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add r1lite bringup test suite: hardware-validated scaffolding, config… - #2709
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KrishnaH96 wants to merge 41 commits into
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…, and lab log - r1lite_config.py: verified topology (domain 2, 6+6+4 DOF, 0-100 grippers, topic map) with remaining TODO(recon) markers - test_00 recon + test_01 topic assertion (PASS on hardware 2026-07-03) - test_02/04: feedback + wrist-roll arm test (PASS; tabletop-safe defaults) - test_03: chassis with all gates streamed (node validated; wheel-level refusal unresolved -- see BRINGUP_LOG) - test_06: torso joint path hard-guarded after linkage-coupling incident - BRINGUP_LOG.md: full dated evidence trail; RUNBOOK.md: session commands - domain_scan.py: ROS_DOMAIN_ID sweep utility
- Day-3 log: fault-tree session, RC manual proven VCU-direct (drives with no ROS), mode field acquitted via working arm capture, healthy-VCU test_03 passes with the original gate recipe - RUNBOOK: chassis section now final operating procedure (cold boot with e-stops released, RC mode 5, streamed gates; power-cycle rule)
…s (synced rclpy capture); document ssh/domain tooling gotcha
Mirrors the R1 Pro architecture (one Module owns ROS 2, generic transport_lcm adapters), adapted to hardware-validated R1 Lite findings: - 16-DOF upper body (4 torso + 2x6 arms); torso commands dropped in v1 (parallelogram linkage - joint targets are unsafe, feedback still flows) - first-class 0-100-unit gripper command/state streams - chassis dead-man: speed + acc_limit + brake=false streamed every tick, explicit zero-stream on staleness (robot-side node latches forever) - validated gentle acc limits (0.5), domain-2 multicast, BEST_EFFORT QoS - sensors: stereo head RGB, D405 wrist color+depth, both IMUs Registered as r1lite-coordinator / r1lite-keyboard-teleop / r1-lite-connection.
…fore courtesy chassis zero; guard chassis publish against dead ROS context
- run 1: coordinator holds arms perfectly still at 100Hz (bootstrap gate verified on hardware); run 2: all cameras live in rerun two-tab layout - viewer workflow settled: host-native rerun via uv tool + VIEWER= rerun-connect in container (container GUIs and rerun-web both broken; documented in BRINGUP_LOG) - add scripts/r1lite_test/run_r1lite.sh: starts host viewer + container + blueprint in one command
…eliver to the RELIABLE subscriber observed on target_speed_chassis; reliable pub serves both kinds
…ery-server migration)
…er workers (dimos-core x rerun bug); connect mode remains the workflow
…+ connect (works around serve_grpc forkserver deadlock); log validated workaround
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…ner with cloner's repo path, py3.10 venv gate with fix instructions); no machine-specific paths
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…ev/shm-aware, DDS verification) + run_r1lite.sh on-robot mode (stack auto-boot, web-sidecar default, ssh -X teleop, multi-IP viewer URLs)
…po, zero credentials); drop scp bootstrap
…t-for-transfer pause instead of exit/re-run)
…run_r1lite.sh + installer + RUNBOOK use it
…ased preflight, sudo-docker fallback + /dev/shm mount in run_r1lite.sh
…portable wheel), compose services, dimos wrapper, one-command setup.sh with pull/tar/build ladder
… in builder (jammy's 59 ignores [project] -> UNKNOWN wheel)
…70 x jammy packaging 21.3 TypeError)
…do ate docker-load's stdin)
… -c skips .bashrc, so rclpy was unimportable)
… 1000 owns segments) -> UDP-only FastDDS profile for on-robot runs; fixes topics-visible-zero-messages
…as no venv on PATH)
…tor needs it; container has no NET_ADMIN); run every time since ip settings don't persist
…ing transfer, unsourced ROS, root-vs-uid1000 SHM delivery, venv PATH, host multicast route)
…e to mode 3 and vetoes software; needs RC ON all-switches-pos-1 = mode 5)
…uational); veto-vs-latched-VCU discriminator; hdas_msg absent in container
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…, and lab log
Problem
Closes DIM-XXX
Solution
How to Test
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