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G1 command, simulator sensor and live mount-TF ports now use generated CDR values, retaining the existing driver/simulator numerical interfaces behind explicit adapters. G1 and Go2 share the moved Unitree cloud/camera conversion code; supported point fields and image encodings remain intact.
Parent: #4710. Message encoding refactor.
Internal mount/waist math is unchanged. Each published mount set receives one integer-nanosecond wall stamp; simulated source timestamps remain source timestamps, including zero. Existing G1 rich
move()callers still work; generated commands are converted only before the driver call. Whole-body motor/IMU graphs are a separate remaining layer, not claimed complete here.Offline manual acceptance from a configured checkout:
DIMOS_TRANSPORT=lcm LCM_DEFAULT_URL=memq:// uv run pytest --noconftest --import-mode=importlib -o addopts='' -q \ dimos/robot/unitree/g1/test_cdr_boundaries.py \ dimos/robot/unitree/g1/test_g1_tf_publisher.py \ dimos/robot/unitree/go2/test_connection.py dimos/robot/unitree/test_mujoco_connection.py36 source +36 isolated installed-wheel tests pass; strict typing5 production files, applicable hooks and wheel pass (Nix unavailable). Wheel SHA256
b21f75625e95a97eb93f560935ce5f38c42dfb234a816ec99bbb21b3825f7483.Real local CDR transport runs on memq and discovery-disabled loopback Zenoh. Actual G1 modules consume fake simulator Subjects and produce generated odometry/TF/RGB images/colored clouds/calibration, and accept canonical drive to a mocked driver. The live TF publication loop retains the URDF geometric assertions and exact epoch+1ns metadata. Existing Go2 fidelity and MuJoCo shared-memory/process-cleanup regressions pass. Only external SDK/simulator/process boundaries are mocked; no actual simulator launch, SDK network/hardware, performance or human acceptance is claimed. MuJoCo3.10.0 was installed only into task-private test environments from official PyPI, matching the existing preserved environment and repository extra.
No CI polling or benchmark investigation. Remaining motor/collection/native-worker/other robot-simulation graph closures, fixtures, Gate B dependency retirement and final ancestry/PR organization remain open.