feat(go2): low-level wholebody control

[ruthwikdasyam]

Problem

Feature: go2 low level controls

Closes DIM-753

Solution

Add Go2 wholebody (low-level) control:

• New Go2WholeBodyConnection Module (unitree_go IDL, 12-motor, foot_force damped precondition)
• unitree-go2-wholebody-coordinator blueprint (mirrors unitree-g1-coordinator)
• make_quadruped_joints helper

How to Test

dimos run unitree_go2_wholebody_coordinator

Contributor License Agreement

• I have read and approved the CLA.

[codecov]

Codecov Report

❌ Patch coverage is 33.03167% with 148 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/robot/unitree/go2/wholebody_connection.py	26.73%	148 Missing ⚠️

📢 Thoughts on this report? Let us know!

[greptile-apps]

Greptile Summary

This PR adds low-level whole-body control for the Unitree Go2 quadruped: a new Go2WholeBodyConnection DDS module, a make_quadruped_joints helper, and a unitree-go2-wholebody-coordinator blueprint that mirrors the existing G1 humanoid coordinator. The motor-command write path correctly holds self._lock around the publisher.Write call, and the sport-mode release loop now enforces a 30-second deadline with a RuntimeError on timeout.

• Go2WholeBodyConnection: 12-motor DDS subscriber/publisher using the unitree_go IDL, with polling-mode state reads, safe-stop on shutdown, and CRC-stamped command frames.
• make_quadruped_joints: New helper in components.py encoding the canonical FR→FL→RR→RL hip/thigh/calf motor ordering.
• unitree_go2_wholebody_coordinator: Blueprint wiring the new module to ControlCoordinator at 500 Hz via LCM transports, with per-joint KP=25/KD=0.5 defaults.

Confidence Score: 4/5

Safe to merge for single-robot deployments; the DDS initialization path can fail if another SDK module has already called ChannelFactoryInitialize in the same process.

The motor-command write and safe-stop paths are correctly guarded. The one gap is in start(): ChannelFactoryInitialize is called without any exception handling, unlike the G1 module which catches and silently continues on the already-initialized case. In a process that also runs G1WholeBodyConnection or any other SDK consumer, Go2 start() will throw an uncaught exception from the SDK rather than logging and continuing.

dimos/robot/unitree/go2/wholebody_connection.py — specifically the DDS initialization block in start().

Important Files Changed

Filename	Overview
dimos/robot/unitree/go2/wholebody_connection.py	New Go2 low-level DDS module (408 lines). Motor write is correctly inside the lock, and the sport-mode release loop now has a deadline. However, ChannelFactoryInitialize is called without any exception handling — unlike the G1 counterpart — so a second process-level DDS initialization attempt from a sibling module will crash start().
dimos/control/components.py	Adds make_quadruped_joints helper and _QUADRUPED_12DOF_JOINTS constant, mirroring make_humanoid_joints. Ordering and all export look correct.
dimos/robot/unitree/go2/blueprints/basic/unitree_go2_wholebody_coordinator.py	New blueprint wiring Go2WholeBodyConnection to ControlCoordinator via LCM transports. KP/KD gains, joint ordering, and channel names all look correct and consistent with the G1 coordinator pattern.
dimos/robot/all_blueprints.py	Registers the new blueprint and module in the discovery maps. Entries are alphabetically ordered and correctly formatted.

Sequence Diagram

sequenceDiagram
    participant Op as Operator
    participant Blueprint as unitree_go2_wholebody_coordinator
    participant Conn as Go2WholeBodyConnection
    participant DDS as Unitree DDS (rt/lowstate / rt/lowcmd)
    participant Coord as ControlCoordinator
    participant LCM as LCM Transport

    Op->>Blueprint: dimos run
    Blueprint->>Conn: start()
    Conn->>DDS: ChannelFactoryInitialize
    Conn->>DDS: ChannelPublisher("rt/lowcmd").Init()
    Conn->>DDS: ChannelSubscriber("rt/lowstate").Init(None,0)
    Conn->>Conn: _release_sport_mode() [up to 30s]
    Conn->>DDS: Read() — wait for first LowState
    DDS-->>Conn: LowState frame
    Conn->>Conn: start publish_loop thread (500 Hz)
    loop 500 Hz publish loop
        Conn->>DDS: Read() → _low_state
        Conn->>LCM: motor_states (JointState)
        Conn->>LCM: imu (Imu)
    end
    LCM->>Coord: joint_state
    Coord->>LCM: joint_command (JointState)
    LCM->>Conn: motor_command (MotorCommandArray)
    Conn->>Conn: _on_motor_command [inside _lock]
    Conn->>DDS: publisher.Write(LowCmd_) [inside _lock]
    Op->>Blueprint: stop()
    Blueprint->>Conn: stop()
    Conn->>DDS: "Write safe-stop LowCmd_ (mode=0x00)"
    Conn->>DDS: subscriber.Close() / publisher.Close()

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_{Reviews (3): Last reviewed commit: "fix: write low_cmd inside the lock" | Re-trigger Greptile}

[mustafab0]

We should also get Camera and Lidar streams as out using the Connection Module.

[mustafab0]

We should codify these magic bytes in docstrings for better dev experience