Go2 Speed vs Precision testing

[mustafab0]

Problem

Tuning the Go2 base controller was guesswork: the FOPDT plant fit and feedforward gains were hand-vendored, with no single artifact telling an operator "for tolerance X cm, run at speed Y."

Issue: #921

---

Solution

Two CLI tools producing one versioned config artifact. go2_characterization runs a space-cheap velocity-step system-ID, fits FOPDT per axis (vx/vy/wz), and derives feedforward + a curvature velocity profile; go2_benchmark sweeps the hardcoded baseline controller across a speed ladder and writes back the operating-point map + tolerance→max-safe-speed inversion. One SI harness, sim vs hardware is just which plant the steps drive. Carries only the minimal verified dependency closure from the R&D branch (R&D archived off-repo).

---

Breaking Changes

None

---

How to Test

1. uv run pytest dimos/utils/benchmarking/test_tuning.py -q → 16 pass.
2. uv run python -m dimos.utils.benchmarking.characterization --mode self-test → artifact, valid_for_tuning=false.
3. uv run python -m dimos.utils.benchmarking.benchmark --config <self-test artifact> --mode sim --speeds 0.5 → sim pre-check map.
4. Run dimos run unitree-go2-webrtc-keyboard-teleop to position robot before each test

[codecov]

❌ 2 Tests Failed:

Tests completed	Failed	Passed	Skipped
1842	2	1840	28

View the top 2 failed test(s) by shortest run time

dimos.robot.test_all_blueprints::test_blueprint_is_valid[coordinator-sim-fopdt]

Stack Traces | 0.169s run time

blueprint_name = 'coordinator-sim-fopdt'

    @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 = 'coordinator-sim-fopdt'

dimos/robot/test_all_blueprints.py:99: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/test_all_blueprints.py:75: in _check_blueprint
    blueprint = get_blueprint_by_name(blueprint_name)
        blueprint_name = 'coordinator-sim-fopdt'
        message    = 'Missing required tools: git-lfs.\n\nGit LFS installation instructions: https://git-lfs.github.io/'
dimos/robot/get_all_blueprints.py:47: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'coordinator_sim_fopdt'
        module_path = 'dimos.control.blueprints.mobile'
        name       = 'coordinator-sim-fopdt'
.../control/blueprints/mobile.py:186: in <module>
    "paths_dir": str(G1_LOCAL_PLANNER_PRECOMPUTED_PATHS),
        ControlCoordinator = <class 'dimos.control.coordinator.ControlCoordinator'>
        FastLio2   = <class 'dimos.hardware.sensors.lidar.fastlio2.module.FastLio2'>
        FopdtPlantConnection = <class 'dimos.robot.sim.fopdt_plant_connection.FopdtPlantConnection'>
        G1_LOCAL_PLANNER_PRECOMPUTED_PATHS = <[RuntimeError('Missing required tools: git-lfs.\n\nGit LFS installation instructions: https://git-lfs.github.io/') raised in repr()] LfsPath object at 0x7f7ebada42d0>
        HardwareComponent = <class 'dimos.control.components.HardwareComponent'>
        HardwareType = <enum 'HardwareType'>
        JointState = <class 'dimos.msgs.sensor_msgs.JointState.JointState'>
        KeyboardTeleop = <class 'dimos.robot.unitree.keyboard_teleop.KeyboardTeleop'>
        LCMTransport = <class 'dimos.core.transport.LCMTransport'>
        MovementManager = <class 'dimos.navigation.movement_manager.movement_manager.MovementManager'>
        Pose       = <class 'dimos.msgs.geometry_msgs.Pose.Pose'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        Quaternion = <class 'dimos.msgs.geometry_msgs.Quaternion.Quaternion'>
        RerunBridgeModule = <class 'dimos.visualization.rerun.bridge.RerunBridgeModule'>
        RerunWebSocketServer = <class 'dimos.visualization.rerun.websocket_server.RerunWebSocketServer'>
        TaskConfig = <class 'dimos.control.coordinator.TaskConfig'>
        Twist      = <class 'dimos.msgs.geometry_msgs.Twist.Twist'>
        Vector3    = <class 'dimos.msgs.geometry_msgs.Vector3.Vector3'>
        __builtins__ = <builtins>
        __cached__ = '.../blueprints/__pycache__/mobile.cpython-312.pyc'
        __doc__    = 'Mobile manipulation coordinator blueprints.\n\nUsage:\n    dimos run coordinator-mock-twist-base                # Moc...drive)\n    dimos run coordinator-sim-fopdt                      # FOPDT sim plant on /go2/cmd_vel|odom (Go2-shaped)\n'
        __file__   = '/home/runner/work/dimos/dimos/.../control/blueprints/mobile.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0x7f7eba6e35c0>
        __name__   = 'dimos.control.blueprints.mobile'
        __package__ = 'dimos.control.blueprints'
        __spec__   = ModuleSpec(name='dimos.control.blueprints.mobile', loader=<_frozen_importlib_external.SourceFileLoader object at 0x7f7eba6e35c0>, origin='/home/runner/work/dimos/dimos/.../control/blueprints/mobile.py')
        _base_joints = ['base/vx', 'base/vy', 'base/wz']
        _catalog_xarm7 = <function xarm7 at 0x7f7eba91f060>
        _flowbase_mid360_mount = Pose(position=Vector([        0.2        -0.2         0.1]), orientation=Quaternion(0.000000, 0.000000, 0.000000, 1.000000))
        _flowbase_twist_base = <function _flowbase_twist_base at 0x7f7ed4102c00>
        _mock_twist_base = <function _mock_twist_base at 0x7f7eb9b56980>
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0x7f7fcf5ff600>
        coordinator_flowbase = Blueprint(blueprints=(BlueprintAtom(kwargs={'hardware': [HardwareComponent(hardware_id='base', hardware_type=<Hardware...lobal_config_overrides=mappingproxy({}), remapping_map=mappingproxy({}), requirement_checks=(), configurator_checks=())
        coordinator_flowbase_keyboard_teleop = Blueprint(blueprints=(BlueprintAtom(kwargs={'hardware': [HardwareComponent(hardware_id='base', hardware_type=<Hardware...lobal_config_overrides=mappingproxy({}), remapping_map=mappingproxy({}), requirement_checks=(), configurator_checks=())
        coordinator_mock_twist_base = Blueprint(blueprints=(BlueprintAtom(kwargs={'hardware': [HardwareComponent(hardware_id='base', hardware_type=<Hardware...lobal_config_overrides=mappingproxy({}), remapping_map=mappingproxy({}), requirement_checks=(), configurator_checks=())
        create_nav_stack = <function create_nav_stack at 0x7f7ebace6e80>
        make_twist_base_joints = <function make_twist_base_joints at 0x7f7fd0935a80>
        nav_stack_rerun_config = <function nav_stack_rerun_config at 0x7f7ebac544a0>
        os         = <module 'os' (frozen)>
dimos/utils/data.py:324: in __str__
    return str(self._ensure_downloaded())
        self       = <[RuntimeError('Missing required tools: git-lfs.\n\nGit LFS installation instructions: https://git-lfs.github.io/') raised in repr()] LfsPath object at 0x7f7ebada42d0>
dimos/utils/data.py:302: in _ensure_downloaded
    cache = get_data(filename)
        cache      = None
        filename   = 'unitree_g1_local_planner_precomputed_paths'
        self       = <[RuntimeError('Missing required tools: git-lfs.\n\nGit LFS installation instructions: https://git-lfs.github.io/') raised in repr()] LfsPath object at 0x7f7ebada42d0>
dimos/utils/data.py:259: in get_data
    archive_path = _decompress_archive(_pull_lfs_archive(archive_name))
        archive_name = 'unitree_g1_local_planner_precomputed_paths'
        data_dir   = PosixPath('.../dimos/dimos/data')
        file_path  = PosixPath('.../dimos/dimos/data/unitree_g1_local_planner_precomputed_paths')
        name       = 'unitree_g1_local_planner_precomputed_paths'
        nested_path = None
        path_parts = ('unitree_g1_local_planner_precomputed_paths',)
dimos/utils/data.py:186: in _pull_lfs_archive
    _check_git_lfs_available()
        filename   = 'unitree_g1_local_planner_precomputed_paths'
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    def _check_git_lfs_available() -> bool:
        missing = []
    
        # Check if git is available
        try:
            subprocess.run(["git", "--version"], capture_output=True, check=True, text=True)
        except (subprocess.CalledProcessError, FileNotFoundError):
            missing.append("git")
    
        # Check if git-lfs is available
        try:
            subprocess.run(["git-lfs", "version"], capture_output=True, check=True, text=True)
        except (subprocess.CalledProcessError, FileNotFoundError):
            missing.append("git-lfs")
    
        if missing:
>           raise RuntimeError(
                f"Missing required tools: {', '.join(missing)}.\n\n"
                "Git LFS installation instructions: https://git-lfs.github.io/"
            )
E           RuntimeError: Missing required tools: git-lfs.
E           
E           Git LFS installation instructions: https://git-lfs.github.io/

missing    = ['git-lfs']

dimos/utils/data.py:135: RuntimeError

dimos.project.test_no_sections::test_no_section_markers

Stack Traces | 0.489s run time

def test_no_section_markers():
        """
        Fail if any file contains section-style comment markers.
    
        If a file is too complicated to be understood without sections, then the
        sections should be files. We don't need "subfiles".
        """
        violations = find_section_markers()
        if violations:
            report_lines = [
                f"Found {len(violations)} section marker(s). "
                "If a file is too complicated to be understood without sections, "
                'then the sections should be files. We don\'t need "subfiles".',
                "",
            ]
            for path, lineno, text in violations:
                report_lines.append(f"  {path}:{lineno}: {text.strip()}")
>           raise AssertionError("\n".join(report_lines))
E           AssertionError: Found 42 section marker(s). If a file is too complicated to be understood without sections, then the sections should be files. We don't need "subfiles".
E           
E             .../control/tasks/velocity_profiler.py:79: # ------------------------------------------------------------------
E             .../control/tasks/velocity_profiler.py:81: # ------------------------------------------------------------------
E             .../control/tasks/baseline_path_follower_task.py:137: # ------------------------------------------------------------------
E             .../control/tasks/baseline_path_follower_task.py:139: # ------------------------------------------------------------------
E             .../control/tasks/baseline_path_follower_task.py:213: # ------------------------------------------------------------------
E             .../control/tasks/baseline_path_follower_task.py:215: # ------------------------------------------------------------------
E             .../control/tasks/baseline_path_follower_task.py:289: # ------------------------------------------------------------------
E             .../control/tasks/baseline_path_follower_task.py:291: # ------------------------------------------------------------------
E             .../utils/characterization/trajectories.py:75: # ---------------------------------------------------------------------------
E             .../utils/characterization/trajectories.py:77: # ---------------------------------------------------------------------------
E             .../utils/characterization/trajectories.py:290: # ---------------------------------------------------------------------------
E             .../utils/characterization/trajectories.py:292: # ---------------------------------------------------------------------------
E             .../utils/characterization/trajectories.py:329: # ---------------------------------------------------------------------------
E             .../utils/characterization/trajectories.py:331: # ---------------------------------------------------------------------------
E             .../utils/characterization/trajectories.py:357: # ---------------------------------------------------------------------------
E             .../utils/benchmarking/test_tuning.py:50: # --- DERIVE ---------------------------------------------------------------
E             .../utils/benchmarking/test_tuning.py:137: # --- artifact round-trip --------------------------------------------------
E             .../utils/benchmarking/test_tuning.py:160: # --- tolerance -> max-safe-speed inversion --------------------------------
E             .../utils/benchmarking/plant.py:120: # --- Vendored fitted FOPDT plant for the Go2 base ------------------------
E             .../utils/benchmarking/plant.py:147: # --- Per-robot profile (single source of truth for robot specifics) -----
E             .../utils/benchmarking/characterization.py:105: # --- self-test (in-process FOPDT plant; NOT robot-valid) -----------------
E             .../utils/benchmarking/characterization.py:171: # --- fit-quality graph (the human-facing deliverable) -------------------
E             .../utils/benchmarking/characterization.py:217: # --- hardware SI (real robot over LCM, operator-gated, safe) -------------
E             .../utils/benchmarking/paths.py:78: # ---------------------------------------------------------------------------
E             .../utils/benchmarking/paths.py:80: # ---------------------------------------------------------------------------
E             .../utils/benchmarking/paths.py:190: # ---------------------------------------------------------------------------
E             .../utils/benchmarking/paths.py:192: # ---------------------------------------------------------------------------
E             .../utils/benchmarking/paths.py:284: # ---------------------------------------------------------------------------
E             .../utils/benchmarking/paths.py:286: # ---------------------------------------------------------------------------
E             .../utils/benchmarking/scoring.py:82: # ---------------------------------------------------------------------------
E             .../utils/benchmarking/scoring.py:84: # ---------------------------------------------------------------------------
E             .../utils/benchmarking/scoring.py:129: # ---------------------------------------------------------------------------
E             .../utils/benchmarking/scoring.py:131: # ---------------------------------------------------------------------------
E             .../utils/benchmarking/scoring.py:199: # ---------------------------------------------------------------------------
E             .../utils/benchmarking/scoring.py:201: # ---------------------------------------------------------------------------
E             .../utils/benchmarking/benchmark.py:342: # --- benchmark ----------------------------------------------------------
E             .../utils/benchmarking/tuning.py:53: # --- DERIVE tunable constants (documented; single source of truth) -------
E             .../utils/benchmarking/tuning.py:86: # --- Artifact schema -----------------------------------------------------
E             .../utils/benchmarking/tuning.py:214: # --- serialization ---
E             .../utils/benchmarking/tuning.py:264: # --- helpers -------------------------------------------------------------
E             .../utils/benchmarking/tuning.py:313: # --- DERIVE: pure model -> config ---------------------------------------
E             .../utils/benchmarking/tuning.py:398: # --- tolerance -> max-safe-speed inversion (pure) ------------------------

lineno     = 398
path       = '.../utils/benchmarking/tuning.py'
report_lines = ['Found 42 section marker(s). If a file is too complicated to be understood without sections, then the sections should...l/tasks/baseline_path_follower_task.py:139: # ------------------------------------------------------------------', ...]
text       = '# --- tolerance -> max-safe-speed inversion (pure) ------------------------'
violations = [('.../control/tasks/velocity_profiler.py', 79, '    # -------------------------------------------------------------...baseline_path_follower_task.py', 215, '    # ------------------------------------------------------------------'), ...]

dimos/project/test_no_sections.py:145: AssertionError

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