feat(go2): go2 SDK adapter + nix cyclonedds setup

[ruthwikdasyam]

Problem

Feat: SDK support for Go2 [Fully working]
Cyclone-dds installation support

Closes DIM-XXX

Solution

• UnitreeGo2TwistAdapter - high-level Twist (vx, vy, wz) via SDK2 SportClient
• Optional Rage Mode (rage_mode=True, ~2.5 m/s envelope) via synthesized WirelessController_ on rt/wirelesscontroller_unprocessed.
• Nix-based cyclonedds install: nix build nixpkgs#cyclonedds + venv activate exports. No sudo, version-pinned. Apt path retained as fallback.
• 19 hardware-free smoke tests for the low-level adapter.

Breaking Changes

None

How to Test

# Install
nix build nixpkgs#cyclonedds
# (bake CYCLONEDDS_HOME + LD_LIBRARY_PATH into .venv/bin/activate per docs)
export CYCLONEDDS_HOME=$(readlink -f ./result)
export LD_LIBRARY_PATH="\$CYCLONEDDS_HOME/lib:\${LD_LIBRARY_PATH:-}"
uv pip install -e ".[unitree-dds]"

# Real robot
export ROBOT_IP=192.168.123.161
dimos run unitree-go2-keyboard-teleop

Contributor License Agreement

• I have read and approved the CLA.

[greptile-apps]

Greptile Summary

This PR adds a UnitreeGo2TwistAdapter that drives the Go2 quadruped over DDS via the unitree_sdk2py SDK2 SportClient, with an optional Rage Mode (joystick publisher on rt/wirelesscontroller_unprocessed) that widens the velocity envelope to ~2.5 m/s. It also introduces a nix-based CycloneDDS install path, a keyboard-teleop blueprint, and a new unitree-dds optional dependency group.

• P1 — silent velocity drop on rage publish error: When pub.Write() raises in _rage_joystick_loop, the loop exits but leaves session.rage_active = True; all subsequent write_velocities calls stash commands into rage_cmd with no consumer, making the robot silently unresponsive.

Confidence Score: 4/5

Safe to merge after addressing the rage joystick publish-error teardown bug.

One P1 found: the rage joystick loop exits on publish errors without resetting rage_active, causing velocity commands to be silently discarded. All previously flagged issues (throttling, publisher Close, SwitchJoystick return check, subscriber leak, ChannelFactoryInitialize double-init) have been addressed in this version. The rest of the changes are well-structured.

dimos/hardware/drive_trains/unitree_go2/adapter.py — specifically the _rage_joystick_loop error return path.

Important Files Changed

Filename	Overview
dimos/hardware/drive_trains/unitree_go2/adapter.py	New 693-line UnitreeGo2TwistAdapter with DDS connect/disconnect, velocity commands, and Rage Mode joystick publishing; one P1: rage joystick loop exit on publish error leaves rage_active=True, silently dropping all subsequent velocity commands.
dimos/control/coordinator.py	Adds **component.adapter_kwargs to adapter construction; HardwareComponent.adapter_kwargs already defaults to {} so existing components are unaffected.
dimos/robot/unitree/go2/blueprints/basic/unitree_go2_keyboard_teleop.py	New keyboard teleop blueprint wiring ControlCoordinator to UnitreeGo2TwistAdapter via LCMTransport; straightforward and correctly structured.
pyproject.toml	Adds unitree-dds extra pulling in unitree-sdk2py-dimos>=1.0.2 and cyclonedds>=0.10.5; also adds mypy ignore for unitree_sdk2py.*.
.github/workflows/ci.yml	Excludes unitree-dds extra from CI builds (requires native DDS lib); correct.
docs/usage/transports/dds.md	Adds nix-based CycloneDDS install path with correct heredoc escaping; apt path retained as fallback.

Sequence Diagram

sequenceDiagram
    participant BP as Blueprint
    participant CC as ControlCoordinator
    participant A as UnitreeGo2TwistAdapter
    participant DDS as DDS Layer
    participant Go2 as Go2 Robot

    BP->>CC: connect()
    CC->>A: connect()
    A->>DDS: ChannelFactoryInitialize(0)
    A->>DDS: ChannelSubscriber(rt/sportmodestate)
    A->>Go2: MotionSwitcherClient.Init()
    A->>Go2: SportClient.Init()
    A->>Go2: StandUp() → FreeWalk() → SpeedLevel()
    A-->>CC: True (connected)

    alt rage_mode=True
        A->>Go2: _call_sport_api(2059, enable=True)
        A->>DDS: ChannelPublisher(rt/wirelesscontroller_unprocessed)
        A->>A: spawn rage_joystick_loop thread (100 Hz)
        A->>Go2: SwitchJoystick(True)
    end

    loop Teleop loop
        BP->>CC: write_velocities([vx,vy,wz])
        CC->>A: write_velocities([vx,vy,wz])
        alt rage_active
            A->>A: stash in session.rage_cmd
            A-->>DDS: rage_joystick_loop publishes WirelessController_
            DDS-->>Go2: rt/wirelesscontroller_unprocessed
        else normal
            A->>Go2: SportClient.Move(vx,vy,wz)
        end
    end

    BP->>CC: disconnect()
    CC->>A: disconnect()
    A->>A: _stop_rage_joystick() — set event, join thread, Close publisher
    A->>Go2: StopMove() → StandDown()
    A->>DDS: state_sub.Close()

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Comments Outside Diff (1)

1. dimos/hardware/drive_trains/unitree_go2/adapter.py, line 724-728 (link)

   Rage joystick loop exits without clearing rage_active, silently dropping velocity commands

   When pub.Write(msg) raises OSError or RuntimeError, the loop returns but leaves session.rage_active = True and session.rage_pub non-None. From that point on, every write_velocities call hits the if session.rage_active: branch (line 453) and stashes the command into session.rage_cmd, but no thread is consuming it. The robot stops responding to velocity commands without surfacing any error to the caller — operators will only see the earlier Rage joystick publish raised warning and then silence.

   _stop_rage_joystick should be called from within the error path to reset all rage state atomically, or at minimum session.rage_active should be cleared before returning:

           except (OSError, RuntimeError) as e:
               logger.warning(f"[Go2] Rage joystick publish raised: {e}")
               session.rage_active = False  # prevent write_velocities from silently routing here
               return

_{Reviews (4): Last reviewed commit: "fix: pass on exception" | Re-trigger Greptile}