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fix(whole-body): discover sim adapters in registry #2653

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fix(whole-body): discover sim adapters in registry #2653

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7d9cabc
fix(whole-body): discover sim adapters in registry
KrishnaH96 Jun 29, 2026
f9b7529
Merge branch 'main' into fix/whole-body-sim-adapter-discovery
KrishnaH96 Jun 29, 2026
4a9f9fb
Update dimos/hardware/whole_body/registry.py
KrishnaH96 Jun 29, 2026
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26 changes: 21 additions & 5 deletions dimos/hardware/whole_body/registry.py
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Original file line number Diff line number Diff line change
Expand Up @@ -71,15 +71,19 @@ def available(self) -> list[str]:
return sorted(self._adapters.keys())

def discover(self) -> None:
"""Discover and register whole-body hardware adapters.

Walks the hardware whole-body package recursively looking for
``adapter.py`` modules that provide a ``register(registry)`` function.
"""
"""Discover and register whole-body adapters from the hardware and sim roots."""
import dimos.hardware.whole_body as hw_pkg

self._discover_in("dimos.hardware.whole_body", hw_pkg.__path__[0], max_depth=2)

try:
import dimos.simulation.adapters.whole_body as sim_pkg
except ImportError as e:
logger.warning(f"Skipping sim whole-body adapters: {e}")
return
for sim_root in sim_pkg.__path__:
self._discover_flat("dimos.simulation.adapters.whole_body", sim_root)

def _discover_in(self, pkg_path: str, dir_path: str, *, max_depth: int) -> None:
for entry in sorted(os.listdir(dir_path)):
entry_path = os.path.join(dir_path, entry)
Expand All @@ -99,6 +103,18 @@ def _discover_in(self, pkg_path: str, dir_path: str, *, max_depth: int) -> None:
if hasattr(mod, "register"):
mod.register(self)

def _discover_flat(self, pkg_path: str, dir_path: str) -> None:
for entry in sorted(os.listdir(dir_path)):
if not entry.endswith(".py") or entry.startswith(("_", ".")):
continue
try:
mod = importlib.import_module(f"{pkg_path}.{entry[:-3]}")
except ImportError as e:
logger.warning(f"Skipping whole-body adapter {entry}: {e}")
continue
if hasattr(mod, "register"):
mod.register(self)
Comment on lines +106 to +116

@greptile-apps greptile-apps Bot Jun 29, 2026

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P2 The per-module except ImportError in _discover_flat will not catch Exception subclasses raised by a broken mod.register(self) call. If any sim adapter's register() raises (e.g., a constructor call with a bad default), the exception propagates out of _discover_flat, out of discover(), and ultimately fails the module-level import of registry.py — crashing the whole application. Consider a guarded call here, consistent with the "graceful skip" intent of the rest of the method.

Suggested change
def _discover_flat(self, pkg_path: str, dir_path: str) -> None:
for entry in sorted(os.listdir(dir_path)):
if not entry.endswith(".py") or entry.startswith(("_", ".")):
continue
try:
mod = importlib.import_module(f"{pkg_path}.{entry[:-3]}")
except ImportError as e:
logger.warning(f"Skipping whole-body adapter {entry}: {e}")
continue
if hasattr(mod, "register"):
mod.register(self)
if hasattr(mod, "register"):
try:
mod.register(self)
except Exception as e: # noqa: BLE001
logger.warning(f"Skipping whole-body adapter {entry} (register() failed): {e}")



whole_body_adapter_registry = WholeBodyAdapterRegistry()
whole_body_adapter_registry.discover()
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