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Feature: G1 control coordinator adapter for mobile base cmd vel #1410

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Feature: G1 control coordinator adapter for mobile base cmd vel #1410

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f9a36ef
coordinator addapter for g1 mobile base
mustafab0 Mar 3, 2026
070ae45
added control coordinator webrtc adapter for g1
mustafab0 Mar 3, 2026
410a025
seperated standup and walk ready sequence for better bring up experience
mustafab0 Mar 4, 2026
656d41e
control cooridnator blueprints added for dds and webrtc clients
mustafab0 Mar 4, 2026
6d26596
updated pyrpoject.toml and uv.lock
mustafab0 Mar 4, 2026
15c93c2
tuning delay for locked standing
mustafab0 Mar 4, 2026
5491bf7
updated test file to ignore unitree-dds package
mustafab0 Mar 4, 2026
1a83e7f
added json parsing for FSM mode and added comment explaining need for…
mustafab0 Mar 4, 2026
b5e53f4
dix disposablebase import
mustafab0 Mar 4, 2026
6fc43f3
updated toml and uv lock
mustafab0 Mar 4, 2026
c00483e
added test ignore for unitree-dds
mustafab0 Mar 4, 2026
cef5b57
fix mypy errors
mustafab0 Mar 4, 2026
9cd7865
fixed multi line import error
mustafab0 Mar 4, 2026
67b28af
Added cyclonedds-dev apt package + symlink directory structure with
mustafab0 Mar 4, 2026
4e80bea
Docker RUN uses /bin/sh, not bash, so brace expansion {lib,bin,includ…
mustafab0 Mar 4, 2026
2457ada
from-image only uses the branch tag when ros-python both succeeded an…
mustafab0 Mar 4, 2026
6e2a806
Fix: replaced apt install cyclonedds-dev + symlinks with building Cyc…
mustafab0 Mar 4, 2026
c61b941
Added # type: ignore[import-untyped]
mustafab0 Mar 4, 2026
da2cc4d
added import untyped ignore to the correct line
mustafab0 Mar 4, 2026
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2 changes: 1 addition & 1 deletion .github/workflows/docker.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -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' }}
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@spomichter spomichter Mar 5, 2026

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pls dont touch CI unless you have very good reason

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@mustafab0 mustafab0 Mar 5, 2026

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Yes, I debated quite a bit before adding this.

The original intended to fall back to dev when ros-python didn't build, but the problem is GitHub Actions expression evaluation: ros-python.result == 'success' is true even when should-run was false (all steps skipped, job still reports success). So the original resolves to branch-tag instead of 'dev'. This causes a bug where it expects the ros-python build but gets a stale one.

This edit adds the extra check (python == 'true' || ros == 'true') so it only uses the branch tag when those files actually changed, meaning ros-python actually built something.

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@mustafab0 mustafab0 Mar 5, 2026

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I totally understand your concern here. You finally got CI to work properly I am scared of breaking it again too. 😅

to-image: ghcr.io/dimensionalos/ros-dev:${{ needs.check-changes.outputs.branch-tag }}
dockerfile: dev

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2 changes: 1 addition & 1 deletion .github/workflows/tests.yml
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Expand Up @@ -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 --frozen

- name: Remove pydrake stubs
run: |
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19 changes: 19 additions & 0 deletions dimos/hardware/drive_trains/unitree_g1/__init__.py
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@@ -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"]
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