feat: local relay

[paul-nechifor]

• Use --local-relay to spawn a local relay.
• New messages which carry robot id, channel manifest, etc.
• Split server.ts into smaller files.
• Added RelayBridgeModule.
• dimos run automatically adds RelayBridgeModule if --local-relay is specified.

How to Test

Run:

uv run python -m dimos.web.relay_bridge.demo_smoke

Go to http://127.0.0.1:45175/debug.html .

---

Run sim:

uv run dimos --simulation run --local-relay unitree-go2

Go to http://127.0.0.1:7780/debug.html

---

Closes DIM-1164

[greptile-apps]

Greptile Summary

This PR adds a local relay for robot telemetry and viewer connections. The main changes are:

• Adds relay bridge configuration and CLI options.
• Starts a local relay when requested by dimos run.
• Adds robot manifests, viewer subscriptions, and relay session handling.
• Splits relay server responsibilities into registry and session modules.

Confidence Score: 5/5

This looks safe to merge.

• No blocking issues found in the changed code.

Important Files Changed

Filename	Overview
web/relay/registry.ts	Adds robot registration, viewer subscription tracking, and frame routing.
web/relay/session.ts	Adds WebTransport robot and viewer session handling.
web/relay/server.ts	Wires relay listeners to the extracted registry and session components.
dimos/robot/cli/dimos.py	Adds relay CLI settings and injects the relay bridge module into enabled runs.

_{Reviews (6): Last reviewed commit: "fix(tests): scope the relay-kill e2e tes..." | Re-trigger Greptile}

[codecov]

Codecov Report

❌ Patch coverage is 93.66587% with 80 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/web/relay_bridge/relay_bridge_module.py	92.49%	17 Missing and 5 partials ⚠️
dimos/web/relay_bridge/e2e_support.py	76.00%	8 Missing and 4 partials ⚠️
dimos/web/relay_bridge/relay_process.py	56.52%	8 Missing and 2 partials ⚠️
dimos/robot/cli/dimos.py	47.05%	7 Missing and 2 partials ⚠️
dimos/web/relay_bridge/test_relay_bridge_module.py	98.18%	5 Missing and 3 partials ⚠️
dimos/web/relay_bridge/test_relay_bridge_e2e.py	95.68%	3 Missing and 3 partials ⚠️
dimos/memory2/codecs/test_codecs.py	81.25%	2 Missing and 1 partial ⚠️
dimos/web/relay_bridge/_wt_session.py	57.14%	2 Missing and 1 partial ⚠️
dimos/web/relay_bridge/test_relay_e2e.py	94.54%	1 Missing and 2 partials ⚠️
dimos/web/relay_bridge/wt_client.py	92.85%	2 Missing and 1 partial ⚠️
... and 1 more

@@            Coverage Diff             @@
##             main    #3068      +/-   ##
==========================================
+ Coverage   74.09%   74.33%   +0.24%     
==========================================
  Files        1103     1108       +5     
  Lines      104077   105309    +1232     
  Branches     9520     9598      +78     
==========================================
+ Hits        77114    78283    +1169     
- Misses      24270    24316      +46     
- Partials     2693     2710      +17     

Flag	Coverage Δ
OS-ubuntu-24.04-arm	68.30% <93.34%> (+0.32%)	⬆️
OS-ubuntu-latest	70.34% <93.34%> (+0.29%)	⬆️
Py-3.10	70.33% <93.34%> (+0.29%)	⬆️
Py-3.11	70.33% <93.34%> (+0.29%)	⬆️
Py-3.12	70.32% <93.34%> (+0.28%)	⬆️
Py-3.13	70.33% <93.34%> (+0.29%)	⬆️
Py-3.14	70.34% <93.34%> (+0.30%)	⬆️
Py-3.14t	70.33% <93.34%> (+0.29%)	⬆️
SelfHosted-Large	29.32% <24.62%> (-0.33%)	⬇️
SelfHosted-Linux	35.95% <24.14%> (-0.17%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
dimos/core/global_config.py	83.33% <100.00%> (+0.37%)	⬆️
dimos/robot/all_blueprints.py	100.00% <ø> (ø)
dimos/robot/cli/test_dimos.py	100.00% <100.00%> (ø)
dimos/web/relay_bridge/protocol.py	100.00% <100.00%> (ø)
dimos/web/relay_bridge/test_protocol.py	100.00% <100.00%> (ø)
dimos/web/relay_bridge/test_wt_client.py	97.53% <100.00%> (+2.40%)	⬆️
dimos/visualization/vis_module.py	75.00% <66.66%> (+1.08%)	⬆️
dimos/memory2/codecs/test_codecs.py	78.64% <81.25%> (-9.14%)	⬇️
dimos/web/relay_bridge/_wt_session.py	81.88% <57.14%> (+2.72%)	⬆️
dimos/web/relay_bridge/test_relay_e2e.py	96.58% <94.54%> (+0.67%)	⬆️
... and 7 more

... and 9 files with indirect coverage changes

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