Ruthwik/go2sdk: Prev. Go2 low-level adapter

[ruthwikdasyam]

Problem

Closes DIM-XXX

Solution

How to Test

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[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
1825	1	1824	151

View the top 1 failed test(s) by shortest run time

dimos.robot.test_all_blueprints_generation::test_all_blueprints_is_current

Stack Traces | 2.65s 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                    f"all_blueprints.py is out of date.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E               Failed: all_blueprints.py is out of date.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               @@ -110,13 +110,13 @@
E                    "unitree-go2-relocalization": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2:unitree_go2_relocalization",
E                    "unitree-go2-ros": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2_ros:unitree_go2_ros",
E                    "unitree-go2-security": "dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_security:unitree_go2_security",
E               -    "unitree-go2-wholebody-commander": "dimos.robot.unitree.go2.blueprints.basic.unitree_go2_wholebody_commander:unitree_go2_wholebody_commander",
E               -    "unitree-go2-wholebody-coordinator": "dimos.robot.unitree.go2.blueprints.basic.unitree_go2_wholebody_coordinator:unitree_go2_wholebody_coordinator",
E                    "unitree-go2-spatial": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2_spatial:unitree_go2_spatial",
E                    "unitree-go2-temporal-memory": "dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_temporal_memory:unitree_go2_temporal_memory",
E                    "unitree-go2-vlm-stream-test": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2_vlm_stream_test:unitree_go2_vlm_stream_test",
E                    "unitree-go2-webrtc-keyboard-teleop": "dimos.robot.unitree.go2.blueprints.basic.unitree_go2_webrtc_keyboard_teleop:unitree_go2_webrtc_keyboard_teleop",
E                    "unitree-go2-webrtc-rage-keyboard-teleop": "dimos.robot.unitree.go2.blueprints.basic.unitree_go2_webrtc_rage_keyboard_teleop:unitree_go2_webrtc_rage_keyboard_teleop",
E               +    "unitree-go2-wholebody-commander": "dimos.robot.unitree.go2.blueprints.basic.unitree_go2_wholebody_commander:unitree_go2_wholebody_commander",
E               +    "unitree-go2-wholebody-coordinator": "dimos.robot.unitree.go2.blueprints.basic.unitree_go2_wholebody_coordinator:unitree_go2_wholebody_coordinator",
E                    "unity-sim": "dimos.simulation.unity.blueprint:unity_sim",
E                    "xarm-perception": "dimos.manipulation.blueprints:xarm_perception",
E                    "xarm-perception-agent": "dimos.manipulation.blueprints:xarm_perception_agent",
E               @@ -161,8 +161,10 @@
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-joint-commander-module": "dimos.robot.unitree.go2.joint_commander_module.Go2JointCommanderModule",
E                    "go2-memory": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2.Go2Memory",
E                    "go2-teleop-module": "dimos.teleop.quest.quest_extensions.Go2TeleopModule",
E               +    "go2-whole-body-connection": "dimos.robot.unitree.go2.wholebody_connection.Go2WholeBodyConnection",
E                    "google-maps-skill-container": "dimos.agents.skills.google_maps_skill_container.GoogleMapsSkillContainer",
E                    "gps-nav-skill-container": "dimos.agents.skills.gps_nav_skill.GpsNavSkillContainer",
E                    "grasping-module": "dimos.manipulation.grasping.grasping.GraspingModule",

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 0xff636d804ba0>
diff_str   = '--- all_blueprints.py (current)\n+++ all_blueprints.py (generated)\n@@ -110,13 +110,13 @@\n     "unitree-go2-relocali...gps_nav_skill.GpsNavSkillContainer",\n     "grasping-module": "dimos.manipulation.grasping.grasping.GraspingModule",\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

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[mustafab0]

We now have a TransportWholeBodyAdapter that is generic and can be used for any robot type.

it pairs with robot specific whole body_connection file that is just a simple Robot Connection module that exposes low level control

See the PR file below:
https://github.com/dimensionalOS/dimos/pull/1954/changes#diff-41530e940ddb10e072c9eb83583f82df07876a5c33aa9e070b790a7d4a0c01ae

[mustafab0]

Can also take a look at Pim's implementation of the groot task with whole body controller: https://github.com/dimensionalOS/dimos/pull/2300/changes#diff-65719712d2dc627eff6c71bd97a4231dabf0e1d274a0efba1f8251723462e43c