[mustafab0]

feat(control): hybrid-teleop-sim, an xArm7 sim an operator can hold and e-stop from a Desktop app

Changes

• OperatorHoldCoordinator (in the blueprint file): operator_estop RPC, two status outputs, hold task status.
• Blueprint: operator_hold_task() added; MuJoCo cloud on and renamed to scene_pointcloud; distance_threshold=0.05 on ObjectSceneRegistration (objects on the table are 10-17 cm apart); UrdfManager added.
• The operator hold task and its registry are unchanged from main.
• all_blueprints.py regenerated; gateway annotation and self-hosted blueprint list entries.

Tests

• test_hybrid_teleop_sim.py: e-stop order (set_estop, failsafe hold, cancel_trajectory), a failed step does not skip the rest, clear keeps the hold, Bool on both status streams, start sends the e-stop state.
• dimos/control/test_operator_hold.py and test_operator_hold_task.py unchanged and passing.

[github-actions]

go2 replay realtime (arm64)

Details

Benchmark suite	Current: 7c002e0	Previous: d79ab4d	Ratio
peak memory	1719.316 MB	1729.973 MB	0.99
peak threads	373 threads	374 threads	1.00
network (transport)	2725.793 MB	2736.274 MB	1.00
disk write	1.707 MB	1.688 MB	1.01
instructions	136.478 G	137.869 G	0.99

This comment was automatically generated by workflow using github-action-benchmark.

[codecov]

Codecov Report

❌ Patch coverage is 99.07407% with 2 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
.../manipulators/xarm/blueprints/hybrid_teleop_sim.py	95.74%	2 Missing ⚠️

@@            Coverage Diff             @@
##             main    #4788      +/-   ##
==========================================
- Coverage   83.15%   82.92%   -0.23%     
==========================================
  Files        1743     1745       +2     
  Lines      167633   167848     +215     
  Branches    13868    13872       +4     
==========================================
- Hits       139393   139190     -203     
- Misses      24485    24886     +401     
- Partials     3755     3772      +17     

Components	Coverage Δ
Tests	96.54% <100.00%> (-0.60%)	⬇️

Flag	Coverage Δ
OS-macos-latest	77.31% <99.07%> (+0.03%)	⬆️
OS-ubuntu-24.04-arm	77.09% <99.07%> (+0.02%)	⬆️
OS-ubuntu-latest	77.46% <99.07%> (+0.03%)	⬆️
Py-3.10	77.46% <99.07%> (+0.02%)	⬆️
Py-3.11	77.44% <99.07%> (+0.04%)	⬆️
Py-3.12	77.46% <99.07%> (+0.03%)	⬆️
SelfHosted-Linux	40.35% <32.87%> (-0.23%)	⬇️
SelfHosted-macOS	40.08% <32.87%> (-0.77%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...rol/tasks/operator_hold_task/operator_hold_task.py	98.02% <100.00%> (+2.47%)	⬆️
...asks/operator_hold_task/test_operator_hold_task.py	100.00% <100.00%> (ø)
dimos/control/test_operator_hold.py	99.48% <100.00%> (+0.07%)	⬆️
dimos/robot/all_blueprints.py	100.00% <ø> (ø)
...pulators/xarm/blueprints/test_hybrid_teleop_sim.py	100.00% <100.00%> (ø)
dimos/robot/test_all_blueprints.py	100.00% <ø> (ø)
.../manipulators/xarm/blueprints/hybrid_teleop_sim.py	95.74% <95.74%> (ø)

... and 35 files with indirect coverage changes

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[greptile-apps]

Confidence Score: 5/5

[Medium impact] No blocking issues found in the hold-stream implementation; browser use depends on PR #4789.

Summary

Adds hold commands and status streams through OperatorHoldCoordinator, plus the hybrid-teleop-sim blueprint.

• Operator hold commands and status now travel through coordinator streams.
• A simulated xArm pick-and-place stack includes operator hold.

No blocking issues found. Full simulator startup and physical hardware operation were not exercised.

_{Reviews (1) · Last reviewed commit: "feat(control): operator hold over stream..." · Reviewed by Greptile}

[TomCC7]

whathappend to this stack lol

[mustafab0]

@TomCC7 the following 4 PRs were me adding features on websdk using streams, since RPC is not supported on the websdk.

But then moved to using the dimos gateway for teleop. and the remaining 4 are not relevant anymore.