krishna/Booster_K1_robot_integration#2525
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Greptile SummaryThis PR introduces a DimOS adapter for the Booster K1 humanoid robot, adding
Confidence Score: 4/5Safe to merge once the two defects in
Important Files Changed
Sequence Diagram%%{init: {'theme': 'neutral'}}%%
sequenceDiagram
participant Agent/Teleop
participant K1Connection
participant BoosterRPCConnection
participant SenderLoop
participant booster_rpc
Note over K1Connection,booster_rpc: start()
K1Connection->>BoosterRPCConnection: start()
BoosterRPCConnection->>SenderLoop: Thread(_sender_loop)
BoosterRPCConnection->>booster_rpc: stream_video(on_jpeg) [async]
Note over Agent/Teleop,booster_rpc: Velocity command path (100 Hz coordinator)
Agent/Teleop->>K1Connection: cmd_vel (Twist)
K1Connection->>BoosterRPCConnection: "move(twist, duration=0)"
BoosterRPCConnection-->>Agent/Teleop: True (non-blocking)
SenderLoop->>booster_rpc: "conn.move(vx, vy, vyaw) @ 30 Hz"
Note over SenderLoop,booster_rpc: Dead-man timer
SenderLoop->>booster_rpc: conn.move(0, 0, 0) [one stop on idle]
Note over Agent/Teleop,booster_rpc: Camera path
booster_rpc-->>BoosterRPCConnection: JPEG frame (WebSocket)
BoosterRPCConnection-->>K1Connection: Image (via Subject)
K1Connection-->>Agent/Teleop: color_image (Out[Image])
Note over Agent/Teleop,booster_rpc: Skill path (walk)
Agent/Teleop->>K1Connection: "walk(x, y, yaw, duration>0)"
K1Connection->>BoosterRPCConnection: move(twist, duration)
BoosterRPCConnection->>BoosterRPCConnection: time.sleep(duration)
BoosterRPCConnection-->>K1Connection: True (after blocking)
K1Connection-->>Agent/Teleop: "Moved at velocity=(...) for Ns then stopped."
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sequenceDiagram
participant Agent/Teleop
participant K1Connection
participant BoosterRPCConnection
participant SenderLoop
participant booster_rpc
Note over K1Connection,booster_rpc: start()
K1Connection->>BoosterRPCConnection: start()
BoosterRPCConnection->>SenderLoop: Thread(_sender_loop)
BoosterRPCConnection->>booster_rpc: stream_video(on_jpeg) [async]
Note over Agent/Teleop,booster_rpc: Velocity command path (100 Hz coordinator)
Agent/Teleop->>K1Connection: cmd_vel (Twist)
K1Connection->>BoosterRPCConnection: "move(twist, duration=0)"
BoosterRPCConnection-->>Agent/Teleop: True (non-blocking)
SenderLoop->>booster_rpc: "conn.move(vx, vy, vyaw) @ 30 Hz"
Note over SenderLoop,booster_rpc: Dead-man timer
SenderLoop->>booster_rpc: conn.move(0, 0, 0) [one stop on idle]
Note over Agent/Teleop,booster_rpc: Camera path
booster_rpc-->>BoosterRPCConnection: JPEG frame (WebSocket)
BoosterRPCConnection-->>K1Connection: Image (via Subject)
K1Connection-->>Agent/Teleop: color_image (Out[Image])
Note over Agent/Teleop,booster_rpc: Skill path (walk)
Agent/Teleop->>K1Connection: "walk(x, y, yaw, duration>0)"
K1Connection->>BoosterRPCConnection: move(twist, duration)
BoosterRPCConnection->>BoosterRPCConnection: time.sleep(duration)
BoosterRPCConnection-->>K1Connection: True (after blocking)
K1Connection-->>Agent/Teleop: "Moved at velocity=(...) for Ns then stopped."
Reviews (2): Last reviewed commit: "Address review: walk() duration semantic..." | Re-trigger Greptile |
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| @skill | ||
| def walk(self, x: float, y: float = 0.0, yaw: float = 0.0, duration: float = 0.0) -> str: | ||
| """Move the robot using direct velocity commands. Choose duration from the user's distance. | ||
|
|
||
| Args: | ||
| x: Forward velocity (m/s) | ||
| y: Left/right velocity (m/s) | ||
| yaw: Rotational velocity (rad/s) | ||
| duration: How long to move (seconds); 0 = continuous until the next command | ||
| """ | ||
| twist = Twist(linear=Vector3(x, y, 0.0), angular=Vector3(0.0, 0.0, yaw)) | ||
| if not self.move(twist, duration=duration): | ||
| return "Failed to move." | ||
| if duration > 0: | ||
| return f"Moved at velocity=({x}, {y}, {yaw}) for {duration}s then stopped." | ||
| return f"Moving at velocity=({x}, {y}, {yaw}) continuously; send a stop command to halt." |
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walk() skill misrepresents duration=0 as continuous motion
When duration=0, BoosterRPCConnection.move() sets _deadline = now + cmd_vel_timeout (0.5 s), so the robot stops on its own after half a second — not "continuously". The return string "Moving at velocity=(...) continuously; send a stop command to halt." is actively misleading to an AI agent: it will believe the robot is in sustained motion, while the hardware silently halts 0.5 s after the call returns. For the skill to deliver true sustained motion without duration, the agent would need to call walk() at >2 Hz to keep refreshing the dead-man deadline, which is impossible as a one-shot @skill invocation. The correct behavior is to require duration > 0 for agent-triggered walks, or to block until duration elapses and return only after the robot has stopped.
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| def standup(self) -> bool: | ||
| """Arm the robot for walking: DAMPING -> PREPARE -> WALKING.""" | ||
| with self._lock: | ||
| mode = self._conn.get_mode() | ||
| if mode == RobotMode.WALKING: | ||
| return True | ||
| if mode == RobotMode.DAMPING: | ||
| with self._lock: | ||
| self._conn.change_mode(RobotMode.PREPARE) | ||
| logger.info("K1 mode -> PREPARE") | ||
| time.sleep(3) | ||
| with self._lock: | ||
| self._conn.change_mode(RobotMode.WALKING) | ||
| logger.info("K1 mode -> WALKING") | ||
| time.sleep(3) | ||
| with self._lock: | ||
| return bool(self._conn.get_mode() == RobotMode.WALKING) |
Contributor
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standup() silently mishandles intermediate robot modes
standup() handles only WALKING (return early) and DAMPING (DAMPING → PREPARE → WALKING). Any other state — PREPARE, STAND, or an error/fault mode — falls through to the bare change_mode(WALKING) call without the required DAMPING → PREPARE preamble. On hardware, commanding WALKING from an unexpected state could be rejected or trigger a fault. At minimum, a mode outside the known-good set should log a warning or return False rather than silently attempting a potentially dangerous transition.
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| def _camera_info_static() -> CameraInfo: | ||
| # TODO: replace with measured K1 camera intrinsics (these are placeholders). | ||
| fx, fy, cx, cy = (400.0, 400.0, 272.0, 153.0) |
Contributor
There was a problem hiding this comment.
WARNING at startup so operators know to replace them.
Suggested change
| def _camera_info_static() -> CameraInfo: | |
| # TODO: replace with measured K1 camera intrinsics (these are placeholders). | |
| fx, fy, cx, cy = (400.0, 400.0, 272.0, 153.0) | |
| def _camera_info_static() -> CameraInfo: | |
| # TODO: replace with measured K1 camera intrinsics (these are placeholders). | |
| logger.warning( | |
| "K1 camera intrinsics are placeholders — 3D projection will be inaccurate. " | |
| "Replace with measured values from a calibration run." | |
| ) | |
| fx, fy, cx, cy = (400.0, 400.0, 272.0, 153.0) |
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Add a dimos adapter for the Booster K1 humanoid base:
- K1Connection: Module wrapping booster-rpc (gRPC + WebSocket). Camera
frames over the WebSocket video stream, base velocity via gRPC move().
Non-blocking coalescing velocity sender decouples the caller from the
blocking gRPC send ceiling, plus a dead-man stop on idle. Auto standup
on start.
- Blueprints:
- booster-k1-basic: connection + rerun camera/3D visualization.
- booster-k1-keyboard-teleop: WASD (pygame + viewer overlay) -> cmd_vel
direct to the connection.
- booster-k1-coordinator: ControlCoordinator BASE velocity task driving
the connection through the transport_lcm adapter, with the rerun
viewer and viewer-side WASD wired through twist_command.
- booster-k1-coordinator-keyboard-teleop: coordinator path + pygame WASD.
- pyproject: add the `booster` extra (booster-rpc, websockets).
- Register the blueprints in all_blueprints.
Validated on hardware (K1 on gantry): WASD teleop and camera-in-rerun
work on both the direct and ControlCoordinator paths.
The `booster` extra is not installed in the lint/test CI envs, so mirror how unitree_sdk2py is handled: - mypy: add booster_rpc to the ignore_missing_imports override and fix the inline ignore code (import-not-found, not import-untyped); wrap the standup mode check in bool() to avoid a no-any-return error. - test_all_blueprints: add booster_rpc to OPTIONAL_DEPENDENCIES so the booster blueprint validity tests skip (instead of fail) when the extra is absent, exactly like the Unitree/ZED blueprints.
Drop the `# --- ... ---` section-banner comments (the project's test_no_section_markers test forbids them) and tighten the longer docstrings/comment blocks to the repo norm. Comments-only; no behavior change.
… sender Mirror how go2's SDK (leshy) is handled: add booster-rpc to the `tests` dependency group so the module imports in CI and the booster blueprints build (instead of skipping), lifting coverage. Add a mock-based test_connection.py (in the spirit of unitree/b1/test_connection.py) covering the non-blocking coalescing sender + dead-man timer with the gRPC SDK patched out. No production code change.
…insics warning
- walk() skill: require a positive duration and always block until the robot
stops, returning a truthful result. duration=0 no longer claims continuous
motion (the dead-man timer halts the robot ~0.5s after a one-shot command).
- standup(): refuse modes outside {WALKING, DAMPING, PREPARE} with a warning
instead of forcing a bare WALKING transition that the firmware may reject.
The validated DAMPING/WALKING startup paths are unchanged.
- Warn at startup that the camera intrinsics are placeholders.
- Add unit tests for the standup mode guard.
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Add Booster K1 robot integration
A dimos adapter for the Booster K1 humanoid base: connection plus runnable teleop/coordinator blueprints. Validated on hardware.
K1Connectionwrapsbooster-rpc(gRPC control + WebSocket video):color_image; base velocity via gRPCmove().Blueprints:
booster-k1-basic: connection + rerun camera/3D vizbooster-k1-keyboard-teleop: WASD tocmd_veldirect to the connectionbooster-k1-coordinator:ControlCoordinatorBASEvelocity via thetransport_lcmadapterbooster-k1-coordinator-keyboard-teleop: coordinator path + WASDAlso adds the
boosterextra topyproject.tomland registers the blueprints inall_blueprints.Run:
Validated on hardware (K1 on gantry): WASD teleop + camera-in-rerun on both the direct and coordinator paths, smooth under the 100 Hz tick.
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