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Lesh/go2 mls rpp#2742

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leshy wants to merge 16 commits into
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lesh/go2-mls-rpp
Draft

Lesh/go2 mls rpp#2742
leshy wants to merge 16 commits into
mainfrom
lesh/go2-mls-rpp

feat(go2): unitree-go2-mls-rpp — MLS nav stack driving the RPP follower

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Codecov / codecov/project succeeded Jul 6, 2026 in 1s

72.25% (+1.25%) compared to a684862

View this Pull Request on Codecov

72.25% (+1.25%) compared to a684862

Details

Codecov Report

❌ Patch coverage is 76.59853% with 1431 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines Patch % Lines
dimos/simulation/engines/mujoco_engine.py 23.77% 180 Missing and 6 partials ⚠️
dimos/simulation/engines/mujoco_sim_module.py 26.87% 111 Missing and 6 partials ⚠️
dimos/utils/benchmarking/score.py 38.96% 88 Missing and 6 partials ⚠️
...rol/tasks/path_follower_task/path_follower_task.py 69.04% 69 Missing and 22 partials ⚠️
...imos/manipulation/planning/world/roboplan_world.py 74.92% 58 Missing and 31 partials ⚠️
dimos/utils/benchmarking/benchmark.py 68.72% 79 Missing and 2 partials ⚠️
dimos/simulation/scene_assets/spec.py 68.33% 50 Missing and 26 partials ⚠️
dimos/utils/benchmarking/paths.py 65.67% 68 Missing and 1 partial ⚠️
dimos/simulation/engines/test_mujoco_sim_module.py 58.64% 65 Missing and 2 partials ⚠️
dimos/navigation/dannav/holonomic_tc/module.py 83.95% 46 Missing and 19 partials ⚠️
... and 45 more 
@@            Coverage Diff             @@
##             main    #2742      +/-   ##
==========================================
+ Coverage   70.99%   72.25%   +1.25%     
==========================================
  Files         892      940      +48     
  Lines       79237    87243    +8006     
  Branches     7077     8148    +1071     
==========================================
+ Hits        56258    63035    +6777     
- Misses      21139    22091     +952     
- Partials     1840     2117     +277
Files with missing lines Coverage Δ
dimos/conftest.py 82.48% <ø> (+2.66%) ⬆️
dimos/control/blueprints/mobile.py 100.00% <ø> (ø)
...ontrol/tasks/eef_twist_task/test_eef_twist_task.py 100.00% <100.00%> (ø)
...imos/control/tasks/feedforward_gain_compensator.py 100.00% <100.00%> (ø)
.../tasks/g1_groot_wbc_task/test_g1_groot_wbc_task.py 100.00% <100.00%> (ø)
dimos/control/test_coordinator_ports.py 100.00% <100.00%> (ø)
dimos/core/global_config.py 83.33% <100.00%> (+1.90%) ⬆️
dimos/hardware/sensors/lidar/fastlio2/module.py 89.15% <100.00%> (-0.13%) ⬇️
dimos/hardware/sensors/lidar/pointlio/module.py 91.96% <100.00%> (+11.14%) ⬆️
dimos/learning/collection/test_episode_monitor.py 98.87% <100.00%> (ø)
... and 120 more

... and 65 files with indirect coverage changes

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