Repository navigation
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Generated CDR pose, twist, gripper and button inputs now connect WebXR outputs to the built-in manipulator task cards. Cartesian/teleop tasks copy wire poses into their existing numerical target values; EEF twist inputs adapt once before the existing integrator. Controller math, deadman/E-STOP, timeouts, arbitration, hardware dispatch and custom-card raw-message semantics are preserved.
Parent: #4701. Message Encoding Refactor
Offline manual acceptance from this checkout with test dependencies:
DIMOS_TRANSPORT=lcm LCM_DEFAULT_URL=memq:// uv run pytest --noconftest --import-mode=importlib -o addopts='' -q dimos/control/tasks/teleop_ik_task/test_teleop_ik_task.py -k webxr_cdr_outputThe real WebXR output publisher encodes canonical poses/button states, local LCM memq and discovery-disabled loopback Zenoh deliver them to a registered coordinator task, and the existing IK task computes the same relative target and stops on deadman release. Only the numerical solver is mocked; no robot driver or XR server starts.
Validation: 59 source and 59 installed-wheel task tests; 146 existing routing/control/tick/blueprint regressions; strict typing across 7 production files; scoped configured hooks passed except unavailable Nix lint. Generated/local Cartesian, twist and gripper inputs preserve behavior, invalid gripper values remain rejected, and modifying a generated input after receipt cannot mutate the stored IK target. Wheel SHA256:
90efe9b9f29f036de2bce0208bde27c77a460b70fc44eb3b091f63672e10973c.Limits: numerical Pose/JointState/Pink helpers remain internal (legacy dependency retirement is open). This does not complete keyboard/hosted teleop, collection recorder, simulation or other remaining graph boundaries. Physical hardware and human XR acceptance are excluded; CI is configured but not polled.