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Shared whole-body transport, G1 DDS boundary and R1 upper-body ROS boundary now agree on generated
dimos_msgs/MotorCommandArray,sensor_msgs/JointStateandsensor_msgs/Imu. Their G1/GROOT/R1 blueprint pins use canonical CDR. Internal MotorCommand/MotorState math and the existingtransport_lcmregistry key stay unchanged.Parent: #4712. Message encoding refactor.
Generated command arrays no longer have the old constructor's cross-array length guarantee: G1 and R1 therefore reject an inconsistent length before touching the SDK. G1 soft-start/damping/gain behavior remains; G1's paired state/IMU use a shared exact stamp. R1 fused state keeps its oldest source segment in integer nanoseconds and retains the original zero/negative-driver-stamp arrival-time fallback. R1 tracking-speed and torso/arm ordering are preserved.
Manual offline acceptance from a configured checkout:
DIMOS_TRANSPORT=lcm LCM_DEFAULT_URL=memq:// uv run pytest --noconftest --import-mode=importlib -o addopts='' -q \ dimos/hardware/whole_body/transport/test_adapter.py \ dimos/robot/unitree/g1/test_wholebody_connection.py25 source +25 isolated installed-wheel checks, strict typing6 production files, applicable hooks and wheel pass; Nix unavailable. Wheel SHA256
cefeb66b31545172d576595df3154865e9ec1e4a1f9c532c9df9db86065b568b.Graph tests use actual default-factory CDR transports, with per-channel ownership matching an in-process coordinator (distinct memq endpoints cannot communicate). Both LCM memq and discovery-disabled loopback Zenoh exercise adapter caches, state/IMU field values, canonical commands to a fake DDS endpoint, real R1 feedback fusion and generated commands to fake ROS publishers. All five array length gates run against initialized fake SDK state. Existing G1 damping/soft-start assertions remain. Actual blueprint imports resolve canonical map keys with project asset download explicitly forbidden.
CPU ONNX Runtime1.24.1 (repository lock version) was installed only into task-private test environments to import the shipped GROOT blueprint; no weights/inference/training. No DDS/ROS node, robot or hardware operation ran. Actual ROS still needs rclpy and matching compiled ROS packages; #4712 documents that boundary. Remaining R1 sensor planes, generic simulation/viewer, collection/native-worker/other graphs, fixtures, Gate B dependency retirement and final ancestry/PR organization remain open. No CI polling or benchmark work.