refactor(control): retire shared transport adapters by TomCC7 · Pull Request #5017 · dimensionalOS/dimos

TomCC7 · 2026-11-04T07:29:03Z

Overview

Migrate concrete connections to the shared joint/interface contract and retire the two shared transport adapters. Stacked on #5016.

Problem

The old adapters duplicate routing, while rotating native body commands through odometry unnecessarily couples driving to pose age.

Changes

R1Pro and Go2 accept body forward/lateral/turn actions directly, without an odom-yaw gate.
Publish velocity-only actuator JointState separately from pose/twist Odometry.
Preserve R1Pro measured chassis-speed odometry and its source timestamps.
Estimate Go2 body rates from successive measured poses; do not invent first-sample rates.
Route navigation followers through independent Odometry feedback.
Preserve G1/GR00T migration and remove the retired adapter implementations and registrations.

Validation

29 focused driver/consumer checks independently passed, including hardware-free assembly parsing.
Targeted production mypy and Ruff passed.
Go2 rates are pose-difference estimates, not native chassis-rate samples. Hardware timing/accuracy and new CI remain unverified.

github-actions

go2 replay realtime (arm64)

Details

Benchmark suite	Current: `b61686c`	Previous: `14c62ab`	Ratio
`peak memory`	`1755.18` MB	`1762.355` MB	`1.00`
`peak threads`	`370` threads	`385` threads	`0.96`
`network (transport)`	`2729.202` MB	`2731.013` MB	`1.00`
`disk write`	`1.602` MB	`1.605` MB	`1.00`
`instructions`	`141.047` G	`138.791` G	`1.02`

This comment was automatically generated by workflow using github-action-benchmark.

greptile-apps · 2026-11-04T07:32:26Z

Confidence Score: 4/5

[High impact] The PR changes command and feedback paths for three robot platforms.

Fix the MuJoCo halt path before merging so the simulated Go2 stops when coordinator commands disappear.

Findings

Simulated Go2 ignores the stop ▶
Stale-feedback stop claim overstates protection ▶

Summary

Replaces shared transport adapters with direct joint commands for R1Pro, G1, and Go2.

R1Pro coordinators send joint commands straight to the robot connection.
G1 commands and feedback now use named robot joints.
Go2 controllers map planar commands using measured robot yaw.
Shared transport adapters are no longer available for robot control.

_{Reviews (2) · Last reviewed commit: "test(r1pro): keep focused driver smoke c..." · Reviewed by Greptile}

greptile-apps · 2026-11-04T07:32:29Z

+arms are held where they were last measured. Stale feedback
+(`reading_timeout_s`, 0.2 s) also stops commands until fresh readings
+return. This replaces the old adapter path, where an estopped robot simply


Stale-feedback stop claim overstates protection

The 0.2-second timeout does not cover lost vendor joint feedback. After all three segments first report, _publish_loop keeps publishing cached readings at 100 Hz. ConnectionSource.on_message checks arrival time, not JointState.ts, so commands keep flowing even if all vendor joint feedback stops. Operators could rely on a stop that never happens.

Limit this claim to loss of the connection's published readings, or stop publishing when any vendor segment goes stale.

codecov · 2026-11-04T07:42:56Z

❌ 18 Tests Failed:

Tests completed	Failed	Passed	Skipped
8043	18	8025	55

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

dimos.codebase_checks.test_blueprint_kwargs::test_blueprint_atom_kwargs_match_module_config[xarm6-planner-coordinator]

Stack Traces | 0.003s run time

blueprint_name = 'xarm6-planner-coordinator'
monkeypatch = <_pytest.monkeypatch.MonkeyPatch object at 0xffb9df7e8f20>

    @pytest.mark.parametrize("blueprint_name", _blueprint_params())
    def test_blueprint_atom_kwargs_match_module_config(
        blueprint_name: str, monkeypatch: pytest.MonkeyPatch
    ) -> None:
        """Fail when blueprint kwargs cannot be consumed by their target module."""
        # The multi-robot blueprints read ROBOT_IPS at import time.
        monkeypatch.setattr(global_config, "robot_ips", "192.0.2.10,192.0.2.11")
        blueprint = _get_blueprint_or_skip(blueprint_name)
    
        violations: list[str] = []
        for atom in blueprint.blueprints:
            unknown_kwargs = sorted(set(atom.kwargs) - _allowed_kwarg_names(atom.module))
            if unknown_kwargs:
                violations.append(
                    f"{atom.module.__module__}.{atom.module.__name__}: unknown kwargs {unknown_kwargs}"
                )
    
        if violations:
            listing = "\n".join(f"  - {violation}" for violation in violations)
>           raise AssertionError(
                f"Blueprint {blueprint_name!r} passes unknown module kwargs:\n{listing}\n\n"
                "Blueprint kwargs are forwarded into the module constructor. "
                "use fields from the config model or explicitly declared `__init__` keyword names."
            )
E           AssertionError: Blueprint 'xarm6-planner-coordinator' passes unknown module kwargs:
E             - dimos.robot.manipulators.xarm.blueprints.basic.XArmCoordinator: unknown kwargs ['model']
E           
E           Blueprint kwargs are forwarded into the module constructor. use fields from the config model or explicitly declared `__init__` keyword names.

atom       = BlueprintAtom(kwargs={'arm': 'xarm6', 'gripper': 'xarm'}, module=<class 'dimos.robot.manipulators.xarm.connection.XArm...e', type=<class 'dimos.msgs.sensor_msgs.JointState.JointState'>, direction='out')), module_refs=(), instance_name=None)
blueprint  = Blueprint(blueprints=(BlueprintAtom(kwargs={'model': RobotModelConfig(rpc_transport=<class 'dimos.protocol.rpc.zenohrp...Coordinator', 'arm_joint_state'): 'joint_state'}), requirement_checks=(), configurator_checks=(), hosted_placements=())
blueprint_name = 'xarm6-planner-coordinator'
listing    = "  - dimos.robot.manipulators.xarm.blueprints.basic.XArmCoordinator: unknown kwargs ['model']"
monkeypatch = <_pytest.monkeypatch.MonkeyPatch object at 0xffb9df7e8f20>
unknown_kwargs = []
violations = ["dimos.robot.manipulators.xarm.blueprints.basic.XArmCoordinator: unknown kwargs ['model']"]

dimos/codebase_checks/test_blueprint_kwargs.py:90: AssertionError

dimos.codebase_checks.test_blueprint_kwargs::test_blueprint_atom_kwargs_match_module_config[piper-teleop]

Stack Traces | 0.004s run time

blueprint_name = 'piper-teleop'
monkeypatch = <_pytest.monkeypatch.MonkeyPatch object at 0xffb9ec34f530>

    @pytest.mark.parametrize("blueprint_name", _blueprint_params())
    def test_blueprint_atom_kwargs_match_module_config(
        blueprint_name: str, monkeypatch: pytest.MonkeyPatch
    ) -> None:
        """Fail when blueprint kwargs cannot be consumed by their target module."""
        # The multi-robot blueprints read ROBOT_IPS at import time.
        monkeypatch.setattr(global_config, "robot_ips", "192.0.2.10,192.0.2.11")
        blueprint = _get_blueprint_or_skip(blueprint_name)
    
        violations: list[str] = []
        for atom in blueprint.blueprints:
            unknown_kwargs = sorted(set(atom.kwargs) - _allowed_kwarg_names(atom.module))
            if unknown_kwargs:
                violations.append(
                    f"{atom.module.__module__}.{atom.module.__name__}: unknown kwargs {unknown_kwargs}"
                )
    
        if violations:
            listing = "\n".join(f"  - {violation}" for violation in violations)
>           raise AssertionError(
                f"Blueprint {blueprint_name!r} passes unknown module kwargs:\n{listing}\n\n"
                "Blueprint kwargs are forwarded into the module constructor. "
                "use fields from the config model or explicitly declared `__init__` keyword names."
            )
E           AssertionError: Blueprint 'piper-teleop' passes unknown module kwargs:
E             - dimos.robot.manipulators.piper.blueprints.teleop.PiperTwistCoordinator: unknown kwargs ['model']
E           
E           Blueprint kwargs are forwarded into the module constructor. use fields from the config model or explicitly declared `__init__` keyword names.

atom       = BlueprintAtom(kwargs={'model': RobotModel(_source_path=PosixPath('.../home/runner/.cache.../robot_assets/sources/9e208...Ref(name='file_info', type=<class 'dimos.msgs.files.File.File'>, direction='out')), module_refs=(), instance_name=None)
blueprint  = Blueprint(blueprints=(BlueprintAtom(kwargs={'instance_name': 'ControlCoordinator', 'model': RobotModel(_source_path=Po...Coordinator', 'arm_joint_state'): 'joint_state'}), requirement_checks=(), configurator_checks=(), hosted_placements=())
blueprint_name = 'piper-teleop'
listing    = "  - dimos.robot.manipulators.piper.blueprints.teleop.PiperTwistCoordinator: unknown kwargs ['model']"
monkeypatch = <_pytest.monkeypatch.MonkeyPatch object at 0xffb9ec34f530>
unknown_kwargs = []
violations = ["dimos.robot.manipulators.piper.blueprints.teleop.PiperTwistCoordinator: unknown kwargs ['model']"]

dimos/codebase_checks/test_blueprint_kwargs.py:90: AssertionError

dimos.robot.manipulators.piper.test_connection::test_a_failed_start_puts_the_arm_in_its_emergency_stop