dimos.robot.diy.alfred.effector_high_level.AlfredHighLevel', 'arm-teleop-module': 'dimos.teleop..._navigation.BBoxNavigationModule', 'b1-connection-module': 'dimos.robot.unitree.b1.connection.B1ConnectionModule', ...}
common     = set()
current_content = '# Copyright 2025-2026 Dimensional Inc.\n#\n# Licensed under the Apache License, Version 2.0 (the "License");\n# you m...ebsocket_vis_module.WebsocketVisModule",\n    "zed-camera": "dimos.hardware.sensors.camera.zed.camera.ZEDCamera",\n}\n'
diff       = <generator object unified_diff at 0xffc807126a80>
diff_str   = '--- all_blueprints.py (current)\n+++ all_blueprints.py (generated)\n@@ -74,8 +74,8 @@\n     "path-planner-eval": "dim...e",\n     "google-maps-skill-container": "dimos.agents.skills.google_maps_skill_container.GoogleMapsSkillContainer",\n'
file_path  = PosixPath('.../dimos/robot/all_blueprints.py')
generated_content = '# Copyright 2025-2026 Dimensional Inc.\n#\n# Licensed under the Apache License, Version 2.0 (the "License");\n# you m...ebsocket_vis_module.WebsocketVisModule",\n    "zed-camera": "dimos.hardware.sensors.camera.zed.camera.ZEDCamera",\n}\n'
root       = PosixPath('.../dimos/dimos/dimos')

dimos/robot/test_all_blueprints_generation.py:66: Failed

dimos.robot.test_all_blueprints::test_blueprint_is_valid[teleop-hosted-go2-multicam]

Stack Traces | 3.16s run time

blueprint_name = 'teleop-hosted-go2-multicam'

    @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 = 'teleop-hosted-go2-multicam'

dimos/robot/test_all_blueprints.py:105: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/test_all_blueprints.py:81: in _check_blueprint
    blueprint = get_blueprint_by_name(blueprint_name)
        blueprint_name = 'teleop-hosted-go2-multicam'
        message    = "Failed to pull LFS file .../dimos/data/.lfs/xarm7.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/xarm7.tar.gz']' returned non-zero exit status 1."
dimos/robot/get_all_blueprints.py:47: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'teleop_hosted_go2_multicam'
        module_path = 'dimos.teleop.quest_hosted.blueprints'
        name       = 'teleop-hosted-go2-multicam'
.../teleop/quest_hosted/blueprints.py:17: in <module>
    from dimos.control.blueprints.teleop import coordinator_teleop_xarm7
        __builtins__ = <builtins>
        __cached__ = '.../quest_hosted/__pycache__/blueprints.cpython-312.pyc'
        __doc__    = 'Hosted teleop blueprints (WebRTC transport).'
        __file__   = '.../work/dimos/dimos/.../teleop/quest_hosted/blueprints.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xffc7f0c01340>
        __name__   = 'dimos.teleop.quest_hosted.blueprints'
        __package__ = 'dimos.teleop.quest_hosted'
        __spec__   = ModuleSpec(name='dimos.teleop.quest_hosted.blueprints', loader=<_frozen_importlib_external.SourceFileLoader object at 0xffc7f0c01340>, origin='.../work/dimos/dimos/.../teleop/quest_hosted/blueprints.py')
.../control/blueprints/teleop.py:185: in <module>
    *_mujoco_if_sim(str(XARM7_SIM_PATH), _xarm7_teleop_cfg.dof),
        Blueprint  = <class 'dimos.core.coordination.blueprints.Blueprint'>
        Buttons    = <class 'dimos.teleop.quest.quest_types.Buttons'>
        ControlCoordinator = <class 'dimos.control.coordinator.ControlCoordinator'>
        JointState = <class 'dimos.msgs.sensor_msgs.JointState.JointState'>
        LCMTransport = <class 'dimos.core.transport.LCMTransport'>
        MujocoSimModule = <class 'dimos.simulation.engines.mujoco_sim_module.MujocoSimModule'>
        PIPER_FK_MODEL = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/piper_description.tar.gz after 3 attem....lfs/piper_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffc7f0e311d0>
        PIPER_SIM_PATH = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/piper.tar.gz after 3 attempts: Command...ude', 'data/.lfs/piper.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffc7f1456450>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        XARM6_FK_MODEL = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm_description.tar.gz after 3 attemp.../.lfs/xarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffc7f1455ad0>
        XARM6_SIM_PATH = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm6.tar.gz after 3 attempts: Command...ude', 'data/.lfs/xarm6.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffc7f14547d0>
        XARM7_FK_MODEL = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm_description.tar.gz after 3 attemp.../.lfs/xarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffc7f14566d0>
        XARM7_SIM_PATH = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm7.tar.gz after 3 attempts: Command...ude', 'data/.lfs/xarm7.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffc7f1456dd0>
        __builtins__ = <builtins>
        __cached__ = '.../blueprints/__pycache__/teleop.cpython-312.pyc'
        __doc__    = 'Advanced control coordinator blueprints: servo, velocity, cartesian IK, and teleop IK.\n\nTeleop blueprints switch be...Cartesian IK (Piper, real-only)\n    dimos run coordinator-teleop-dual               # TeleopIK dual arm (real-only)\n'
        __file__   = '.../work/dimos/dimos/.../control/blueprints/teleop.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xffc7f0c00380>
        __name__   = 'dimos.control.blueprints.teleop'
        __package__ = 'dimos.control.blueprints'
        __spec__   = ModuleSpec(name='dimos.control.blueprints.teleop', loader=<_frozen_importlib_external.SourceFileLoader object at 0xffc7f0c00380>, origin='.../work/dimos/dimos/.../control/blueprints/teleop.py')
        _catalog_piper = <function piper at 0xffc7f0c1e200>
        _catalog_xarm6 = <function xarm6 at 0xffc7f0e81d00>
        _catalog_xarm7 = <function xarm7 at 0xffc7f0c1f7e0>
        _is_sim    = ''
        _mock_6dof_cfg = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/piper_description.tar.gz after 3 attem.../piper_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] RobotConfig object at 0xffc7f13db890>
        _mujoco_if_sim = <function _mujoco_if_sim at 0xffc7f103c540>
        _piper_cfg = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/piper_description.tar.gz after 3 attem.../piper_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] RobotConfig object at 0xffc7f14031b0>
        _piper_teleop_cfg = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/piper_description.tar.gz after 3 attem.../piper_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] RobotConfig object at 0xffc7f13db4d0>
        _xarm6_cfg = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm_description.tar.gz after 3 attemp...s/xarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] RobotConfig object at 0xffc7f14032a0>
        _xarm6_teleop_cfg = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm_description.tar.gz after 3 attemp...s/xarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] RobotConfig object at 0xffc7f13db570>
        _xarm7_teleop_cfg = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm_description.tar.gz after 3 attemp...s/xarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] RobotConfig object at 0xffc7f13db070>
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xffc8c100d1c0>
        coordinator_cartesian_ik_mock = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/piper_description.tar.gz after 3 attem...fs/piper_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] Blueprint object at 0xffc7f0c0ec30>
        coordinator_cartesian_ik_piper = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/piper_description.tar.gz after 3 attem...fs/piper_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] Blueprint object at 0xffc7f0429e20>
        coordinator_combined_xarm6 = Blueprint(blueprints=(BlueprintAtom(kwargs={'hardware': [HardwareComponent(hardware_id='arm', hardware_type=<HardwareT...lobal_config_overrides=mappingproxy({}), remapping_map=mappingproxy({}), requirement_checks=(), configurator_checks=())
        coordinator_servo_xarm6 = Blueprint(blueprints=(BlueprintAtom(kwargs={'hardware': [HardwareComponent(hardware_id='arm', hardware_type=<HardwareT...lobal_config_overrides=mappingproxy({}), remapping_map=mappingproxy({}), requirement_checks=(), configurator_checks=())
        coordinator_velocity_xarm6 = Blueprint(blueprints=(BlueprintAtom(kwargs={'hardware': [HardwareComponent(hardware_id='arm', hardware_type=<HardwareT...lobal_config_overrides=mappingproxy({}), remapping_map=mappingproxy({}), requirement_checks=(), configurator_checks=())
        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)
        make_gripper_joints = <function make_gripper_joints at 0xffc82f37a480>
dimos/utils/data.py:369: in __str__
    return str(self._ensure_downloaded())
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm7.tar.gz after 3 attempts: Command...ude', 'data/.lfs/xarm7.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffc7f1456dd0>
dimos/utils/data.py:347: in _ensure_downloaded
    cache = get_data(filename)
        cache      = None
        filename   = 'xarm7/scene.xml'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm7.tar.gz after 3 attempts: Command...ude', 'data/.lfs/xarm7.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffc7f1456dd0>
dimos/utils/data.py:304: in get_data
    archive_path = _decompress_archive(_pull_lfs_archive(archive_name))
        archive_name = 'xarm7'
        data_dir   = PosixPath('.../dimos/dimos/data')
        file_path  = PosixPath('.../dimos/dimos/data/xarm7/scene.xml')
        name       = 'xarm7/scene.xml'
        nested_path = PosixPath('scene.xml')
        path_parts = ('xarm7', 'scene.xml')
dimos/utils/data.py:248: in _pull_lfs_archive
    _lfs_pull(file_path, repo_root)
        file_path  = PosixPath('.../dimos/data/.lfs/xarm7.tar.gz')
        filename   = 'xarm7'
        repo_root  = PosixPath('.../work/dimos/dimos')
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

file_path = PosixPath('.../dimos/data/.lfs/xarm7.tar.gz')
repo_root = PosixPath('.../work/dimos/dimos')

    def _lfs_pull(file_path: Path, repo_root: Path, *, retries: int = 2) -> None:
        relative_path = file_path.relative_to(repo_root)
    
        env = os.environ.copy()
        env["GIT_LFS_FORCE_PROGRESS"] = "1"
    
        last_err: subprocess.CalledProcessError | None = None
        for attempt in range(1, retries + 2):  # retries + 1 total attempts
            try:
                subprocess.run(
                    ["git", "lfs", "pull", "--include", str(relative_path)],
                    cwd=repo_root,
                    check=True,
                    env=env,
                )
                return
            except subprocess.CalledProcessError as e:
                last_err = e
                if attempt <= retries:
                    time.sleep(attempt)  # 1s, 2s backoff
    
>       raise RuntimeError(
            f"Failed to pull LFS file {file_path} after {retries + 1} attempts: {last_err}"
        )
E       RuntimeError: Failed to pull LFS file .../dimos/data/.lfs/xarm7.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/xarm7.tar.gz']' returned non-zero exit status 1.

attempt    = 3
env        = {'ACCEPT_EULA': 'Y', 'ACTIONS_ID_TOKEN_REQUEST_TOKEN': 'eyJhbGciOiJSUzI1NiIsImtpZCI6IjM4ODI2YjE3LTZhMzAtNWY5Yi1iMTY5LT...-version=2.0', 'ACTIONS_ORCHESTRATION_ID': '2741cacc-202a-4dd6-8a31-112db1573bbc.tests.ubuntu-24_04-arm_3_14_fal', ...}
file_path  = PosixPath('.../dimos/data/.lfs/xarm7.tar.gz')
last_err   = CalledProcessError(1, ['git', 'lfs', 'pull', '--include', 'data/.lfs/xarm7.tar.gz'])
relative_path = PosixPath('data/.lfs/xarm7.tar.gz')
repo_root  = PosixPath('.../work/dimos/dimos')
retries    = 2

dimos/utils/data.py:216: RuntimeError

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ruthwikdasyam added 13 commits June 12, 2026 21:12

feat(teleop): restore pong + command-plane telemetry on WebRTC transp…

71c0d84

…ort path

initial commit: livekit support

ed26e8e

fix: pre-commit fixes

52ef8b4

fix: img normalization

76c4ab5

fix: pre-commit

a32048b

fix: mypy issues

3a2edef

fix: mypy errors

a07d71d

fix(webrtc): reset LiveKit video publisher on reconnect and publish f…

4f75189

…ailure; surface heartbeat errors

Merge branch 'feat/webrtc-transport' into ruthwik/hostedteleop/2

b486ec8

feat(teleop): hosted Go2 one-session module + robot commands, multica…

d2a074c

…m, battery

Merge branch 'ruthwik/feat/livekit' into ruthwik/hostedteleop/2

b916665

fix: precommit fixes

783f980

fix: realsense cam tf fix

24bca01

feat: hosted connection module

08c285a

ruthwikdasyam changed the title ~~Ruthwik/hostedteleop/2~~ feat(teleop): hosted Go2 one-session module + robot commands, multicam, battery, LiveKit Jun 23, 2026

feat: rage mode toggle ON/OFF

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feat(teleop): hosted Go2 one-session module + robot commands, multicam, battery, LiveKit#2562

feat(teleop): hosted Go2 one-session module + robot commands, multicam, battery, LiveKit#2562
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