[mustafab0]

Stacks on #4789

Why do we need this?

The operator needs a stop that halts a running move at once and stays visible, and a clear choice of how to end the hold.

What is this feature?

E-stop, Take over and Resume on the operator page.

OperatorHoldCoordinator takes operator_estop, a Bool (true stops, false clears; the page sends a bare JSON true or false through the built-in bool.json.v1 decoder), and publishes operator_estop_status, an OperatorEstopStatus (estopped, stamp in unix seconds). Stop latches E-STOP, requests a failsafe hold and cancels the trajectory; clear leaves the hold on. The blueprint declares both channels (the e-stop status paced). The page adds E-STOP, Clear e-stop, an E-STOP ACTIVE line, and Take over / Resume, which both acknowledge the hold with an intent of "takeover" or "resume".

How to manually run this

dimos run hybrid-teleop-sim --serve-dir web/hybrid-teleop, then open http://localhost:7780.

While the arm is moving, click E-STOP: the arm stops and E-STOP ACTIVE shows. Click Clear e-stop: the hold stays on. Click Resume: the hold ends.

Tested: coordinator unit tests. Headless sim with a scripted browser: idle → E-STOP during a move → clear → resume; the arm stops within about 0.3 s.

Which issue(s) does this PR close?

None.

Checklist

• I have read and approved the CLA.

[github-actions]

go2 replay realtime (arm64)

Details

Benchmark suite	Current: 7edb281	Previous: f9c5a5c	Ratio
peak memory	1774.52 MB	1795.23 MB	0.99
peak threads	359 threads	366 threads	0.98
network (transport)	2731.023 MB	2730.945 MB	1.00
disk write	1.5 MB	1.723 MB	0.87
instructions	137.827 G	137.801 G	1.00

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

[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
7365	1	7364	64

View the top 1 failed test(s) by shortest run time

dimos.e2e_tests.test_dimsim_spatial_memory::test_go_to_the_bed

Stack Traces | 273s run time

lcm_spy = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x728f84544a10>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x728f847ad4e0>
wait_for_system_ready = <function wait_for_system_ready.<locals>.wait at 0x728f847ad580>
human_input = <function human_input.<locals>.send_human_input at 0x728f847ad6c0>
dim_sim = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x7290f637f470>
explore_house = <function explore_house.<locals>.explore at 0x728f847adee0>

    @pytest.mark.self_hosted_large
    def test_go_to_the_bed(
        lcm_spy, start_blueprint, wait_for_system_ready, human_input, dim_sim, explore_house
    ) -> None:
        start_blueprint(
            "run",
            "unitree-go2-agentic",
            simulator="dimsim",
        )
        wait_for_system_ready(timeout=300.0)
    
        explore_house()
    
        human_input("go to the bed")
    
>       lcm_spy.wait_until_odom_position(-3.567, -1.332, threshold=2, timeout=180)

dim_sim    = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x7290f637f470>
explore_house = <function explore_house.<locals>.explore at 0x728f847adee0>
human_input = <function human_input.<locals>.send_human_input at 0x728f847ad6c0>
lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x728f84544a10>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x728f847ad4e0>
wait_for_system_ready = <function wait_for_system_ready.<locals>.wait at 0x728f847ad580>

dimos/e2e_tests/test_dimsim_spatial_memory.py:33: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/e2e_tests/lcm_spy.py:143: in wait_until_odom_position
    self.wait_for_message_result(
        predicate  = <function LcmSpy.wait_until_odom_position.<locals>.predicate at 0x728fad30c220>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x728f84544a10>
        threshold  = 2
        timeout    = 180
        x          = -3.567
        y          = -1.332
dimos/e2e_tests/lcm_spy.py:129: in wait_for_message_result
    wait_until(
        event      = <threading.Event at 0x728fad0d2810: unset>
        fail_message = 'Failed to get to position x=-3.567, y=-1.332'
        listener   = <function LcmSpy.wait_for_message_result.<locals>.listener at 0x728fac0fb240>
        predicate  = <function LcmSpy.wait_until_odom_position.<locals>.predicate at 0x728fad30c220>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x728f84544a10>
        timeout    = 180
        topic      = '/odom#geometry_msgs.PoseStamped'
        type       = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

predicate = <bound method Event.is_set of <threading.Event at 0x728fad0d2810: unset>>

    def wait_until(
        predicate: Callable[[], bool],
        *,
        timeout: float,
        interval: float = 0.1,
        message: str | None = None,
    ) -> None:
        """Poll ``predicate`` until it returns truthy or ``timeout`` elapses."""
        deadline = time.monotonic() + timeout
        while time.monotonic() < deadline:
            if predicate():
                return
            time.sleep(interval)
>       raise TimeoutError(message or f"Timed out after {timeout}s waiting for condition")
E       TimeoutError: Failed to get to position x=-3.567, y=-1.332

deadline   = 9269744.940725291
interval   = 0.1
message    = 'Failed to get to position x=-3.567, y=-1.332'
predicate  = <bound method Event.is_set of <threading.Event at 0x728fad0d2810: unset>>
timeout    = 180

.../utils/testing/waiting.py:35: TimeoutError

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