feat: blueprint namespaces#2725
Open
paul-nechifor wants to merge 3 commits into
Open
Conversation
paul-nechifor
requested review from
leshy,
mustafab0 and
spomichter
as code owners
Contributor
|
Preview deployment for your docs. Learn more about Mintlify Previews.
|
Contributor
Greptile SummaryThis PR adds blueprint namespaces for running multiple module instances together. The main changes are:
Confidence Score: 4/5This is close, but these issues should be fixed before merging.
dimos/porcelain/remote_module_source.py; dimos/robot/unitree/go2/blueprints/basic/unitree_go2_multi.py; dimos/robot/unitree/go2/blueprints/basic/unitree_go2_multi_teleop.py Important Files Changed
Reviews (2): Last reviewed commit: "use multiple keyboard teleops" | Re-trigger Greptile |
![greptile-apps[bot]](https://avatars.githubusercontent.com/in/867647?s=60&v=4){kind=small}
| if cls.__name__ == name: | ||
| for instance_key, proxy in self._coordinator._deployed_modules.items(): | ||
| cls = self._coordinator._instance_classes[instance_key] | ||
| if name in (instance_key, cls.__name__): |
Contributor
There was a problem hiding this comment.
When two namespaced instances share a class, get_module("NamedModule") matches both entries through cls.__name__ and returns the first match in coordinator dict order. Local porcelain callers can receive the wrong robot's proxy instead of the same ambiguity error the coordinator raises for class-based lookup.
Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!
Comment on lines
+33
to
+35
|
|
||
| unitree_go2_multi = autoconnect( | ||
| *[namespace(f"robot{i}", GO2Connection.blueprint(ip=ip)) for i, ip in enumerate(_ips)], |
Contributor
There was a problem hiding this comment.
When ROBOT_IPS is unset or empty, _ips is [] and the module still evaluates autoconnect(*[]) during blueprint import. That reaches reduce(...) with no blueprints and crashes before the CLI can report a clear configuration error for the new unitree-go2-multi blueprint.
❌ 2 Tests Failed:
View the full list of 3 ❄️ flaky test(s)
To view more test analytics, go to the Test Analytics Dashboard |
paul-nechifor
force-pushed
the
paul/feat/namespaces
branch
from
66a32c0 to
613b4f4
Compare
paul-nechifor
force-pushed
the
paul/feat/namespaces
branch
from
613b4f4 to
184dac8
Compare
jeff-hykin
reviewed
Jul 6, 2026
| 4. Blueprint definition → `.global_config(simulation="mujoco")` | ||
| 5. CLI flag → `dimos --simulation run ...` | ||
|
|
||
| Environment variables and `.env` values must be prefixed with `DIMOS_`. |
Member
There was a problem hiding this comment.
Why'd we change this? Seemed like a good pattern to me
paul-nechifor
force-pushed
the
paul/feat/namespaces
branch
from
184dac8 to
a283283
Compare
paul-nechifor
changed the title
| descriptors = self._coord.call("list_modules") | ||
| self._descriptors = {d.class_name: d for d in descriptors} | ||
| # rpc_name is empty when talking to an older daemon. | ||
| self._descriptors = {(d.rpc_name or d.class_name): d for d in descriptors} |
Contributor
There was a problem hiding this comment.
RemoteModuleSource now keys descriptors only by rpc_name, but it does not keep the class-name fallback and ambiguity check that the local source uses. With remote instances such as robot0/go2connection and robot1/go2connection, a porcelain access like get_module("GO2Connection") raises KeyError instead of reporting that the class name is ambiguous. Remote callers should get the same clear ambiguity behavior as local callers, while exact instance-name lookups continue to work.
Comment on lines
+35
to
+39
| _ips = global_config.processed_robot_ips | ||
|
|
||
| unitree_go2_multi = autoconnect( | ||
| *[namespace(f"robot{i}", GO2Connection.blueprint(ip=ip)) for i, ip in enumerate(_ips)], | ||
| ).global_config(n_workers=max(2, 2 * len(_ips)), robot_model="unitree_go2") |
Contributor
There was a problem hiding this comment.
global_config.processed_robot_ips during module import. When dimos run unitree-go2-multi is called without ROBOT_IPS or --robot-ips, the import raises ValueError before the CLI can load the blueprint and report the missing fleet config cleanly. The IP check should run during blueprint loading or build-time config handling instead of at import time.
Comment on lines
+34
to
+45
| _ips = global_config.processed_robot_ips | ||
|
|
||
| unitree_go2_multi_teleop = autoconnect( | ||
| *[ | ||
| namespace( | ||
| f"robot{i}", | ||
| GO2Connection.blueprint(ip=ip), | ||
| KeyboardTeleop.blueprint(), | ||
| ) | ||
| for i, ip in enumerate(_ips) | ||
| ], | ||
| ).global_config(n_workers=max(2, 2 * len(_ips)), robot_model="unitree_go2") |
Contributor
There was a problem hiding this comment.
ROBOT_IPS or --robot-ips is missing, selecting unitree-go2-multi-teleop raises from global_config.processed_robot_ips while importing the module, before the CLI can handle the missing configuration. This makes the registered blueprint unavailable instead of producing a controlled config error.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Problem
Closes #2491
Solution
namespace(prefix, *blueprints, expose=...). It prefixes instance names, stream topics, RPC topics and TF frames of everything inside. Streams listed inexposestay global so shared modules can consume them. Module references resolve inside the namespace first, then outward.-o robot0/go2connection.ip=10.0.0.5or envROBOT0_GO2CONNECTION__IP=....--simulationeach robot gets its own MuJoCo process and the IPs are ignored. Fixed the hardcoded TF frames inGO2Connection(base_link, camera_link, camera_optical) to honor the namespace prefix. The parent world frame stays shared so all robots hang off one tree root.How to Test
Two MuJoCo windows and two teleop windows open. Click one teleop window and drive with WASD. Only that robot moves.
dimos topic echo /robot0/odomshows the namespaced topics. On real robots use their IPs and drop--simulation.Contributor License Agreement