From f9a36ef772b0894d71a7792f747a97446837f543 Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Tue, 3 Mar 2026 11:32:45 -0800
Subject: [PATCH 01/19] coordinator addapter for g1 mobile base

---
 .../drive_trains/unitree_g1/__init__.py       |  19 +
 .../drive_trains/unitree_g1/adapter.py        | 369 ++++++++++++++++++
 2 files changed, 388 insertions(+)
 create mode 100644 dimos/hardware/drive_trains/unitree_g1/__init__.py
 create mode 100644 dimos/hardware/drive_trains/unitree_g1/adapter.py

diff --git a/dimos/hardware/drive_trains/unitree_g1/__init__.py b/dimos/hardware/drive_trains/unitree_g1/__init__.py
new file mode 100644
index 0000000000..34c3e7dba4
--- /dev/null
+++ b/dimos/hardware/drive_trains/unitree_g1/__init__.py
@@ -0,0 +1,19 @@
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Unitree G1 humanoid robot adapter."""
+
+from dimos.hardware.drive_trains.unitree_g1.adapter import UnitreeG1TwistAdapter
+
+__all__ = ["UnitreeG1TwistAdapter"]
diff --git a/dimos/hardware/drive_trains/unitree_g1/adapter.py b/dimos/hardware/drive_trains/unitree_g1/adapter.py
new file mode 100644
index 0000000000..7097703939
--- /dev/null
+++ b/dimos/hardware/drive_trains/unitree_g1/adapter.py
@@ -0,0 +1,369 @@
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Unitree G1 adapter — wraps Unitree SDK2 LocoClient for humanoid base control.
+
+The G1 is a humanoid robot with 3 DOF velocity control: [vx, vy, wz].
+This adapter uses the Unitree SDK2 Python bindings to communicate via DDS.
+
+G1 FSM states (discovered via testing):
+  FSM 0 = ZeroTorque
+  FSM 1 = Damp (robot collapses — NEVER call from adapter)
+  FSM 2 = Squat/Crouch
+  FSM 3 = Sit
+  FSM 4 = Lock Stand (rigid standing, no locomotion)
+  FSM 200 = Start (locomotion active, accepts Move commands)
+  FSM 702 = Lie2StandUp
+  FSM 706 = Squat2StandUp
+
+Initialization sequence:
+  1. ChannelFactoryInitialize(0, interface) - Initialize DDS
+  2. SetFsmId(4) - Lock stand (FSM 4)
+  3. Start() - Activate locomotion (FSM 200)
+  4. Move(vx, vy, vyaw) - Send velocity commands
+
+Shutdown: StopMove() only (robot stays standing).
+
+Note: Damp() and ZeroTorque() are NEVER called by the adapter — they
+cause the robot to collapse and should only be invoked by the user.
+"""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+import threading
+import time
+from typing import TYPE_CHECKING
+
+from dimos.utils.logging_config import setup_logger
+
+if TYPE_CHECKING:
+    from unitree_sdk2py.core.channel import ChannelSubscriber
+    from unitree_sdk2py.g1.loco.g1_loco_client import LocoClient
+    from unitree_sdk2py.idl.unitree_go.msg.dds_ import SportModeState_
+
+    from dimos.hardware.drive_trains.registry import TwistBaseAdapterRegistry
+
+logger = setup_logger()
+
+
+@dataclass
+class _Session:
+    """Active connection state for a G1."""
+
+    client: LocoClient
+    lock: threading.Lock
+    state_sub: ChannelSubscriber | None = None
+    latest_state: SportModeState_ | None = None
+    enabled: bool = False
+    locomotion_ready: bool = False
+
+
+class UnitreeG1TwistAdapter:
+    """TwistBaseAdapter implementation for Unitree G1 humanoid.
+
+    Communicates with G1 via Unitree SDK2 Python over DDS.
+    Expects 3 DOF: [vx, vy, wz] where:
+      - vx: forward/backward velocity (m/s)
+      - vy: left/right lateral velocity (m/s)
+      - wz: yaw rotation velocity (rad/s)
+
+    Args:
+        dof: Number of velocity DOFs (must be 3 for G1)
+        network_interface: DDS network interface ID or name (default: 0)
+    """
+
+    def __init__(
+        self,
+        dof: int = 3,
+        network_interface: int | str | None = None,
+        address: str | None = None,
+        **_: object,
+    ) -> None:
+        if dof != 3:
+            raise ValueError(f"G1 only supports 3 DOF (vx, vy, wz), got {dof}")
+
+        # Accept either network_interface= or address= (coordinator passes address=)
+        self._network_interface = network_interface or address or "eth0"
+        self._session: _Session | None = None
+
+    def _get_session(self) -> _Session:
+        """Return active session or raise if not connected."""
+        if self._session is None:
+            raise RuntimeError("G1 not connected")
+        return self._session
+
+    # =========================================================================
+    # Connection
+    # =========================================================================
+
+    def connect(self) -> bool:
+        """Connect to G1 via DDS and initialize the LocoClient."""
+        try:
+            from unitree_sdk2py.core.channel import ChannelFactoryInitialize, ChannelSubscriber
+            from unitree_sdk2py.g1.loco.g1_loco_client import LocoClient
+            from unitree_sdk2py.idl.unitree_go.msg.dds_ import SportModeState_
+
+            # Initialize DDS
+            logger.info(f"Initializing DDS with network interface {self._network_interface}...")
+            ChannelFactoryInitialize(0, self._network_interface)
+
+            # Create loco client
+            logger.info("Connecting to G1 LocoClient...")
+            client = LocoClient()
+            client.SetTimeout(10.0)
+            client.Init()
+
+            # Create session — callback closes over it for state updates
+            session = _Session(client=client, lock=threading.Lock())
+
+            def state_callback(msg: SportModeState_) -> None:
+                with session.lock:
+                    session.latest_state = msg
+
+            state_sub = ChannelSubscriber("rt/sportmodestate", SportModeState_)
+            state_sub.Init(state_callback, 10)
+            session.state_sub = state_sub
+
+            self._session = session
+            logger.info("Connected to G1")
+
+            # Stand up and activate locomotion
+            if not self._initialize_locomotion():
+                logger.error("Failed to initialize locomotion mode")
+                self.disconnect()
+                return False
+
+            return True
+
+        except Exception as e:
+            logger.error(f"Failed to connect to G1: {e}")
+            self._session = None
+            return False
+
+    def disconnect(self) -> None:
+        """Disconnect and safely shut down the robot.
+
+        Stops motion but keeps the robot standing (in locomotion mode).
+        Does NOT call Damp/ZeroTorque/Squat — the user should manage
+        those transitions manually.
+        """
+        session = self._session
+        if session is not None:
+            try:
+                logger.info("Stopping G1 motion...")
+                session.client.StopMove()
+                time.sleep(0.5)
+            except Exception as e:
+                logger.error(f"Error during disconnect: {e}")
+
+            if session.state_sub is not None:
+                try:
+                    session.state_sub.Close()
+                except Exception as e:
+                    logger.error(f"Error closing state subscriber: {e}")
+
+        self._session = None
+
+    def is_connected(self) -> bool:
+        """Check if connected to G1."""
+        return self._session is not None
+
+    # =========================================================================
+    # Info
+    # =========================================================================
+
+    def get_dof(self) -> int:
+        """G1 base is always 3 DOF (vx, vy, wz)."""
+        return 3
+
+    # =========================================================================
+    # State Reading
+    # =========================================================================
+
+    def read_velocities(self) -> list[float]:
+        """Read actual velocities from SportModeState as [vx, vy, wz]."""
+        session = self._get_session()
+        with session.lock:
+            if session.latest_state is None:
+                return [0.0, 0.0, 0.0]
+            try:
+                state = session.latest_state
+                return [
+                    float(state.velocity[0]),  # vx
+                    float(state.velocity[1]),  # vy
+                    float(state.imu_state.gyroscope[2]),  # wz (yaw rate)
+                ]
+            except Exception as e:
+                logger.warning(f"Error reading G1 velocities: {e}")
+                return [0.0, 0.0, 0.0]
+
+    def read_odometry(self) -> list[float] | None:
+        """Read odometry from G1 as [x, y, theta].
+
+        Returns position from SportModeState which provides:
+          - position[0]: x (meters)
+          - position[1]: y (meters)
+          - imu_state.rpy[2]: yaw (radians)
+        """
+        session = self._get_session()
+        with session.lock:
+            if session.latest_state is None:
+                return None
+
+            try:
+                state = session.latest_state
+                return [
+                    float(state.position[0]),
+                    float(state.position[1]),
+                    float(state.imu_state.rpy[2]),  # yaw
+                ]
+            except Exception as e:
+                logger.error(f"Error reading G1 odometry: {e}")
+                return None
+
+    # =========================================================================
+    # Control
+    # =========================================================================
+
+    def write_velocities(self, velocities: list[float]) -> bool:
+        """Send velocity command to G1.
+
+        Args:
+            velocities: [vx, vy, wz] in standard frame (m/s, m/s, rad/s)
+        """
+        if len(velocities) != 3:
+            return False
+
+        session = self._get_session()
+
+        if not session.enabled:
+            logger.warning("G1 not enabled, ignoring velocity command")
+            return False
+
+        if not session.locomotion_ready:
+            logger.warning("G1 locomotion not ready, ignoring velocity command")
+            return False
+
+        vx, vy, wz = velocities
+        return self._send_velocity(vx, vy, wz)
+
+    def write_stop(self) -> bool:
+        """Stop all motion."""
+        session = self._get_session()
+        try:
+            session.client.StopMove()
+            return True
+        except Exception as e:
+            logger.error(f"Error stopping G1: {e}")
+            return False
+
+    # =========================================================================
+    # Enable/Disable
+    # =========================================================================
+
+    def write_enable(self, enable: bool) -> bool:
+        """Enable/disable the platform.
+
+        When enabling, ensures the robot is stood up and locomotion is ready.
+        When disabling, stops motion but keeps standing.
+        """
+        session = self._get_session()
+
+        if enable:
+            if not session.locomotion_ready:
+                logger.info("Locomotion not ready, initializing...")
+                if not self._initialize_locomotion():
+                    logger.error("Failed to initialize locomotion")
+                    return False
+
+            session.enabled = True
+            logger.info("G1 enabled")
+            return True
+        else:
+            self.write_stop()
+            session.enabled = False
+            logger.info("G1 disabled")
+            return True
+
+    def read_enabled(self) -> bool:
+        """Check if platform is enabled."""
+        return self._session is not None and self._session.enabled
+
+    # =========================================================================
+    # Internal
+    # =========================================================================
+
+    def _initialize_locomotion(self) -> bool:
+        """Initialize locomotion mode.
+
+        G1-specific sequence (discovered via hardware testing):
+        1. SetFsmId(4) - Enter lock stand (FSM 4, rigid standing)
+        2. Start() - Activate locomotion (FSM 200)
+        3. Now Move() commands will work
+
+        Note: Damp() is intentionally NOT called here — it causes the
+        robot to collapse and should only be invoked by the user.
+
+        Returns:
+            True if successful, False otherwise
+        """
+        session = self._get_session()
+
+        try:
+            logger.info("Entering lock stand (FSM 4) on G1...")
+            session.client.SetFsmId(4)
+            time.sleep(2)  # Wait for lock stand to settle
+
+            logger.info("Starting G1 locomotion (FSM 200)...")
+            session.client.Start()
+            time.sleep(2)  # Wait for locomotion to activate
+
+            session.locomotion_ready = True
+            logger.info("G1 locomotion ready")
+            return True
+
+        except Exception as e:
+            logger.error(f"Error initializing locomotion: {e}")
+            return False
+
+    def _send_velocity(self, vx: float, vy: float, wz: float) -> bool:
+        """Send raw velocity to G1 via LocoClient.Move().
+
+        Uses default duration (1 second) since the coordinator tick loop
+        calls at 100Hz, providing continuous updates.
+
+        Args:
+            vx: forward/backward velocity (m/s)
+            vy: left/right lateral velocity (m/s)
+            wz: yaw rotation velocity (rad/s)
+        """
+        session = self._get_session()
+        try:
+            with session.lock:
+                session.client.Move(vx, vy, wz)
+
+            return True
+
+        except Exception as e:
+            logger.error(f"Error sending G1 velocity: {e}")
+            return False
+
+
+def register(registry: TwistBaseAdapterRegistry) -> None:
+    """Register this adapter with the registry."""
+    registry.register("unitree_g1", UnitreeG1TwistAdapter)
+
+
+__all__ = ["UnitreeG1TwistAdapter"]

From 070ae4547dfc8231937b20a610b7bac81a6c816e Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Tue, 3 Mar 2026 11:44:35 -0800
Subject: [PATCH 02/19] added control coordinator webrtc adapter for g1

---
 .../unitree_g1_webrtc/__init__.py             |   0
 .../drive_trains/unitree_g1_webrtc/adapter.py | 317 ++++++++++++++++++
 2 files changed, 317 insertions(+)
 create mode 100644 dimos/hardware/drive_trains/unitree_g1_webrtc/__init__.py
 create mode 100644 dimos/hardware/drive_trains/unitree_g1_webrtc/adapter.py

diff --git a/dimos/hardware/drive_trains/unitree_g1_webrtc/__init__.py b/dimos/hardware/drive_trains/unitree_g1_webrtc/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/dimos/hardware/drive_trains/unitree_g1_webrtc/adapter.py b/dimos/hardware/drive_trains/unitree_g1_webrtc/adapter.py
new file mode 100644
index 0000000000..0eaa77d522
--- /dev/null
+++ b/dimos/hardware/drive_trains/unitree_g1_webrtc/adapter.py
@@ -0,0 +1,317 @@
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Unitree G1 WebRTC adapter — wraps UnitreeWebRTCConnection for humanoid base control.
+
+The G1 is a humanoid robot with 3 DOF velocity control: [vx, vy, wz].
+This adapter uses WebRTC to communicate wirelessly with the robot,
+wrapping the existing UnitreeWebRTCConnection which handles all
+WebRTC protocol details (asyncio event loop, datachannel, RTC topics).
+
+Locomotion initialization is configurable via the ``locomotion_mode``
+parameter:
+  - ``"walk"`` (default): standup → G1 WalkMode (api_id 7101, data 500)
+  - ``"balance_stand"``: standup → BalanceStand (SPORT_CMD 1002)
+"""
+
+from __future__ import annotations
+
+import math
+import threading
+import time
+from typing import TYPE_CHECKING
+
+from unitree_webrtc_connect.constants import RTC_TOPIC, SPORT_CMD
+
+from dimos.utils.logging_config import setup_logger
+
+if TYPE_CHECKING:
+    from reactivex.disposable import Disposable
+
+    from dimos.hardware.drive_trains.registry import TwistBaseAdapterRegistry
+    from dimos.msgs.geometry_msgs import Pose
+    from dimos.robot.unitree.connection import UnitreeWebRTCConnection
+
+logger = setup_logger()
+
+# G1 locomotion modes (api_id 7101, topic "rt/api/sport/request")
+_G1_WALK_MODE = 500
+_G1_SPORT_API_ID = 7101
+_G1_SPORT_TOPIC = "rt/api/sport/request"
+
+
+class UnitreeG1WebRTCAdapter:
+    """TwistBaseAdapter implementation for Unitree G1 humanoid over WebRTC.
+
+    Communicates with G1 via WebRTC using the UnitreeWebRTCConnection driver.
+    Expects 3 DOF: [vx, vy, wz] where:
+      - vx: forward/backward velocity (m/s)
+      - vy: left/right lateral velocity (m/s)
+      - wz: yaw rotation velocity (rad/s)
+
+    Args:
+        dof: Number of velocity DOFs (must be 3 for G1)
+        ip: Robot IP address (default: "192.168.123.164")
+        address: Alias for ip (used by ControlCoordinator's HardwareComponent)
+        locomotion_mode: Locomotion activation mode — ``"walk"`` (default)
+            uses G1-specific WalkMode, ``"balance_stand"`` uses the
+            BalanceStand command.
+    """
+
+    def __init__(
+        self,
+        dof: int = 3,
+        ip: str | None = None,
+        address: str | None = None,
+        locomotion_mode: str = "walk",
+        **_: object,
+    ) -> None:
+        if dof != 3:
+            raise ValueError(f"G1 only supports 3 DOF (vx, vy, wz), got {dof}")
+
+        # Accept either ip= or address= (coordinator passes address=component.address)
+        self._ip = ip or address or "192.168.123.164"
+        self._locomotion_mode = locomotion_mode
+        self._conn: UnitreeWebRTCConnection | None = None
+        self._lock = threading.Lock()
+        self._enabled = False
+
+        # Last commanded velocities (WebRTC doesn't provide velocity feedback)
+        self._last_velocities = [0.0, 0.0, 0.0]
+
+        # Latest odometry from odom_stream subscription
+        self._latest_odom: list[float] | None = None
+        self._odom_disposable: Disposable | None = None
+
+    # =========================================================================
+    # Connection
+    # =========================================================================
+
+    def connect(self) -> bool:
+        """Connect to G1 over WebRTC."""
+        try:
+            from dimos.robot.unitree.connection import UnitreeWebRTCConnection
+
+            logger.info(f"Connecting to G1 via WebRTC at {self._ip}...")
+            conn = UnitreeWebRTCConnection(self._ip)
+
+            # Subscribe to odometry for read_odometry()
+            self._odom_disposable = conn.odom_stream().subscribe(
+                on_next=self._on_odom,
+                on_error=lambda e: logger.warning(f"Odom stream error: {e}"),
+            )
+
+            self._conn = conn
+            logger.info("Connected to G1 via WebRTC")
+            return True
+
+        except Exception as e:
+            logger.error(f"Failed to connect to G1 via WebRTC: {e}")
+            self._conn = None
+            return False
+
+    def disconnect(self) -> None:
+        """Disconnect and safely shut down."""
+        if self._odom_disposable is not None:
+            self._odom_disposable.dispose()
+            self._odom_disposable = None
+
+        conn = self._conn
+        if conn is not None:
+            try:
+                self._send_zero_velocity(conn)
+                time.sleep(0.3)
+                logger.info("Lying down G1 via WebRTC...")
+                conn.liedown()
+                time.sleep(2)
+            except Exception as e:
+                logger.error(f"Error during shutdown sequence: {e}")
+
+            try:
+                conn.disconnect()
+            except Exception as e:
+                logger.error(f"Error during WebRTC disconnect: {e}")
+
+        self._conn = None
+        self._enabled = False
+        with self._lock:
+            self._last_velocities = [0.0, 0.0, 0.0]
+            self._latest_odom = None
+
+    def is_connected(self) -> bool:
+        """Check if connected to G1."""
+        return self._conn is not None
+
+    # =========================================================================
+    # Info
+    # =========================================================================
+
+    def get_dof(self) -> int:
+        """G1 base is always 3 DOF (vx, vy, wz)."""
+        return 3
+
+    # =========================================================================
+    # State Reading
+    # =========================================================================
+
+    def read_velocities(self) -> list[float]:
+        """Return last commanded velocities (WebRTC doesn't provide velocity feedback)."""
+        with self._lock:
+            return self._last_velocities.copy()
+
+    def read_odometry(self) -> list[float] | None:
+        """Read odometry as [x, y, theta] from WebRTC odom stream."""
+        with self._lock:
+            if self._latest_odom is None:
+                return None
+            return self._latest_odom.copy()
+
+    # =========================================================================
+    # Control
+    # =========================================================================
+
+    def write_velocities(self, velocities: list[float]) -> bool:
+        """Send velocity command to G1 over WebRTC.
+
+        Args:
+            velocities: [vx, vy, wz] in standard frame (m/s, m/s, rad/s)
+        """
+        if len(velocities) != 3:
+            return False
+
+        conn = self._conn
+        if conn is None:
+            return False
+
+        if not self._enabled:
+            logger.warning("G1 WebRTC not enabled, ignoring velocity command")
+            return False
+
+        vx, vy, wz = velocities
+
+        with self._lock:
+            self._last_velocities = list(velocities)
+
+        return self._send_velocity(conn, vx, vy, wz)
+
+    def write_stop(self) -> bool:
+        """Stop all motion by sending zero velocity."""
+        with self._lock:
+            self._last_velocities = [0.0, 0.0, 0.0]
+
+        conn = self._conn
+        if conn is None:
+            return False
+
+        return self._send_zero_velocity(conn)
+
+    # =========================================================================
+    # Enable/Disable
+    # =========================================================================
+
+    def write_enable(self, enable: bool) -> bool:
+        """Enable/disable the platform.
+
+        When enabling, stands up and activates the configured locomotion mode.
+        When disabling, stops motion.
+        """
+        conn = self._conn
+        if conn is None:
+            return False
+
+        if enable:
+            try:
+                logger.info("Standing up G1 via WebRTC...")
+                conn.standup()
+                time.sleep(3)  # Wait for standup to complete
+
+                if self._locomotion_mode == "walk":
+                    logger.info("Activating G1 WalkMode locomotion...")
+                    conn.publish_request(
+                        _G1_SPORT_TOPIC,
+                        {"api_id": _G1_SPORT_API_ID, "parameter": {"data": _G1_WALK_MODE}},
+                    )
+                else:
+                    logger.info("Activating BalanceStand locomotion mode...")
+                    conn.publish_request(
+                        RTC_TOPIC["SPORT_MOD"],
+                        {"api_id": SPORT_CMD["BalanceStand"]},
+                    )
+                time.sleep(2)  # Wait for locomotion mode to activate
+
+                self._enabled = True
+                logger.info(f"G1 WebRTC enabled (locomotion_mode={self._locomotion_mode})")
+                return True
+            except Exception as e:
+                logger.error(f"Failed to enable G1 via WebRTC: {e}")
+                return False
+        else:
+            self.write_stop()
+            self._enabled = False
+            logger.info("G1 WebRTC disabled")
+            return True
+
+    def read_enabled(self) -> bool:
+        """Check if platform is enabled."""
+        return self._enabled
+
+    # =========================================================================
+    # Internal
+    # =========================================================================
+
+    def _on_odom(self, pose: Pose) -> None:
+        """Callback for odom_stream subscription. Extracts [x, y, yaw] from Pose."""
+        try:
+            x = float(pose.position.x)
+            y = float(pose.position.y)
+
+            # Convert quaternion to yaw
+            qx = float(pose.orientation.x)
+            qy = float(pose.orientation.y)
+            qz = float(pose.orientation.z)
+            qw = float(pose.orientation.w)
+            yaw = math.atan2(2.0 * (qw * qz + qx * qy), 1.0 - 2.0 * (qy * qy + qz * qz))
+
+            with self._lock:
+                self._latest_odom = [x, y, yaw]
+        except Exception as e:
+            logger.warning(f"Error processing odom message: {e}")
+
+    def _send_velocity(
+        self, conn: UnitreeWebRTCConnection, vx: float, vy: float, wz: float
+    ) -> bool:
+        """Send velocity to G1 via WebRTC move() command."""
+        from dimos.msgs.geometry_msgs import Twist, Vector3
+
+        try:
+            twist = Twist(
+                linear=Vector3(x=vx, y=vy, z=0.0),
+                angular=Vector3(x=0.0, y=0.0, z=wz),
+            )
+            return conn.move(twist)
+        except Exception as e:
+            logger.error(f"Error sending G1 WebRTC velocity: {e}")
+            return False
+
+    def _send_zero_velocity(self, conn: UnitreeWebRTCConnection) -> bool:
+        """Send zero velocity to stop the robot."""
+        return self._send_velocity(conn, 0.0, 0.0, 0.0)
+
+
+def register(registry: TwistBaseAdapterRegistry) -> None:
+    """Register this adapter with the registry."""
+    registry.register("unitree_g1_webrtc", UnitreeG1WebRTCAdapter)
+
+
+__all__ = ["UnitreeG1WebRTCAdapter"]

From 410a02570e4f27cb84b0167360d7d930c109b480 Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Tue, 3 Mar 2026 16:39:14 -0800
Subject: [PATCH 03/19] seperated standup and walk ready sequence for better
 bring up experience

---
 .../drive_trains/unitree_g1/adapter.py        | 91 +++++++++++++------
 .../drive_trains/unitree_g1_webrtc/adapter.py | 50 +++++-----
 2 files changed, 85 insertions(+), 56 deletions(-)

diff --git a/dimos/hardware/drive_trains/unitree_g1/adapter.py b/dimos/hardware/drive_trains/unitree_g1/adapter.py
index 7097703939..25f7b01385 100644
--- a/dimos/hardware/drive_trains/unitree_g1/adapter.py
+++ b/dimos/hardware/drive_trains/unitree_g1/adapter.py
@@ -139,9 +139,24 @@ def state_callback(msg: SportModeState_) -> None:
             self._session = session
             logger.info("Connected to G1")
 
-            # Stand up and activate locomotion
-            if not self._initialize_locomotion():
-                logger.error("Failed to initialize locomotion mode")
+            # Check if robot is freshly booted (FSM 0) — needs manual damp first
+            fsm = self._get_fsm_id()
+            if fsm == 0:
+                logger.warning(
+                    "G1 is in FSM 0 (fresh boot). "
+                    "Please put the robot in DAMP mode manually, then retry. "
+                    "Waiting 10s for damp..."
+                )
+                if not self._wait_for_fsm(1, timeout=30, settle=2):
+                    logger.error("G1 did not enter damp mode (FSM 1). Cannot proceed.")
+                    self.disconnect()
+                    return False
+
+            # Enter lock stand (FSM 4) so the robot is standing and ready
+            logger.info("Entering lock stand (FSM 4) on G1...")
+            session.client.SetFsmId(4)
+            if not self._wait_for_fsm(4):
+                logger.error("G1 failed to reach lock stand (FSM 4)")
                 self.disconnect()
                 return False
 
@@ -283,10 +298,12 @@ def write_enable(self, enable: bool) -> bool:
 
         if enable:
             if not session.locomotion_ready:
-                logger.info("Locomotion not ready, initializing...")
-                if not self._initialize_locomotion():
-                    logger.error("Failed to initialize locomotion")
+                logger.info("Starting G1 locomotion (FSM 200)...")
+                session.client.Start()
+                if not self._wait_for_fsm(200):
+                    logger.error("G1 failed to reach locomotion mode (FSM 200)")
                     return False
+                session.locomotion_ready = True
 
             session.enabled = True
             logger.info("G1 enabled")
@@ -305,38 +322,52 @@ def read_enabled(self) -> bool:
     # Internal
     # =========================================================================
 
-    def _initialize_locomotion(self) -> bool:
-        """Initialize locomotion mode.
+    def _get_fsm_id(self) -> int | None:
+        """Query the current FSM ID from the robot. Returns None on failure."""
+        from unitree_sdk2py.g1.loco.g1_loco_api import ROBOT_API_ID_LOCO_GET_FSM_ID
+
+        session = self._get_session()
+        try:
+            code, data = session.client._Call(ROBOT_API_ID_LOCO_GET_FSM_ID, "{}")
+            if code == 0 and data:
+                # data is like '{"data":4}' — extract the number
+                for token in str(data).split(":"):
+                    token = token.strip().rstrip("}")
+                    if token.lstrip("-").isdigit():
+                        return int(token)
+        except Exception as e:
+            logger.warning(f"Error querying FSM state: {e}")
+        return None
 
-        G1-specific sequence (discovered via hardware testing):
-        1. SetFsmId(4) - Enter lock stand (FSM 4, rigid standing)
-        2. Start() - Activate locomotion (FSM 200)
-        3. Now Move() commands will work
+    def _wait_for_fsm(self, target_fsm: int, timeout: float = 10.0, settle: float = 5.0) -> bool:
+        """Poll GetFsmId until the robot reports the target FSM state.
 
-        Note: Damp() is intentionally NOT called here — it causes the
-        robot to collapse and should only be invoked by the user.
+        Args:
+            target_fsm: Expected FSM ID (e.g. 4 for lock stand, 200 for locomotion).
+            timeout: Maximum seconds to wait before giving up.
+            settle: Seconds to wait after reaching target state, letting the robot settle.
 
         Returns:
-            True if successful, False otherwise
+            True if the target state was reached, False on timeout.
         """
-        session = self._get_session()
+        from unitree_sdk2py.g1.loco.g1_loco_api import ROBOT_API_ID_LOCO_GET_FSM_ID
 
-        try:
-            logger.info("Entering lock stand (FSM 4) on G1...")
-            session.client.SetFsmId(4)
-            time.sleep(2)  # Wait for lock stand to settle
-
-            logger.info("Starting G1 locomotion (FSM 200)...")
-            session.client.Start()
-            time.sleep(2)  # Wait for locomotion to activate
+        session = self._get_session()
+        deadline = time.time() + timeout
 
-            session.locomotion_ready = True
-            logger.info("G1 locomotion ready")
-            return True
+        while time.time() < deadline:
+            try:
+                code, data = session.client._Call(ROBOT_API_ID_LOCO_GET_FSM_ID, "{}")
+                if code == 0 and str(target_fsm) in str(data):
+                    logger.info(f"G1 reached FSM {target_fsm}, settling for {settle}s...")
+                    time.sleep(settle)
+                    return True
+            except Exception as e:
+                logger.warning(f"Error polling FSM state: {e}")
+            time.sleep(1)
 
-        except Exception as e:
-            logger.error(f"Error initializing locomotion: {e}")
-            return False
+        logger.error(f"Timed out waiting for G1 FSM {target_fsm}")
+        return False
 
     def _send_velocity(self, vx: float, vy: float, wz: float) -> bool:
         """Send raw velocity to G1 via LocoClient.Move().
diff --git a/dimos/hardware/drive_trains/unitree_g1_webrtc/adapter.py b/dimos/hardware/drive_trains/unitree_g1_webrtc/adapter.py
index 0eaa77d522..e95327cf91 100644
--- a/dimos/hardware/drive_trains/unitree_g1_webrtc/adapter.py
+++ b/dimos/hardware/drive_trains/unitree_g1_webrtc/adapter.py
@@ -32,8 +32,6 @@
 import time
 from typing import TYPE_CHECKING
 
-from unitree_webrtc_connect.constants import RTC_TOPIC, SPORT_CMD
-
 from dimos.utils.logging_config import setup_logger
 
 if TYPE_CHECKING:
@@ -45,13 +43,14 @@
 
 logger = setup_logger()
 
-# G1 locomotion modes (api_id 7101, topic "rt/api/sport/request")
-_G1_WALK_MODE = 500
-_G1_SPORT_API_ID = 7101
+# G1 LocoClient API IDs and FSM states
+_G1_SET_FSM_ID = 7101  # SetFsmId — also used for walk mode with data=500
 _G1_SPORT_TOPIC = "rt/api/sport/request"
+_FSM_LOCK_STAND = 4
+_FSM_LOCOMOTION = 200
 
 
-class UnitreeG1WebRTCAdapter:
+class UnitreeG1WebRTCTwistAdapter:
     """TwistBaseAdapter implementation for Unitree G1 humanoid over WebRTC.
 
     Communicates with G1 via WebRTC using the UnitreeWebRTCConnection driver.
@@ -114,6 +113,16 @@ def connect(self) -> bool:
 
             self._conn = conn
             logger.info("Connected to G1 via WebRTC")
+
+            # Enter lock stand (FSM 4) so the robot is standing and ready
+            logger.info("G1 WebRTC: entering lock stand (FSM 4)...")
+            conn.publish_request(
+                _G1_SPORT_TOPIC,
+                {"api_id": _G1_SET_FSM_ID, "parameter": {"data": _FSM_LOCK_STAND}},
+            )
+            time.sleep(10)  # Wait for robot to finish standing
+            logger.info("G1 WebRTC: lock stand ready")
+
             return True
 
         except Exception as e:
@@ -232,26 +241,15 @@ def write_enable(self, enable: bool) -> bool:
 
         if enable:
             try:
-                logger.info("Standing up G1 via WebRTC...")
-                conn.standup()
-                time.sleep(3)  # Wait for standup to complete
-
-                if self._locomotion_mode == "walk":
-                    logger.info("Activating G1 WalkMode locomotion...")
-                    conn.publish_request(
-                        _G1_SPORT_TOPIC,
-                        {"api_id": _G1_SPORT_API_ID, "parameter": {"data": _G1_WALK_MODE}},
-                    )
-                else:
-                    logger.info("Activating BalanceStand locomotion mode...")
-                    conn.publish_request(
-                        RTC_TOPIC["SPORT_MOD"],
-                        {"api_id": SPORT_CMD["BalanceStand"]},
-                    )
-                time.sleep(2)  # Wait for locomotion mode to activate
+                logger.info("G1 WebRTC: starting locomotion (FSM 200)...")
+                conn.publish_request(
+                    _G1_SPORT_TOPIC,
+                    {"api_id": _G1_SET_FSM_ID, "parameter": {"data": _FSM_LOCOMOTION}},
+                )
+                time.sleep(3)  # Wait for locomotion to activate
 
                 self._enabled = True
-                logger.info(f"G1 WebRTC enabled (locomotion_mode={self._locomotion_mode})")
+                logger.info("G1 WebRTC: locomotion ready")
                 return True
             except Exception as e:
                 logger.error(f"Failed to enable G1 via WebRTC: {e}")
@@ -311,7 +309,7 @@ def _send_zero_velocity(self, conn: UnitreeWebRTCConnection) -> bool:
 
 def register(registry: TwistBaseAdapterRegistry) -> None:
     """Register this adapter with the registry."""
-    registry.register("unitree_g1_webrtc", UnitreeG1WebRTCAdapter)
+    registry.register("unitree_g1_webrtc", UnitreeG1WebRTCTwistAdapter)
 
 
-__all__ = ["UnitreeG1WebRTCAdapter"]
+__all__ = ["UnitreeG1WebRTCTwistAdapter"]

From 656d41ee5c208a76ff75987b0843214a7b27e6a2 Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Tue, 3 Mar 2026 16:42:24 -0800
Subject: [PATCH 04/19] control cooridnator blueprints added for dds and webrtc
 clients

---
 dimos/robot/all_blueprints.py                 |  2 +
 dimos/robot/unitree/g1/blueprints/__init__.py |  2 +
 .../basic/unitree_g1_dds_coordinator.py       | 64 +++++++++++++++++++
 .../basic/unitree_g1_webrtc_coordinator.py    | 64 +++++++++++++++++++
 4 files changed, 132 insertions(+)
 create mode 100644 dimos/robot/unitree/g1/blueprints/basic/unitree_g1_dds_coordinator.py
 create mode 100644 dimos/robot/unitree/g1/blueprints/basic/unitree_g1_webrtc_coordinator.py

diff --git a/dimos/robot/all_blueprints.py b/dimos/robot/all_blueprints.py
index 6026572388..5dbacd9ea4 100644
--- a/dimos/robot/all_blueprints.py
+++ b/dimos/robot/all_blueprints.py
@@ -65,11 +65,13 @@
     "unitree-g1-agentic-sim": "dimos.robot.unitree.g1.blueprints.agentic.unitree_g1_agentic_sim:unitree_g1_agentic_sim",
     "unitree-g1-basic": "dimos.robot.unitree.g1.blueprints.basic.unitree_g1_basic:unitree_g1_basic",
     "unitree-g1-basic-sim": "dimos.robot.unitree.g1.blueprints.basic.unitree_g1_basic_sim:unitree_g1_basic_sim",
+    "unitree-g1-dds-coordinator": "dimos.robot.unitree.g1.blueprints.basic.unitree_g1_dds_coordinator:unitree_g1_dds_coordinator",
     "unitree-g1-detection": "dimos.robot.unitree.g1.blueprints.perceptive.unitree_g1_detection:unitree_g1_detection",
     "unitree-g1-full": "dimos.robot.unitree.g1.blueprints.agentic.unitree_g1_full:unitree_g1_full",
     "unitree-g1-joystick": "dimos.robot.unitree.g1.blueprints.basic.unitree_g1_joystick:unitree_g1_joystick",
     "unitree-g1-shm": "dimos.robot.unitree.g1.blueprints.perceptive.unitree_g1_shm:unitree_g1_shm",
     "unitree-g1-sim": "dimos.robot.unitree.g1.blueprints.perceptive.unitree_g1_sim:unitree_g1_sim",
+    "unitree-g1-webrtc-coordinator": "dimos.robot.unitree.g1.blueprints.basic.unitree_g1_webrtc_coordinator:unitree_g1_webrtc_coordinator",
     "unitree-go2": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2:unitree_go2",
     "unitree-go2-agentic": "dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_agentic:unitree_go2_agentic",
     "unitree-go2-agentic-huggingface": "dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_agentic_huggingface:unitree_go2_agentic_huggingface",
diff --git a/dimos/robot/unitree/g1/blueprints/__init__.py b/dimos/robot/unitree/g1/blueprints/__init__.py
index ebc18da8d3..5b78af1978 100644
--- a/dimos/robot/unitree/g1/blueprints/__init__.py
+++ b/dimos/robot/unitree/g1/blueprints/__init__.py
@@ -26,7 +26,9 @@
         "agentic.unitree_g1_full": ["unitree_g1_full"],
         "basic.unitree_g1_basic": ["unitree_g1_basic"],
         "basic.unitree_g1_basic_sim": ["unitree_g1_basic_sim"],
+        "basic.unitree_g1_dds_coordinator": ["unitree_g1_dds_coordinator"],
         "basic.unitree_g1_joystick": ["unitree_g1_joystick"],
+        "basic.unitree_g1_webrtc_coordinator": ["unitree_g1_webrtc_coordinator"],
         "perceptive._perception_and_memory": ["_perception_and_memory"],
         "perceptive.unitree_g1": ["unitree_g1"],
         "perceptive.unitree_g1_detection": ["unitree_g1_detection"],
diff --git a/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_dds_coordinator.py b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_dds_coordinator.py
new file mode 100644
index 0000000000..17eddb4171
--- /dev/null
+++ b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_dds_coordinator.py
@@ -0,0 +1,64 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Unitree G1 ControlCoordinator over DDS (LAN ethernet).
+
+Twist → coordinator twist_command → UnitreeG1TwistAdapter (DDS).
+
+Uses Unitree SDK2 DDS for wired ethernet control of the G1 humanoid robot.
+
+Usage:
+    dimos run unitree-g1-dds-coordinator
+    ROBOT_INTERFACE=enp60s0 dimos run unitree-g1-dds-coordinator
+"""
+
+from __future__ import annotations
+
+import os
+
+from dimos.control.components import HardwareComponent, HardwareType, make_twist_base_joints
+from dimos.control.coordinator import TaskConfig, control_coordinator
+from dimos.core.transport import LCMTransport
+from dimos.msgs.geometry_msgs import Twist
+from dimos.msgs.sensor_msgs import JointState
+
+_g1_joints = make_twist_base_joints("g1")
+
+unitree_g1_dds_coordinator = control_coordinator(
+    hardware=[
+        HardwareComponent(
+            hardware_id="g1",
+            hardware_type=HardwareType.BASE,
+            joints=_g1_joints,
+            adapter_type="unitree_g1",
+            address=os.getenv("ROBOT_INTERFACE", "enp86s0"),
+        ),
+    ],
+    tasks=[
+        TaskConfig(
+            name="vel_g1",
+            type="velocity",
+            joint_names=_g1_joints,
+            priority=10,
+        ),
+    ],
+).transports(
+    {
+        ("joint_state", JointState): LCMTransport("/coordinator/joint_state", JointState),
+        ("twist_command", Twist): LCMTransport("/cmd_vel", Twist),
+    }
+)
+
+__all__ = ["unitree_g1_dds_coordinator"]
diff --git a/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_webrtc_coordinator.py b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_webrtc_coordinator.py
new file mode 100644
index 0000000000..c414ed552c
--- /dev/null
+++ b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_webrtc_coordinator.py
@@ -0,0 +1,64 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Unitree G1 ControlCoordinator over WebRTC.
+
+Twist → coordinator twist_command → UnitreeG1WebRTCTwistAdapter.
+
+Uses WebRTC for wireless control of the G1 humanoid robot.
+
+Usage:
+    dimos run unitree-g1-webrtc-coordinator
+    ROBOT_IP=192.168.123.164 dimos run unitree-g1-webrtc-coordinator
+"""
+
+from __future__ import annotations
+
+import os
+
+from dimos.control.components import HardwareComponent, HardwareType, make_twist_base_joints
+from dimos.control.coordinator import TaskConfig, control_coordinator
+from dimos.core.transport import LCMTransport
+from dimos.msgs.geometry_msgs import Twist
+from dimos.msgs.sensor_msgs import JointState
+
+_g1_joints = make_twist_base_joints("g1")
+
+unitree_g1_webrtc_coordinator = control_coordinator(
+    hardware=[
+        HardwareComponent(
+            hardware_id="g1",
+            hardware_type=HardwareType.BASE,
+            joints=_g1_joints,
+            adapter_type="unitree_g1_webrtc",
+            address=os.getenv("ROBOT_IP", "192.168.123.164"),
+        ),
+    ],
+    tasks=[
+        TaskConfig(
+            name="vel_g1",
+            type="velocity",
+            joint_names=_g1_joints,
+            priority=10,
+        ),
+    ],
+).transports(
+    {
+        ("joint_state", JointState): LCMTransport("/coordinator/joint_state", JointState),
+        ("twist_command", Twist): LCMTransport("/cmd_vel", Twist),
+    }
+)
+
+__all__ = ["unitree_g1_webrtc_coordinator"]

From 6d265961503646aa9d66601df666c970399fb124 Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Tue, 3 Mar 2026 16:42:39 -0800
Subject: [PATCH 05/19] updated pyrpoject.toml and uv.lock

---
 pyproject.toml |  5 ++++-
 uv.lock        | 17 +++++++++++++++++
 2 files changed, 21 insertions(+), 1 deletion(-)

diff --git a/pyproject.toml b/pyproject.toml
index cb4607ced5..08341885ba 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -165,7 +165,8 @@ perception = [
 
 unitree = [
     "dimos[base]",
-    "unitree-webrtc-connect-leshy>=2.0.7"
+    "unitree-webrtc-connect-leshy>=2.0.7",
+    "unitree-sdk2py-dimos>=1.0.3",
 ]
 
 manipulation = [
@@ -409,6 +410,8 @@ concurrency = ["multiprocessing", "thread"]
 show_missing = true
 skip_empty = true
 
+[tool.uv.sources]
+
 [tool.largefiles]
 max_size_kb = 50
 ignore = [
diff --git a/uv.lock b/uv.lock
index 2f53ef0e6f..9a917cf970 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1955,6 +1955,7 @@ unitree = [
     { name = "sse-starlette" },
     { name = "transformers", extra = ["torch"] },
     { name = "ultralytics" },
+    { name = "unitree-sdk2py-dimos" },
     { name = "unitree-webrtc-connect-leshy" },
     { name = "uvicorn" },
 ]
@@ -2119,6 +2120,7 @@ requires-dist = [
     { name = "types-tensorflow", marker = "extra == 'dev'", specifier = ">=2.18.0.20251008,<3" },
     { name = "types-tqdm", marker = "extra == 'dev'", specifier = ">=4.67.0.20250809,<5" },
     { name = "ultralytics", marker = "extra == 'perception'", specifier = ">=8.3.70" },
+    { name = "unitree-sdk2py-dimos", marker = "extra == 'unitree'", specifier = ">=1.0.3" },
     { name = "unitree-webrtc-connect-leshy", marker = "extra == 'unitree'", specifier = ">=2.0.7" },
     { name = "uvicorn", marker = "extra == 'web'", specifier = ">=0.34.0" },
     { name = "watchdog", marker = "extra == 'dev'", specifier = ">=3.0.0" },
@@ -10105,6 +10107,21 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/7f/c7/fb42228bb05473d248c110218ffb8b1ad2f76728ed8699856e5af21112ad/ultralytics_thop-2.0.18-py3-none-any.whl", hash = "sha256:2bb44851ad224b116c3995b02dd5e474a5ccf00acf237fe0edb9e1506ede04ec", size = 28941, upload-time = "2025-10-29T16:58:12.093Z" },
 ]
 
+[[package]]
+name = "unitree-sdk2py-dimos"
+version = "1.0.3"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "cyclonedds" },
+    { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
+    { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
+    { name = "opencv-python" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/93/d2/8c927709a432e6003a7ffdb434c2a3570c1b4ed97c9a0b7b85313e32f6bb/unitree_sdk2py_dimos-1.0.3.tar.gz", hash = "sha256:d0076b9501849a8f144dd076ffb3894c5c804c87cdad7521095c2bc893049438", size = 48758, upload-time = "2026-03-03T21:19:32.8Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/39/69/76b879edbf5eab1cb200bf818b87a5943effe441722429ab940ea38a6887/unitree_sdk2py_dimos-1.0.3-py3-none-any.whl", hash = "sha256:8057cad5de5877757bc586b2ba5ddbe84522ce4c8c3d624464ef975cafa5daec", size = 110245, upload-time = "2026-03-03T21:19:31.692Z" },
+]
+
 [[package]]
 name = "unitree-webrtc-connect-leshy"
 version = "2.0.7"

From 15c93c2d586c2233bc03b136ec64b3b52bd29c8d Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Tue, 3 Mar 2026 16:58:19 -0800
Subject: [PATCH 06/19] tuning delay for locked standing

---
 dimos/hardware/drive_trains/unitree_g1_webrtc/adapter.py      | 4 ++--
 .../g1/blueprints/basic/unitree_g1_webrtc_coordinator.py      | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/dimos/hardware/drive_trains/unitree_g1_webrtc/adapter.py b/dimos/hardware/drive_trains/unitree_g1_webrtc/adapter.py
index e95327cf91..7b0206cd0b 100644
--- a/dimos/hardware/drive_trains/unitree_g1_webrtc/adapter.py
+++ b/dimos/hardware/drive_trains/unitree_g1_webrtc/adapter.py
@@ -120,7 +120,7 @@ def connect(self) -> bool:
                 _G1_SPORT_TOPIC,
                 {"api_id": _G1_SET_FSM_ID, "parameter": {"data": _FSM_LOCK_STAND}},
             )
-            time.sleep(10)  # Wait for robot to finish standing
+            time.sleep(6)  # Wait for robot to finish standing
             logger.info("G1 WebRTC: lock stand ready")
 
             return True
@@ -141,7 +141,7 @@ def disconnect(self) -> None:
             try:
                 self._send_zero_velocity(conn)
                 time.sleep(0.3)
-                logger.info("Lying down G1 via WebRTC...")
+                logger.info("Stopping the G1 via WebRTC...")
                 conn.liedown()
                 time.sleep(2)
             except Exception as e:
diff --git a/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_webrtc_coordinator.py b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_webrtc_coordinator.py
index c414ed552c..259e5ddaf8 100644
--- a/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_webrtc_coordinator.py
+++ b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_webrtc_coordinator.py
@@ -43,7 +43,7 @@
             hardware_type=HardwareType.BASE,
             joints=_g1_joints,
             adapter_type="unitree_g1_webrtc",
-            address=os.getenv("ROBOT_IP", "192.168.123.164"),
+            address=os.getenv("ROBOT_IP"),
         ),
     ],
     tasks=[

From 5491bf79954c6457811a2abfa5ac4b3df25cf6af Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Tue, 3 Mar 2026 17:28:19 -0800
Subject: [PATCH 07/19] updated test file to ignore unitree-dds package

---
 .github/workflows/tests.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index da50491f54..3744e86cb6 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -37,7 +37,7 @@ jobs:
           git config --global --add safe.directory '*'
 
       - name: Install Python dependencies
-        run: uv sync --all-extras --no-extra dds --frozen
+        run: uv sync --all-extras --no-extra dds --no-extra unitree --frozen
 
       - name: Remove pydrake stubs
         run: |

From 1a83e7f6dbc4bebd3a2d8f2406fb54153bb60a4e Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Tue, 3 Mar 2026 17:48:35 -0800
Subject: [PATCH 08/19] added json parsing for FSM mode and added comment
 explaining need for using private _call method

---
 .../drive_trains/unitree_g1/adapter.py        | 28 ++++++++-----------
 .../drive_trains/unitree_g1_webrtc/adapter.py |  4 +--
 2 files changed, 13 insertions(+), 19 deletions(-)

diff --git a/dimos/hardware/drive_trains/unitree_g1/adapter.py b/dimos/hardware/drive_trains/unitree_g1/adapter.py
index 25f7b01385..aa6dc590ed 100644
--- a/dimos/hardware/drive_trains/unitree_g1/adapter.py
+++ b/dimos/hardware/drive_trains/unitree_g1/adapter.py
@@ -324,17 +324,19 @@ def read_enabled(self) -> bool:
 
     def _get_fsm_id(self) -> int | None:
         """Query the current FSM ID from the robot. Returns None on failure."""
+        import json
+
         from unitree_sdk2py.g1.loco.g1_loco_api import ROBOT_API_ID_LOCO_GET_FSM_ID
 
         session = self._get_session()
         try:
+            # LocoClient has no public GetFsmId() — _Call is the standard RPC
+            # dispatch used by all SDK methods (SetFsmId, Move, etc.).
             code, data = session.client._Call(ROBOT_API_ID_LOCO_GET_FSM_ID, "{}")
             if code == 0 and data:
-                # data is like '{"data":4}' — extract the number
-                for token in str(data).split(":"):
-                    token = token.strip().rstrip("}")
-                    if token.lstrip("-").isdigit():
-                        return int(token)
+                # data is like '{"data":4}' — parse as JSON for exact match
+                parsed = json.loads(str(data))
+                return int(parsed["data"])
         except Exception as e:
             logger.warning(f"Error querying FSM state: {e}")
         return None
@@ -350,20 +352,14 @@ def _wait_for_fsm(self, target_fsm: int, timeout: float = 10.0, settle: float =
         Returns:
             True if the target state was reached, False on timeout.
         """
-        from unitree_sdk2py.g1.loco.g1_loco_api import ROBOT_API_ID_LOCO_GET_FSM_ID
-
-        session = self._get_session()
         deadline = time.time() + timeout
 
         while time.time() < deadline:
-            try:
-                code, data = session.client._Call(ROBOT_API_ID_LOCO_GET_FSM_ID, "{}")
-                if code == 0 and str(target_fsm) in str(data):
-                    logger.info(f"G1 reached FSM {target_fsm}, settling for {settle}s...")
-                    time.sleep(settle)
-                    return True
-            except Exception as e:
-                logger.warning(f"Error polling FSM state: {e}")
+            fsm = self._get_fsm_id()
+            if fsm == target_fsm:
+                logger.info(f"G1 reached FSM {target_fsm}, settling for {settle}s...")
+                time.sleep(settle)
+                return True
             time.sleep(1)
 
         logger.error(f"Timed out waiting for G1 FSM {target_fsm}")
diff --git a/dimos/hardware/drive_trains/unitree_g1_webrtc/adapter.py b/dimos/hardware/drive_trains/unitree_g1_webrtc/adapter.py
index 7b0206cd0b..f95f05bc98 100644
--- a/dimos/hardware/drive_trains/unitree_g1_webrtc/adapter.py
+++ b/dimos/hardware/drive_trains/unitree_g1_webrtc/adapter.py
@@ -141,9 +141,7 @@ def disconnect(self) -> None:
             try:
                 self._send_zero_velocity(conn)
                 time.sleep(0.3)
-                logger.info("Stopping the G1 via WebRTC...")
-                conn.liedown()
-                time.sleep(2)
+                logger.info("Disconnecting G1 via WebRTC...")
             except Exception as e:
                 logger.error(f"Error during shutdown sequence: {e}")
 

From b5e53f4023967bf74a5cf405ed6b470c3ecbce5d Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Tue, 3 Mar 2026 17:50:45 -0800
Subject: [PATCH 09/19] dix disposablebase import

---
 dimos/hardware/drive_trains/unitree_g1_webrtc/adapter.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/dimos/hardware/drive_trains/unitree_g1_webrtc/adapter.py b/dimos/hardware/drive_trains/unitree_g1_webrtc/adapter.py
index f95f05bc98..5c39e4eefe 100644
--- a/dimos/hardware/drive_trains/unitree_g1_webrtc/adapter.py
+++ b/dimos/hardware/drive_trains/unitree_g1_webrtc/adapter.py
@@ -35,7 +35,7 @@
 from dimos.utils.logging_config import setup_logger
 
 if TYPE_CHECKING:
-    from reactivex.disposable import Disposable
+    from reactivex.abc import DisposableBase
 
     from dimos.hardware.drive_trains.registry import TwistBaseAdapterRegistry
     from dimos.msgs.geometry_msgs import Pose
@@ -91,7 +91,7 @@ def __init__(
 
         # Latest odometry from odom_stream subscription
         self._latest_odom: list[float] | None = None
-        self._odom_disposable: Disposable | None = None
+        self._odom_disposable: DisposableBase | None = None
 
     # =========================================================================
     # Connection

From 6fc43f325f52fca1ed9f560399bce2c770297789 Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Tue, 3 Mar 2026 18:02:03 -0800
Subject: [PATCH 10/19] updated toml and uv lock

---
 pyproject.toml |  7 ++++++-
 uv.lock        | 40 ++++++++++++++++++++++++++++++++++++++--
 2 files changed, 44 insertions(+), 3 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 08341885ba..3e8a3c0fbc 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -166,7 +166,12 @@ perception = [
 unitree = [
     "dimos[base]",
     "unitree-webrtc-connect-leshy>=2.0.7",
-    "unitree-sdk2py-dimos>=1.0.3",
+]
+
+unitree-dds = [
+    "dimos[unitree]",
+    "unitree-sdk2py-dimos>=1.0.1",
+    "cyclonedds>=0.10.5",
 ]
 
 manipulation = [
diff --git a/uv.lock b/uv.lock
index 9a917cf970..75ea36a963 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1955,6 +1955,40 @@ unitree = [
     { name = "sse-starlette" },
     { name = "transformers", extra = ["torch"] },
     { name = "ultralytics" },
+    { name = "unitree-webrtc-connect-leshy" },
+    { name = "uvicorn" },
+]
+unitree-dds = [
+    { name = "anthropic" },
+    { name = "bitsandbytes", marker = "sys_platform == 'linux'" },
+    { name = "cyclonedds" },
+    { name = "fastapi" },
+    { name = "ffmpeg-python" },
+    { name = "filterpy" },
+    { name = "hydra-core" },
+    { name = "langchain" },
+    { name = "langchain-chroma" },
+    { name = "langchain-core" },
+    { name = "langchain-huggingface" },
+    { name = "langchain-ollama" },
+    { name = "langchain-openai" },
+    { name = "langchain-text-splitters" },
+    { name = "lap" },
+    { name = "moondream" },
+    { name = "mujoco" },
+    { name = "ollama" },
+    { name = "omegaconf" },
+    { name = "openai" },
+    { name = "openai-whisper" },
+    { name = "pillow" },
+    { name = "playground" },
+    { name = "pygame" },
+    { name = "rerun-sdk" },
+    { name = "sounddevice" },
+    { name = "soundfile" },
+    { name = "sse-starlette" },
+    { name = "transformers", extra = ["torch"] },
+    { name = "ultralytics" },
     { name = "unitree-sdk2py-dimos" },
     { name = "unitree-webrtc-connect-leshy" },
     { name = "uvicorn" },
@@ -1983,9 +2017,11 @@ requires-dist = [
     { name = "ctransformers", extras = ["cuda"], marker = "extra == 'cuda'", specifier = "==0.2.27" },
     { name = "cupy-cuda12x", marker = "platform_machine == 'x86_64' and extra == 'cuda'", specifier = "==13.6.0" },
     { name = "cyclonedds", marker = "extra == 'dds'", specifier = ">=0.10.5" },
+    { name = "cyclonedds", marker = "extra == 'unitree-dds'", specifier = ">=0.10.5" },
     { name = "dimos", extras = ["agents", "web", "perception", "visualization", "sim"], marker = "extra == 'base'" },
     { name = "dimos", extras = ["base"], marker = "extra == 'unitree'" },
     { name = "dimos", extras = ["dev"], marker = "extra == 'dds'" },
+    { name = "dimos", extras = ["unitree"], marker = "extra == 'unitree-dds'" },
     { name = "dimos-lcm" },
     { name = "dimos-lcm", marker = "extra == 'docker'" },
     { name = "drake", marker = "platform_machine != 'aarch64' and sys_platform == 'darwin' and extra == 'manipulation'", specifier = "==1.45.0" },
@@ -2120,7 +2156,7 @@ requires-dist = [
     { name = "types-tensorflow", marker = "extra == 'dev'", specifier = ">=2.18.0.20251008,<3" },
     { name = "types-tqdm", marker = "extra == 'dev'", specifier = ">=4.67.0.20250809,<5" },
     { name = "ultralytics", marker = "extra == 'perception'", specifier = ">=8.3.70" },
-    { name = "unitree-sdk2py-dimos", marker = "extra == 'unitree'", specifier = ">=1.0.3" },
+    { name = "unitree-sdk2py-dimos", marker = "extra == 'unitree-dds'", specifier = ">=1.0.1" },
     { name = "unitree-webrtc-connect-leshy", marker = "extra == 'unitree'", specifier = ">=2.0.7" },
     { name = "uvicorn", marker = "extra == 'web'", specifier = ">=0.34.0" },
     { name = "watchdog", marker = "extra == 'dev'", specifier = ">=3.0.0" },
@@ -2130,7 +2166,7 @@ requires-dist = [
     { name = "xformers", marker = "platform_machine == 'x86_64' and extra == 'cuda'", specifier = ">=0.0.20" },
     { name = "yapf", marker = "extra == 'misc'", specifier = "==0.40.2" },
 ]
-provides-extras = ["misc", "visualization", "agents", "web", "perception", "unitree", "manipulation", "cpu", "cuda", "dev", "psql", "sim", "drone", "dds", "docker", "base"]
+provides-extras = ["misc", "visualization", "agents", "web", "perception", "unitree", "unitree-dds", "manipulation", "cpu", "cuda", "dev", "psql", "sim", "drone", "dds", "docker", "base"]
 
 [[package]]
 name = "dimos-lcm"

From c00483ea049db9bb91b92adbd1e612bcf241206a Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Tue, 3 Mar 2026 19:56:34 -0800
Subject: [PATCH 11/19] added test ignore for unitree-dds

---
 .github/workflows/tests.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 3744e86cb6..03f7a30402 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -37,7 +37,7 @@ jobs:
           git config --global --add safe.directory '*'
 
       - name: Install Python dependencies
-        run: uv sync --all-extras --no-extra dds --no-extra unitree --frozen
+        run: uv sync --all-extras --no-extra dds --no-extra unitree-dds --frozen
 
       - name: Remove pydrake stubs
         run: |

From cef5b57bd3daa6292415cdb31372d641b02d8959 Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Tue, 3 Mar 2026 20:33:29 -0800
Subject: [PATCH 12/19] fix mypy errors

---
 dimos/hardware/drive_trains/unitree_g1/adapter.py | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/dimos/hardware/drive_trains/unitree_g1/adapter.py b/dimos/hardware/drive_trains/unitree_g1/adapter.py
index aa6dc590ed..b166a54483 100644
--- a/dimos/hardware/drive_trains/unitree_g1/adapter.py
+++ b/dimos/hardware/drive_trains/unitree_g1/adapter.py
@@ -49,9 +49,11 @@
 from dimos.utils.logging_config import setup_logger
 
 if TYPE_CHECKING:
-    from unitree_sdk2py.core.channel import ChannelSubscriber
-    from unitree_sdk2py.g1.loco.g1_loco_client import LocoClient
-    from unitree_sdk2py.idl.unitree_go.msg.dds_ import SportModeState_
+    from unitree_sdk2py.core.channel import ChannelSubscriber  # type: ignore[import-not-found]
+    from unitree_sdk2py.g1.loco.g1_loco_client import LocoClient  # type: ignore[import-not-found]
+    from unitree_sdk2py.idl.unitree_go.msg.dds_ import (
+        SportModeState_,  # type: ignore[import-not-found]
+    )
 
     from dimos.hardware.drive_trains.registry import TwistBaseAdapterRegistry
 
@@ -326,7 +328,9 @@ def _get_fsm_id(self) -> int | None:
         """Query the current FSM ID from the robot. Returns None on failure."""
         import json
 
-        from unitree_sdk2py.g1.loco.g1_loco_api import ROBOT_API_ID_LOCO_GET_FSM_ID
+        from unitree_sdk2py.g1.loco.g1_loco_api import (
+            ROBOT_API_ID_LOCO_GET_FSM_ID,  # type: ignore[import-not-found]
+        )
 
         session = self._get_session()
         try:

From 9cd7865dc80ee992aa3e98ba21109f2ddf9b9f27 Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Tue, 3 Mar 2026 21:10:14 -0800
Subject: [PATCH 13/19] fixed multi line import error

---
 dimos/hardware/drive_trains/unitree_g1/adapter.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/dimos/hardware/drive_trains/unitree_g1/adapter.py b/dimos/hardware/drive_trains/unitree_g1/adapter.py
index b166a54483..495f1c0235 100644
--- a/dimos/hardware/drive_trains/unitree_g1/adapter.py
+++ b/dimos/hardware/drive_trains/unitree_g1/adapter.py
@@ -51,8 +51,8 @@
 if TYPE_CHECKING:
     from unitree_sdk2py.core.channel import ChannelSubscriber  # type: ignore[import-not-found]
     from unitree_sdk2py.g1.loco.g1_loco_client import LocoClient  # type: ignore[import-not-found]
-    from unitree_sdk2py.idl.unitree_go.msg.dds_ import (
-        SportModeState_,  # type: ignore[import-not-found]
+    from unitree_sdk2py.idl.unitree_go.msg.dds_ import (  # type: ignore[import-not-found]
+        SportModeState_,
     )
 
     from dimos.hardware.drive_trains.registry import TwistBaseAdapterRegistry
@@ -328,8 +328,8 @@ def _get_fsm_id(self) -> int | None:
         """Query the current FSM ID from the robot. Returns None on failure."""
         import json
 
-        from unitree_sdk2py.g1.loco.g1_loco_api import (
-            ROBOT_API_ID_LOCO_GET_FSM_ID,  # type: ignore[import-not-found]
+        from unitree_sdk2py.g1.loco.g1_loco_api import (  # type: ignore[import-not-found]
+            ROBOT_API_ID_LOCO_GET_FSM_ID,
         )
 
         session = self._get_session()

From 67b28af493a26d0078da6518a2407c8f4470b8a8 Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Wed, 4 Mar 2026 13:27:08 -0800
Subject: [PATCH 14/19]  Added cyclonedds-dev apt package + symlink directory
 structure with

---
 .github/workflows/tests.yml                       |  2 +-
 dimos/hardware/drive_trains/unitree_g1/adapter.py | 12 ++++--------
 docker/dev/Dockerfile                             | 14 ++++++++++++--
 3 files changed, 17 insertions(+), 11 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 03f7a30402..777b6b05e1 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -37,7 +37,7 @@ jobs:
           git config --global --add safe.directory '*'
 
       - name: Install Python dependencies
-        run: uv sync --all-extras --no-extra dds --no-extra unitree-dds --frozen
+        run: uv sync --all-extras --frozen
 
       - name: Remove pydrake stubs
         run: |
diff --git a/dimos/hardware/drive_trains/unitree_g1/adapter.py b/dimos/hardware/drive_trains/unitree_g1/adapter.py
index 495f1c0235..aa6dc590ed 100644
--- a/dimos/hardware/drive_trains/unitree_g1/adapter.py
+++ b/dimos/hardware/drive_trains/unitree_g1/adapter.py
@@ -49,11 +49,9 @@
 from dimos.utils.logging_config import setup_logger
 
 if TYPE_CHECKING:
-    from unitree_sdk2py.core.channel import ChannelSubscriber  # type: ignore[import-not-found]
-    from unitree_sdk2py.g1.loco.g1_loco_client import LocoClient  # type: ignore[import-not-found]
-    from unitree_sdk2py.idl.unitree_go.msg.dds_ import (  # type: ignore[import-not-found]
-        SportModeState_,
-    )
+    from unitree_sdk2py.core.channel import ChannelSubscriber
+    from unitree_sdk2py.g1.loco.g1_loco_client import LocoClient
+    from unitree_sdk2py.idl.unitree_go.msg.dds_ import SportModeState_
 
     from dimos.hardware.drive_trains.registry import TwistBaseAdapterRegistry
 
@@ -328,9 +326,7 @@ def _get_fsm_id(self) -> int | None:
         """Query the current FSM ID from the robot. Returns None on failure."""
         import json
 
-        from unitree_sdk2py.g1.loco.g1_loco_api import (  # type: ignore[import-not-found]
-            ROBOT_API_ID_LOCO_GET_FSM_ID,
-        )
+        from unitree_sdk2py.g1.loco.g1_loco_api import ROBOT_API_ID_LOCO_GET_FSM_ID
 
         session = self._get_session()
         try:
diff --git a/docker/dev/Dockerfile b/docker/dev/Dockerfile
index c6822e54cb..f880e1d47e 100644
--- a/docker/dev/Dockerfile
+++ b/docker/dev/Dockerfile
@@ -16,8 +16,18 @@ RUN apt-get update && apt-get install -y \
     wget \
     net-tools \
     sudo \
-    pre-commit
-
+    pre-commit \
+    cyclonedds-dev
+
+# Set up CycloneDDS compatibility directory structure
+RUN mkdir -p /opt/cyclonedds/{lib,bin,include} && \
+    ln -sf /usr/lib/x86_64-linux-gnu/libddsc.so* /opt/cyclonedds/lib/ && \
+    ln -sf /usr/lib/x86_64-linux-gnu/libcycloneddsidl.so* /opt/cyclonedds/lib/ && \
+    ln -sf /usr/bin/idlc /opt/cyclonedds/bin/ && \
+    ln -sf /usr/bin/ddsperf /opt/cyclonedds/bin/ && \
+    ln -sf /usr/include/dds /opt/cyclonedds/include/
+
+ENV CYCLONEDDS_HOME=/opt/cyclonedds
 
 # Configure git to trust any directory (resolves dubious ownership issues in containers)
 RUN git config --global --add safe.directory '*'

From 4e80beac89a7a482980fe450d084a24468bc9791 Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Wed, 4 Mar 2026 13:31:07 -0800
Subject: [PATCH 15/19] Docker RUN uses /bin/sh, not bash, so brace expansion
 {lib,bin,include} doesn't work. Expanded to explicit paths.

---
 docker/dev/Dockerfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docker/dev/Dockerfile b/docker/dev/Dockerfile
index f880e1d47e..5e43af173d 100644
--- a/docker/dev/Dockerfile
+++ b/docker/dev/Dockerfile
@@ -20,7 +20,7 @@ RUN apt-get update && apt-get install -y \
     cyclonedds-dev
 
 # Set up CycloneDDS compatibility directory structure
-RUN mkdir -p /opt/cyclonedds/{lib,bin,include} && \
+RUN mkdir -p /opt/cyclonedds/lib /opt/cyclonedds/bin /opt/cyclonedds/include && \
     ln -sf /usr/lib/x86_64-linux-gnu/libddsc.so* /opt/cyclonedds/lib/ && \
     ln -sf /usr/lib/x86_64-linux-gnu/libcycloneddsidl.so* /opt/cyclonedds/lib/ && \
     ln -sf /usr/bin/idlc /opt/cyclonedds/bin/ && \

From 2457ada44173d5166d34bee734d83c51a63f8d69 Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Wed, 4 Mar 2026 13:39:26 -0800
Subject: [PATCH 16/19] from-image only uses the branch tag when ros-python
 both succeeded and actually had something to build (python or ros files
 changed). Otherwise it falls back to :dev

---
 .github/workflows/docker.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
index d637eda438..3daefcd572 100644
--- a/.github/workflows/docker.yml
+++ b/.github/workflows/docker.yml
@@ -195,7 +195,7 @@ jobs:
         (needs.check-changes.outputs.dev == 'true' ||
          (needs.ros-python.result == 'success' && (needs.check-changes.outputs.python == 'true' || needs.check-changes.outputs.ros == 'true')))
         }}
-      from-image: ghcr.io/dimensionalos/ros-python:${{ needs.ros-python.result == 'success' && needs.check-changes.outputs.branch-tag || 'dev' }}
+      from-image: ghcr.io/dimensionalos/ros-python:${{ needs.ros-python.result == 'success' && (needs.check-changes.outputs.python == 'true' || needs.check-changes.outputs.ros == 'true') && needs.check-changes.outputs.branch-tag || 'dev' }}
       to-image: ghcr.io/dimensionalos/ros-dev:${{ needs.check-changes.outputs.branch-tag }}
       dockerfile: dev
 

From 6e2a806b607386ab23eef24b2c50b54594fa7935 Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Wed, 4 Mar 2026 14:19:18 -0800
Subject: [PATCH 17/19] Fix: replaced apt install cyclonedds-dev + symlinks
 with building CycloneDDS 0.10.5 from source

---
 docker/dev/Dockerfile | 21 ++++++++++++---------
 1 file changed, 12 insertions(+), 9 deletions(-)

diff --git a/docker/dev/Dockerfile b/docker/dev/Dockerfile
index 5e43af173d..54249ad994 100644
--- a/docker/dev/Dockerfile
+++ b/docker/dev/Dockerfile
@@ -17,15 +17,18 @@ RUN apt-get update && apt-get install -y \
     net-tools \
     sudo \
     pre-commit \
-    cyclonedds-dev
-
-# Set up CycloneDDS compatibility directory structure
-RUN mkdir -p /opt/cyclonedds/lib /opt/cyclonedds/bin /opt/cyclonedds/include && \
-    ln -sf /usr/lib/x86_64-linux-gnu/libddsc.so* /opt/cyclonedds/lib/ && \
-    ln -sf /usr/lib/x86_64-linux-gnu/libcycloneddsidl.so* /opt/cyclonedds/lib/ && \
-    ln -sf /usr/bin/idlc /opt/cyclonedds/bin/ && \
-    ln -sf /usr/bin/ddsperf /opt/cyclonedds/bin/ && \
-    ln -sf /usr/include/dds /opt/cyclonedds/include/
+    cmake \
+    build-essential
+
+# Build CycloneDDS 0.10.5 from source (Ubuntu 22.04 apt only has ~0.9.x,
+# but the Python cyclonedds package requires >=0.10.5 headers)
+RUN git clone --branch 0.10.5 --depth 1 https://github.com/eclipse-cyclonedds/cyclonedds.git /tmp/cyclonedds && \
+    mkdir /tmp/cyclonedds/build && \
+    cd /tmp/cyclonedds/build && \
+    cmake -DCMAKE_INSTALL_PREFIX=/opt/cyclonedds .. && \
+    cmake --build . --parallel $(nproc) && \
+    cmake --install . && \
+    rm -rf /tmp/cyclonedds
 
 ENV CYCLONEDDS_HOME=/opt/cyclonedds
 

From c61b941fff8ca8dfc035ad53efacf6f108875b31 Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Wed, 4 Mar 2026 14:45:25 -0800
Subject: [PATCH 18/19] Added # type: ignore[import-untyped]

---
 dimos/hardware/drive_trains/unitree_g1/adapter.py | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/dimos/hardware/drive_trains/unitree_g1/adapter.py b/dimos/hardware/drive_trains/unitree_g1/adapter.py
index aa6dc590ed..54dcac9ab3 100644
--- a/dimos/hardware/drive_trains/unitree_g1/adapter.py
+++ b/dimos/hardware/drive_trains/unitree_g1/adapter.py
@@ -49,9 +49,11 @@
 from dimos.utils.logging_config import setup_logger
 
 if TYPE_CHECKING:
-    from unitree_sdk2py.core.channel import ChannelSubscriber
-    from unitree_sdk2py.g1.loco.g1_loco_client import LocoClient
-    from unitree_sdk2py.idl.unitree_go.msg.dds_ import SportModeState_
+    from unitree_sdk2py.core.channel import ChannelSubscriber  # type: ignore[import-untyped]
+    from unitree_sdk2py.g1.loco.g1_loco_client import LocoClient  # type: ignore[import-untyped]
+    from unitree_sdk2py.idl.unitree_go.msg.dds_ import (  # type: ignore[import-untyped]
+        SportModeState_,
+    )
 
     from dimos.hardware.drive_trains.registry import TwistBaseAdapterRegistry
 
@@ -326,7 +328,9 @@ def _get_fsm_id(self) -> int | None:
         """Query the current FSM ID from the robot. Returns None on failure."""
         import json
 
-        from unitree_sdk2py.g1.loco.g1_loco_api import ROBOT_API_ID_LOCO_GET_FSM_ID
+        from unitree_sdk2py.g1.loco.g1_loco_api import (
+            ROBOT_API_ID_LOCO_GET_FSM_ID,  # type: ignore[import-untyped]
+        )
 
         session = self._get_session()
         try:

From da2cc4d64cd16849dc3b485401a01e428a2c1c80 Mon Sep 17 00:00:00 2001
From: mustafab0 <mustafabhadsorawala@gmail.com>
Date: Wed, 4 Mar 2026 15:06:01 -0800
Subject: [PATCH 19/19] added import untyped ignore to the correct line

---
 dimos/hardware/drive_trains/unitree_g1/adapter.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/dimos/hardware/drive_trains/unitree_g1/adapter.py b/dimos/hardware/drive_trains/unitree_g1/adapter.py
index 54dcac9ab3..b5eb272f8a 100644
--- a/dimos/hardware/drive_trains/unitree_g1/adapter.py
+++ b/dimos/hardware/drive_trains/unitree_g1/adapter.py
@@ -328,8 +328,8 @@ def _get_fsm_id(self) -> int | None:
         """Query the current FSM ID from the robot. Returns None on failure."""
         import json
 
-        from unitree_sdk2py.g1.loco.g1_loco_api import (
-            ROBOT_API_ID_LOCO_GET_FSM_ID,  # type: ignore[import-untyped]
+        from unitree_sdk2py.g1.loco.g1_loco_api import (  # type: ignore[import-untyped]
+            ROBOT_API_ID_LOCO_GET_FSM_ID,
         )
 
         session = self._get_session()