dimensionalOS / dimensionalOS/dimos
Stale Unitree movement watchdog can stop a newer command
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- Dominant language
- Python
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Description
#2977 moved the zero-twist publish onto the WebRTC event loop, fixing the cross-thread send.
the watchdog itself still runs in a threading.Timer. canceling the timer cannot stop a callback that has already started, so an expired watchdog from the previous move can enqueue zero after a newer command and stop it.
#2643 moves the timer onto the connection loop as part of the broader Unitree connection refactor. if that lands, this case should be covered there. current main still needs the same ordering guarantee.
movement publish, watchdog re-arm/cancel and expiry should share the connection loop. a stale expiry should not affect a newer command.
add a regression test where the first watchdog fires after a replacement command and must not publish zero.
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Locate the Unitree movement publisher, its threading.Timer watchdog, and the WebRTC connection event loop. Trace movement publish, watchdog re-arm/cancel, and expiry handling, then run the existing related tests. Done means a regression test shows that a stale first watchdog after a replacement command does not publish zero or stop the newer command.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- python
- Domain
- robotics
- Issue type
- Bug
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Active
- Clarity
- Mostly clear
- Newbie friendliness
- 55/100