Feature: go2 webrtc TwistBase adapter for control coordinator

[mustafab0]

Problem

The ControlCoordinator can only control the Unitree Go2 via the DDS-based UnitreeGo2TwistAdapter, which requires hardwired ethernet. Most users connect wirelessly over WebRTC, so there is no way to use the coordinator's unified control interface without a physical cable.

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Solution

Added a new UnitreeGo2WebRTCAdapter that implements the TwistBaseAdapter protocol using UnitreeWebRTCConnection instead of the Unitree SDK2 DDS stack. The adapter is registered as "unitree_go2_webrtc" via the existing auto-discovery registry.

Key design decisions:

• Separate WebRTC adapter because the DDS and WebRTC backends share zero implementation — every method would need branching.
• Velocity feedback is unavailable over WebRTC, so read_velocities() returns last-commanded values (same pattern as FlowBaseAdapter).
• Odometry is read via RxPY subscription to odom_stream() with quaternion-to-yaw conversion.
• Enable sequence is StandUp → BalanceStand (api_id 1002), which activates the locomotion controller for WIRELESS_CONTROLLER joystick commands. FreeWalk (api_id 1045) does not work for this purpose.
• Added balance_stand() convenience method to UnitreeWebRTCConnection.

New files:

• dimos/hardware/drive_trains/unitree_go2_webrtc/adapter.py — the adapter
• dimos/robot/unitree/go2/blueprints/basic/unitree_go2_webrtc_keyboard_teleop.py — keyboard teleop blueprint

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Breaking Changes

None

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How to Test

1. Ensure the Go2 is reachable over network at the configured IP.
2. Run dimos run unitree-go2-webrtc-keyboard-teleop.
3. Verify the robot stands up and transitions to BalanceStand (free walk) mode.
4. Use WASD/QE keys in the pygame window to move the robot.

closes DIM-599

[greptile-apps]

Greptile Summary

Added WebRTC-based control adapter for Unitree Go2 to enable wireless operation via ControlCoordinator, complementing the existing DDS adapter that requires hardwired ethernet.

• New WebRTC adapter (UnitreeGo2WebRTCAdapter) wraps UnitreeWebRTCConnection to implement the TwistBaseAdapter protocol with velocity control, odometry reading, and enable/disable lifecycle
• New DDS adapter (UnitreeGo2TwistAdapter) implements the same protocol using Unitree SDK2 for wired control
• Enable sequence differs: WebRTC uses StandUp → BalanceStand (api_id 1002), while DDS uses StandUp → FreeWalk
• Refactored coordinator subscription handling with _subscribe_if() helper and added type checking for manipulator adapters
• Base protocol (HardwareAdapter) extracted to share connection interface across drive train and manipulator adapters
• Two keyboard teleop blueprints added for DDS and WebRTC modes with comprehensive README

Issues found:

• connection.py has duplicate stop() method definitions (line 122 vs 358) with conflicting signatures that breaks the Resource interface
• WebRTC blueprint hardcodes IP address 100.71.80.46 instead of reading from environment or using documented default

Confidence Score: 3/5

• Safe to merge after fixing the duplicate stop() method and hardcoded IP address
• Two blocking issues: duplicate method definition breaks the Resource interface (runtime error), and hardcoded IP makes blueprint unusable for most users. Otherwise implementation is solid with proper threading, error handling, and protocol adherence.
• Pay close attention to dimos/robot/unitree/connection.py (duplicate method) and dimos/robot/unitree/go2/blueprints/basic/unitree_go2_webrtc_keyboard_teleop.py (hardcoded IP)

Important Files Changed

Filename	Overview
dimos/robot/unitree/connection.py	Added balance_stand() method but has duplicate stop() method definitions with different signatures
dimos/hardware/drive_trains/unitree_go2_webrtc/adapter.py	New WebRTC adapter implementation for Go2 control, well-structured with proper threading and error handling
dimos/hardware/drive_trains/unitree_go2/adapter.py	New DDS-based adapter implementation, follows protocol correctly
dimos/robot/unitree/go2/blueprints/basic/unitree_go2_webrtc_keyboard_teleop.py	WebRTC keyboard teleop blueprint with hardcoded IP address that should be configurable
dimos/control/coordinator.py	Refactored subscription handling and added type checking for manipulator adapters

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A[User: WASD Input] --> B[keyboard_teleop]
    B -->|Twist| C[ControlCoordinator]
    C -->|Route to adapter| D{Connection Type?}
    D -->|DDS/Ethernet| E[UnitreeGo2TwistAdapter]
    D -->|WebRTC/Wireless| F[UnitreeGo2WebRTCAdapter]
    E -->|SDK2 DDS| G[Go2 Robot]
    F -->|WebRTC| G
    
    E -->|StandUp + FreeWalk| G
    F -->|StandUp + BalanceStand| G
    
    G -->|Odometry| F
    G -->|State| E
    
    F -->|Last commanded| C
    E -->|Actual velocities| C

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_{Last reviewed commit: 70ba52e}

[greptile-apps]

_{15 files reviewed, 2 comments}

_{Edit Code Review Agent Settings | Greptile}

[greptile-apps]

Additional Comments (1)

dimos/robot/unitree/connection.py
duplicate stop() method - already defined at line 122 with different signature (-> None vs -> bool). The second definition shadows the first, breaking the Resource interface.

    def stop_movement(self) -> bool:  # type: ignore[no-redef]