Feat/webrtc transport with Sam config merged on top

[spomichter]

Problem

Closes DIM-XXX

Solution

How to Test

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[codecov]

❌ 4 Tests Failed:

Tests completed	Failed	Passed	Skipped
1989	4	1985	159

View the top 3 failed test(s) by shortest run time

dimos.protocol.pubsub.impl.webrtc.test_transport::test_transport_overrides_coerce_string_values

Stack Traces | 0.001s run time

def test_transport_overrides_coerce_string_values() -> None:
        """CLI/env overrides arrive as raw strings; non-str fields must coerce, not pass through."""
        bp = Blueprint(blueprints=()).transports({("topic", FakeLCMMsg): MockTransport("topic")})
>       new_bp = _apply_transport_overrides(bp, {"mock": {"count": "5"}})
E       NameError: name '_apply_transport_overrides' is not defined

bp         = Blueprint(blueprints=(), disabled_modules_tuple=(), transport_map=mappingproxy({('topic', <class 'dimos.protocol.pubsu...lobal_config_overrides=mappingproxy({}), remapping_map=mappingproxy({}), requirement_checks=(), configurator_checks=())

.../impl/webrtc/test_transport.py:280: NameError

dimos.robot.test_all_blueprints::test_blueprint_is_valid[unitree-go2-keyboard-teleop]

Stack Traces | 0.003s run time

blueprint_name = 'unitree-go2-keyboard-teleop'

    @pytest.mark.parametrize("blueprint_name", UBUNTU_BLUEPRINTS)
    def test_blueprint_is_valid(blueprint_name: str) -> None:
        """Validate blueprints that should import on the ubuntu-latest runner."""
>       _check_blueprint(blueprint_name)

blueprint_name = 'unitree-go2-keyboard-teleop'

dimos/robot/test_all_blueprints.py:104: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/test_all_blueprints.py:80: in _check_blueprint
    blueprint = get_blueprint_by_name(blueprint_name)
        blueprint_name = 'unitree-go2-keyboard-teleop'
        message    = "name 'Twist' is not defined"
dimos/robot/get_all_blueprints.py:47: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'unitree_go2_keyboard_teleop'
        module_path = 'dimos.robot.unitree.go2.blueprints.basic.unitree_go2_keyboard_teleop'
        name       = 'unitree-go2-keyboard-teleop'
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    #!.../usr/bin/env python3
    # Copyright 2025-2026 Dimensional Inc.
    #
    # Licensed under the Apache License, Version 2.0 (the "License");
    # you may not use this file except in compliance with the License.
    # You may obtain a copy of the License at
    #
    #     http://www.apache.org/licenses/LICENSE-2.0
    #
    # Unless required by applicable law or agreed to in writing, software
    # distributed under the License is distributed on an "AS IS" BASIS,
    # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    # See the License for the specific language governing permissions and
    # limitations under the License.
    
    """Unitree Go2 keyboard teleop via ControlCoordinator (DDS/SDK2 path).
    
    WASD keys -> Twist -> coordinator twist_command -> UnitreeGo2TwistAdapter (DDS).
    
    Usage:
        dimos run unitree-go2-keyboard-teleop
    """
    
    from __future__ import annotations
    
    from dimos.control.components import HardwareComponent, HardwareType, make_twist_base_joints
    from dimos.control.coordinator import ControlCoordinator, TaskConfig
    from dimos.core.coordination.blueprints import autoconnect
    from dimos.robot.unitree.keyboard_teleop import KeyboardTeleop
    
    _go2_joints = make_twist_base_joints("go2")
    
    unitree_go2_keyboard_teleop = (
        autoconnect(
            ControlCoordinator.blueprint(
                hardware=[
                    HardwareComponent(
                        hardware_id="go2",
                        hardware_type=HardwareType.BASE,
                        joints=_go2_joints,
                        adapter_type="unitree_go2",
                        adapter_kwargs={"rage_mode": False},
                    ),
                ],
                tasks=[
                    TaskConfig(
                        name="vel_go2",
                        type="velocity",
                        joint_names=_go2_joints,
                        priority=10,
                    ),
                ],
            ),
            KeyboardTeleop.blueprint(),
        )
        .transports(
            {
>               ("twist_command", Twist): LCMTransport.spec("/cmd_vel", Twist),
                ("joint_state", JointState): LCMTransport.spec("/coordinator/joint_state", JointState),
            }
        )
        .remappings([(ControlCoordinator, "twist_command", "cmd_vel")])
        .global_config(obstacle_avoidance=True)
    )
E   NameError: name 'Twist' is not defined

ControlCoordinator = <class 'dimos.control.coordinator.ControlCoordinator'>
HardwareComponent = <class 'dimos.control.components.HardwareComponent'>
HardwareType = <enum 'HardwareType'>
KeyboardTeleop = <class 'dimos.robot.unitree.keyboard_teleop.KeyboardTeleop'>
TaskConfig = <class 'dimos.control.coordinator.TaskConfig'>
__builtins__ = <builtins>
__cached__ = '.../basic/__pycache__/unitree_go2_keyboard_teleop.cpython-312.pyc'
__doc__    = 'Unitree Go2 keyboard teleop via ControlCoordinator (DDS/SDK2 path).\n\nWASD keys -> Twist -> coordinator twist_command -> UnitreeGo2TwistAdapter (DDS).\n\nUsage:\n    dimos run unitree-go2-keyboard-teleop\n'
__file__   = '.../blueprints/basic/unitree_go2_keyboard_teleop.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xffeae6a37a70>
__name__   = 'dimos.robot.unitree.go2.blueprints.basic.unitree_go2_keyboard_teleop'
__package__ = 'dimos.robot.unitree.go2.blueprints.basic'
__spec__   = ModuleSpec(name='dimos.robot.unitree.go2.blueprints.basic.unitree_go2_keyboard_teleop', loader=<_frozen_importlib_exte...37a70>, origin='.../blueprints/basic/unitree_go2_keyboard_teleop.py')
_go2_joints = ['go2/vx', 'go2/vy', 'go2/wz']
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
autoconnect = <function autoconnect at 0xffec54cf0c20>
make_twist_base_joints = <function make_twist_base_joints at 0xffeb38630e00>

.../blueprints/basic/unitree_go2_keyboard_teleop.py:58: NameError

dimos.core.test_mcp_integration.TestMCPErrorHandling::test_cli_call_tool_wrong_arg_format

Stack Traces | 0.024s run time

self = <dimos.core.test_mcp_integration.TestMCPErrorHandling object at 0xffeb30c0e7e0>
mcp_shared = <dimos.core.coordination.module_coordinator.ModuleCoordinator object at 0xffeae4fc3770>

    def test_cli_call_tool_wrong_arg_format(self, mcp_shared: ModuleCoordinator) -> None:
        """dimos mcp call with bad --arg format should error."""
        result = CliRunner().invoke(main, ["mcp", "call", "echo", "--arg", "no_equals_sign"])
>       assert result.exit_code == 2  # click ParamType validation error
E       AssertionError: assert 1 == 2
E        +  where 1 = <Result BadParameter('expected KEY=VALUE, got: no_equals_sign')>.exit_code

mcp_shared = <dimos.core.coordination.module_coordinator.ModuleCoordinator object at 0xffeae4fc3770>
result     = <Result BadParameter('expected KEY=VALUE, got: no_equals_sign')>
self       = <dimos.core.test_mcp_integration.TestMCPErrorHandling object at 0xffeb30c0e7e0>

dimos/core/test_mcp_integration.py:274: AssertionError

dimos.codebase_checks.test_no_all::test_no_all

Stack Traces | 4.74s run time

def test_no_all():
        """Fail if any file defines `__all__`."""
        dimos_dir = DIMOS_PROJECT_ROOT / "dimos"
        hits = find_all_definitions()
        if hits:
            listing = "\n".join(f"  - {p.relative_to(dimos_dir)}:{lineno}" for p, lineno in hits)
>           raise AssertionError(
                f"Found __all__ definition(s) in dimos/:\n{listing}\n\n"
                "__all__ is not allowed. We don't use `from x import *`, so __all__ "
                "lists serve no purpose and are tedious to maintain. Remove them. For "
                "an import that exists purely to be re-exported, use `# noqa: F401`."
            )
E           AssertionError: Found __all__ definition(s) in dimos/:
E             - .../webrtc/providers/broker.py:382
E             - .../webrtc/providers/cloudflare.py:323
E             - .../webrtc/providers/spec.py:211
E             - .../impl/webrtc/webrtcpubsub.py:115
E           
E           __all__ is not allowed. We don't use `from x import *`, so __all__ lists serve no purpose and are tedious to maintain. Remove them. For an import that exists purely to be re-exported, use `# noqa: F401`.

dimos_dir  = PosixPath('.../dimos/dimos/dimos')
hits       = [(PosixPath('.../dimos/dimos/dimos/.../webrtc/providers/broker.py'), 382), (PosixPath('...s/spec.py'), 211), (PosixPath('.../dimos/dimos/dimos/.../impl/webrtc/webrtcpubsub.py'), 115)]
listing    = '  - .../webrtc/providers/broker.py:382\n  - .../webrtc/providers/cloudflare.py:323\n  - .../webrtc/providers/spec.py:211\n  - .../impl/webrtc/webrtcpubsub.py:115'

dimos/codebase_checks/test_no_all.py:51: AssertionError

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[paul-nechifor]

You have added just two packages, but uv.lock has thousands of lines different.

I think you should reset uv.lock to main, and run uv lock again. I assume you must have upgraded all the packages producing such a large change.