[aromeoes]

What is this feature?

KeyboardTeleopModule now works on macOS.

• X11 is forced only on Linux.
• On macOS, the existing _pygame_loop runs unchanged in a child process: the module re-runs itself with python -m, and publishes the twist / gripper lines that process prints.
• Linux keeps the original thread, unchanged.

Why do we need this?

On macOS the module failed in two ways:

1. It forced SDL's X11 driver, which macOS doesn't have (x11 not available).
2. It opened its pygame window from a worker thread. Cocoa only allows windows on a process's main thread, so the worker died with an NSException.

As a result, every arm keyboard-teleop-* blueprint was unusable on Mac.

How to Test

On macOS:

dimos run keyboard-teleop-xarm7

Uses mock hardware. Click the Keyboard Teleop window and hold W/A/S/D/Q/E; the arm moves in Viser (http://127.0.0.1:8095) and stops on release.

Checklist

• I have read and approved the CLA.

[github-actions]

go2 replay realtime (arm64)

Details

Benchmark suite	Current: b16b012	Previous: 1505f35	Ratio
peak memory	1735.781 MB	1735.602 MB	1.00
peak threads	374 threads	372 threads	1.01
network (transport)	2728.404 MB	2728.511 MB	1.00
disk write	1.742 MB	1.898 MB	0.92
instructions	138.085 G	136.483 G	1.01

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

[greptile-apps]

Confidence Score: 4/5

[Medium impact] The change reaches macOS users of a shared keyboard teleop feature.

The subprocess-cleanup requirement must be satisfied before merging. The separate regression-test gap is non-blocking.

Findings

1.  Stopped children keep resources ▶
2.  Mac controls lack regression tests ▶

Summary

Moves the macOS keyboard window into a child process so pygame runs on its main thread.

• macOS keyboard teleop opens its window in a child process.

_{Reviews (1) · Last reviewed commit: "fix(teleop): run the keyboard teleop win..." · Reviewed by Greptile}

[codecov]

Codecov Report

❌ Patch coverage is 36.36364% with 21 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/teleop/keyboard/keyboard_teleop_module.py	36.36%	19 Missing and 2 partials ⚠️

@@            Coverage Diff             @@
##             main    #4950      +/-   ##
==========================================
- Coverage   83.15%   82.90%   -0.26%     
==========================================
  Files        1743     1743              
  Lines      167653   167684      +31     
  Branches    13870    13877       +7     
==========================================
- Hits       139418   139014     -404     
- Misses      24485    24905     +420     
- Partials     3750     3765      +15     

Components	Coverage Δ
Tests	96.54% <ø> (-0.61%)	⬇️

Flag	Coverage Δ
OS-macos-latest	77.26% <30.30%> (+<0.01%)	⬆️
OS-ubuntu-24.04-arm	77.05% <33.33%> (-0.01%)	⬇️
OS-ubuntu-latest	77.43% <33.33%> (-0.01%)	⬇️
Py-3.10	77.42% <33.33%> (-0.01%)	⬇️
Py-3.11	77.41% <33.33%> (?)
Py-3.12	77.42% <33.33%> (-0.01%)	⬇️
SelfHosted-Linux	40.36% <33.33%> (-0.22%)	⬇️
SelfHosted-macOS	40.08% <30.30%> (-0.77%)	⬇️

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

Files with missing lines	Coverage Δ
dimos/teleop/keyboard/keyboard_teleop_module.py	58.75% <36.36%> (+6.03%)	⬆️

... and 34 files with indirect coverage changes

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[mustafab0]

🙏
@aromeoes