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Hosted Go2 now consumes generated
TwistStampedin the existing framed command plane, publishes canonicalTwistthrough the existing local drive chain, and publishes canonical navigationPoseStamped/ stopBool. Both hosted Go2 blueprints select CDR transports for generated local commands and the second camera. The minimap accepts canonical occupancy/odometry and keeps its PNG/JSON display protocol.Parent: #4708. Message encoding refactor.
Drive guards retain stale/future/reorder handling, E-STOP, finite/clamped velocities, existing NumPy zero tolerance, idle suppression, and moving-to-zero release. Integer-nanosecond ordering now distinguishes epoch stamps one nanosecond apart. Clamping copies the input. Internal driver math remains behind the explicit SDK adapter; this does not retire the legacy numerical dependency.
Manual offline acceptance from the configured checkout:
DIMOS_TRANSPORT=lcm LCM_DEFAULT_URL=memq:// uv run pytest --noconftest --import-mode=importlib -o addopts='' -q \ dimos/teleop/hosted/test_go2_command.py dimos/teleop/hosted/test_map_compress.pyThe graph test feeds real CDR data frames through WebRTCTransport -> actual Go2 command guard -> real local CDR (LCM memq and discovery-disabled loopback Zenoh) -> MovementManager -> GO2 driver adapter. Only the external provider and driver are mocked. It asserts clamp values, untouched source, exact nanosecond ordering, release zero and idle suppression. Existing sport/ack/nonce/E-STOP/operator-loss and PNG palette/coarsening/throttling/size assertions remain. Fixtures construct real modules and own cleanup.
56 focused source +112 installed-wheel/neighbor tests pass; strict typing3 production files, applicable hooks and main wheel pass. Nix unavailable. Wheel SHA256
f3865d8e2f53dcd884288a6c935a7b326ba982192a202e5d88a2acb9f4c5241d. Hosted stats/recorder, other robot/simulation closures, dependency retirement and final ancestry organization remain open. No CI polling, benchmarks, signaling or hardware acceptance claimed.