Feature: go2 control coordinator TwistBase adapter by mustafab0 · Pull Request #1357 · dimensionalOS/dimos

mustafab0 · 2026-02-24T02:41:29Z

Problem

The ControlCoordinator ocannot control unitree go2 using Twist (cmd_vel)

Solution

Added UnitreeGo2Adapter implementing the TwistBaseAdapter protocol, enabling the Go2 quadruped to be driven through the ControlCoordinator. Key changes:

UnitreeGo2Adapter: Wraps Unitree SDK2 SportClient with DDS state feedback. Reads actual velocities from SportModeState (not command echo). Handles the Go2's init sequence (StandUp → FreeWalk → Move).
HardwareAdapter base protocol: Extracted connect/disconnect/is_connected into a shared base so ManipulatorAdapter and TwistBaseAdapter share a common ancestor, eliminating type: ignore[override] on the adapter property.
unitree-go2-keyboard-teleop blueprint: Dual-mode — simulation uses go2_connection (MujocoConnection), real hardware uses ControlCoordinator with the Go2 adapter.
Coordinator cleanup: Refactored subscription management into _subscribe_if() with list-based cleanup. Gripper methods use isinstance narrowing for ManipulatorAdapter.

Breaking Changes

None

How to Test

Simulation ( ONLY verifies blueprint wiring, keyboard input, MuJoCo physics — does NOT exercise the coordinator or Go2 adapter):

dimos --simulation run unitree-go2-keyboard-teleop
Use WASD/QE to drive the simulated Go2. Verify robot responds to input.

Real hardware (verifies the full coordinator → adapter → SDK path):

Install CycloneDDS C library (required by unitree-sdk2py):

sudo apt install cmake gcc g++
git clone https://github.com/eclipse-cyclonedds/cyclonedds.git /tmp/cyclonedds
cd /tmp/cyclonedds && git checkout releases/0.10.x
mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local
cmake --build . --parallel
sudo cmake --install .

dimos run unitree-go2-keyboard-teleop
Use WASD/QE to drive the simulated Go2. Verify robot responds to input.
to verify if topics are published correctly

dimos topic echo /coordinator/joint_state
dimos topic echo /cmd_vel

closes DIM-550

greptile-apps · 2026-02-24T02:44:39Z

Greptile Summary

Adds Unitree Go2 quadruped control through the ControlCoordinator via a new UnitreeGo2Adapter implementing the TwistBaseAdapter protocol.

Key Changes:

New adapter: UnitreeGo2Adapter wraps Unitree SDK2 SportClient for 3-DOF velocity control (vx, vy, wz). Handles initialization sequence (StandUp → FreeWalk → Move) and reads actual velocities from SportModeState via DDS.
Protocol refactoring: Extracted HardwareAdapter base protocol with connect/disconnect/is_connected methods. Both TwistBaseAdapter and ManipulatorAdapter now inherit from this shared base.
Coordinator improvements: Refactored subscription management into _subscribe_if() helper with list-based cleanup. Added isinstance type narrowing for gripper methods to safely handle ManipulatorAdapter vs TwistBaseAdapter.
Blueprint: Added unitree-go2-keyboard-teleop with dual mode support (simulation uses MuJoCo, hardware uses coordinator with Go2 adapter).

The implementation follows existing patterns and maintains backward compatibility.

Confidence Score: 4/5

Safe to merge with one minor potential issue in exception handling
Well-structured implementation following existing patterns. The protocol refactoring is clean and the adapter implementation is thorough with proper state management. One potential issue: the bare except Exception on line 166 of the adapter silently catches all errors, which could hide bugs during development.
Pay attention to dimos/hardware/drive_trains/unitree_go2/adapter.py for the exception handling in read_velocities()

Important Files Changed

Filename	Overview
dimos/hardware/drive_trains/unitree_go2/adapter.py	New `UnitreeGo2Adapter` implementing `TwistBaseAdapter` for Go2 quadruped control via Unitree SDK2. Handles DDS communication, locomotion init sequence, and velocity commands.
dimos/hardware/drive_trains/spec.py	Extracted `HardwareAdapter` base protocol with `connect`/`disconnect`/`is_connected`. `TwistBaseAdapter` now inherits from it.
dimos/hardware/manipulators/spec.py	Imports `HardwareAdapter` from drive_trains spec. `ManipulatorAdapter` now inherits from shared base.
dimos/control/coordinator.py	Refactored subscription management into `_subscribe_if()` with list-based cleanup. Gripper methods now use `isinstance` narrowing for type safety.
dimos/robot/unitree/go2/blueprints/basic/unitree_go2_keyboard_teleop.py	Dual-mode blueprint: simulation uses `go2_connection` (MuJoCo), hardware uses `control_coordinator` with `UnitreeGo2Adapter`.

Sequence Diagram

sequenceDiagram
    participant User
    participant KeyboardTeleop
    participant Coordinator as ControlCoordinator
    participant Adapter as UnitreeGo2Adapter
    participant SDK as Unitree SDK2
    participant Go2 as Go2 Hardware

    Note over User,Go2: Initialization Phase
    User->>Coordinator: start()
    Coordinator->>Adapter: connect()
    Adapter->>SDK: ChannelFactoryInitialize(0)
    SDK-->>Adapter: DDS initialized
    Adapter->>SDK: SportClient.Init()
    SDK-->>Adapter: Client ready
    Adapter->>SDK: StandUp()
    SDK->>Go2: Stand command
    Go2-->>SDK: Standing (3s)
    Adapter->>SDK: FreeWalk()
    SDK->>Go2: Activate locomotion
    Go2-->>SDK: Ready (2s)
    Adapter-->>Coordinator: Connected & Ready
    Coordinator->>Adapter: write_enable(true)
    Adapter-->>Coordinator: Enabled

    Note over User,Go2: Runtime Control Loop
    User->>KeyboardTeleop: Press W (forward)
    KeyboardTeleop->>Coordinator: Twist(/cmd_vel) [vx, vy, wz]
    Coordinator->>Coordinator: _on_twist_command()
    Coordinator->>Adapter: write_velocities([vx, vy, wz])
    Adapter->>SDK: Move(vx, vy, wz)
    SDK->>Go2: DDS velocity command
    Go2-->>SDK: SportModeState (actual velocities)
    SDK-->>Adapter: State callback
    Adapter->>Adapter: Update _latest_state
    Coordinator->>Adapter: read_velocities()
    Adapter-->>Coordinator: [actual vx, vy, wz]
    Coordinator->>Coordinator: Publish joint_state

    Note over User,Go2: Shutdown Phase
    User->>Coordinator: stop()
    Coordinator->>Adapter: disconnect()
    Adapter->>SDK: StopMove()
    SDK->>Go2: Zero velocities
    Adapter->>SDK: StandDown()
    SDK->>Go2: Sit down
    Adapter-->>Coordinator: Disconnected

_{Last reviewed commit: 20b9e29}

greptile-apps

_{11 files reviewed, 1 comment}

_{Edit Code Review Agent Settings | Greptile}

dimos/hardware/drive_trains/unitree_go2/adapter.py

dimos/control/coordinator.py

dimos/robot/unitree/go2/README.md

dimos/hardware/drive_trains/unitree_go2/adapter.py

dimos/control/examples/echo_cmd_vel.py

dimos/hardware/drive_trains/unitree_go2/adapter.py

leshy · 2026-02-26T07:26:53Z

sorry haven't had the chance to review in detail yet, give me a chance before merging

paul-nechifor · 2026-02-28T03:38:10Z

dimos/robot/unitree/go2/blueprints/basic/unitree_go2_keyboard_teleop.py

+if global_config.simulation:
+    from dimos.robot.unitree.go2.connection import go2_connection
+
+    # go2_connection automatically uses MujocoConnection when simulation=True.
+    # keyboard_teleop.cmd_vel is wired directly to go2_connection.cmd_vel
+    # by autoconnect — no LCM needed.
+    _go2 = go2_connection()
+    _teleop = keyboard_teleop()


This already exists as dimos --simulation run go2-connection keyboard-teleop.

Running dimos --simulation run unitree-go2-keyboard-teleop implies that the unitree-go2-keyboard-teleop modules are being simulated, but it's just running an entirely different set of modules.

I would just remove this, or add a sim for control_coordinator.

paul-nechifor · 2026-02-28T03:43:28Z

dimos/hardware/manipulators/spec.py


 @runtime_checkable
-class ManipulatorAdapter(Protocol):
+class ManipulatorAdapter(HardwareAdapter, Protocol):


Since it now inherits HardwareAdapter you can remove this from here:

# --- Connection --- def connect(self) -> bool: """Connect to hardware. Returns True on success.""" ... def disconnect(self) -> None: """Disconnect from hardware.""" ... def is_connected(self) -> bool: """Check if connected.""" ...

I see! Done

paul-nechifor · 2026-02-28T03:44:31Z

dimos/hardware/drive_trains/spec.py

+
+
+@runtime_checkable
+class TwistBaseAdapter(HardwareAdapter, Protocol):


Also remove connect/disconnect/is_connected from here.

paul-nechifor · 2026-02-28T03:46:12Z

dimos/hardware/drive_trains/unitree_go2/adapter.py

+class _Session:
+    """Active connection state for a Go2."""
+
+    client: Any  # SportClient


Why Any instead of SportClient?

Because unitree sdk is an optional dependency.

but makes sense to be more explicit. Will update

paul-nechifor · 2026-02-28T03:52:37Z

dimos/hardware/drive_trains/unitree_go2/adapter.py

+                session.client.StandDown()
+                time.sleep(2)
+            except Exception as e:
+                logger.error(f"Error during disconnect: {e}")


I think you're missing:

if session.state_sub is not None: try: session.state_sub.Close() except Exception as e: logger.error(f"Error closing state subscriber: {e}")

…r override

… reported by the go2

… cleanup

…ubscriptiuoin fails

…onnected hardware

mustafab0 requested review from paul-nechifor and spomichter February 24, 2026 02:41

greptile-apps bot reviewed Feb 24, 2026

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mustafab0 force-pushed the feature/mustafa-go2-control-coordinator-adapter branch from 5ea0ca9 to f6ef415 Compare February 24, 2026 19:00

This was linked to issues Feb 24, 2026

Rule of three: if you have three duplicate things, it's best to generalize. You can add: #1354

Open

Write Go2 ControlCoordinator Adapter #1323

Open

mustafab0 changed the title ~~Feature/mustafa go2 control coordinator adapter~~ Feature: go2 control coordinator TwistBase adapter Feb 25, 2026

mustafab0 force-pushed the feature/mustafa-go2-control-coordinator-adapter branch from 92f071d to 344de19 Compare February 27, 2026 22:18

paul-nechifor reviewed Feb 28, 2026

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mustafab0 and others added 10 commits February 28, 2026 10:26

fixed mypy type ignore flags

411694c

fix mypy errors: portal import-untyped and adapter property override

7927e21

added echo cmd vel script back for testing will be deprecated

32ad366

go2 adapter for high level control

e92f3e4

added blueprint for keyboard teleop

aafdcfb

updated blueprint to have mujoco sim testing

185283d

updated toml and added readme for unitree sdk setup

22a2f8b

add HardwareAdapter base protocol to eliminate type: ignore on adapte…

7406ada

…r override

fix velocities being read from command cache to use actual velocities…

9fb918c

… reported by the go2

removed teleop declaration

bf62a07

mustafab0 and others added 9 commits February 28, 2026 10:27

refactor coordinator subscriptions into _subscribe_if with list-based…

bd3e6d5

… cleanup

removed subscription failure exception, now coordinator breaks when s…

3a1997e

…ubscriptiuoin fails

consolidated unitree setup into a single session to simplify checks c…

1dea590

…onnected hardware

renamed unitree go2 adapter to be explicitly a twist base adapter

1ef5414

updated readme to be a quickstart guide

4adf947

seperated dds requiremens from unitree group in toml

a336d95

deprecated cmd vel echo script

9f93f73

fix mypy errors

22aab0d

cleaned up specs and properly closed DDS subscriber

18f5e26

mustafab0 force-pushed the feature/mustafa-go2-control-coordinator-adapter branch from cb157ca to 18f5e26 Compare February 28, 2026 18:28

Nabla7 and others added 6 commits February 28, 2026 10:47

updated toml file and uv lock

c556971

CI code cleanup

06bb853

final commit

2dc5e30

mypy fix for In type parameter

b6c05de

Merge branch 'dev' into feature/mustafa-go2-control-coordinator-adapter

3e773e6

CI code cleanup

eed7d7b



		@runtime_checkable
		class TwistBaseAdapter(HardwareAdapter, Protocol):

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mustafab0 commented Feb 24, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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Problem

Solution

Breaking Changes

How to Test

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greptile-apps bot commented Feb 24, 2026

Greptile Summary

Confidence Score: 4/5

Important Files Changed

Sequence Diagram

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leshy commented Feb 26, 2026

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mustafab0 commented Feb 24, 2026 •

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