never-merge: SimpleLidar — onboard L1 lidar re-expressed as the Mid-360

[jeff-hykin]

Summary

Adds SimpleLidar, a drop-in GO2Connection subclass that re-expresses the Go2's onboard L1 lidar in the Mid-360 frame (world→base_link un-transform, un-accumulated, then the static base_link→mid360_link mount transform) so downstream stacks calibrated for the Mid-360 see the L1 cloud in the frame they expect. Wires it into the unitree-go2-l1-lidar and unitree-go2-mid360-record-combined blueprints, splits the rotated mount into its own nav-3d variant, and promotes base_to_frame_matrix plus a GO2Connection._publish_lidar override seam.

Test plan

• uv run pytest dimos/robot/test_all_blueprints_generation.py
• Replay a recording through the 3D planner (plan_rrd.py) and confirm the L1 cloud lands in mid360_link

[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
2009	1	2008	159

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

dimos.robot.test_all_blueprints_generation::test_all_blueprints_is_current

Stack Traces | 2.85s run time

def test_all_blueprints_is_current() -> None:
        root = DIMOS_PROJECT_ROOT / "dimos"
        all_blueprints, all_modules = _scan_for_blueprints(root)
    
        common = set(all_blueprints.keys()) & set(all_modules.keys())
        assert not common, (
            f"Names must be unique across blueprints and modules, "
            f"but these appear in both: {sorted(common)}"
        )
    
        generated_content = _generate_all_blueprints_content(all_blueprints, all_modules)
    
        file_path = root / "robot" / "all_blueprints.py"
    
        if "CI" in os.environ:
            if not file_path.exists():
                pytest.fail(f"all_blueprints.py does not exist at {file_path}")
    
            current_content = file_path.read_text()
            if current_content != generated_content:
                diff = difflib.unified_diff(
                    current_content.splitlines(keepends=True),
                    generated_content.splitlines(keepends=True),
                    fromfile="all_blueprints.py (current)",
                    tofile="all_blueprints.py (generated)",
                )
                diff_str = "".join(diff)
>               pytest.fail(
                    f"all_blueprints.py is out of date. Run "
                    f"`pytest dimos/robot/test_all_blueprints_generation.py` locally to update.\n\n"
                    f"Diff:\n{diff_str}"
                )
E               Failed: all_blueprints.py is out of date. Run `pytest dimos/robot/test_all_blueprints_generation.py` locally to update.
E               
E               Diff:
E               --- all_blueprints.py (current)
E               +++ all_blueprints.py (generated)
E               @@ -121,6 +121,7 @@
E                    "unitree-go2-markers": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2:unitree_go2_markers",
E                    "unitree-go2-memory": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2:unitree_go2_memory",
E                    "unitree-go2-mid360-record": "dimos.robot.unitree.go2.blueprints.basic.unitree_go2_mid360_record:unitree_go2_mid360_record",
E               +    "unitree-go2-mid360-record-combined": "dimos.robot.unitree.go2.blueprints.basic.unitree_go2_mid360_record_combined:unitree_go2_mid360_record_combined",
E                    "unitree-go2-nav-3d": "dimos.robot.unitree.go2.blueprints.navigation.unitree_go2_nav_3d:unitree_go2_nav_3d",
E                    "unitree-go2-nav-3d-rotated": "dimos.robot.unitree.go2.blueprints.navigation.unitree_go2_nav_3d:unitree_go2_nav_3d_rotated",
E                    "unitree-go2-relocalization": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2:unitree_go2_relocalization",

all_blueprints = {'alfred-nav': 'dimos.robot.diy.alfred.blueprints.alfred_nav:alfred_nav', 'coordinator-basic': 'dimos.control.blueprin...oordinator-cartesian-ik-piper': 'dimos.robot.manipulators.piper.blueprints.teleop:coordinator_cartesian_ik_piper', ...}
all_modules = {'alfred-high-level': 'dimos.robot.diy.alfred.effector_high_level.AlfredHighLevel', 'arm-teleop-module': 'dimos.teleop..._navigation.BBoxNavigationModule', 'b1-connection-module': 'dimos.robot.unitree.b1.connection.B1ConnectionModule', ...}
common     = set()
current_content = '# Copyright 2025-2026 Dimensional Inc.\n#\n# Licensed under the Apache License, Version 2.0 (the "License");\n# you m...ebsocket_vis_module.WebsocketVisModule",\n    "zed-camera": "dimos.hardware.sensors.camera.zed.camera.ZEDCamera",\n}\n'
diff       = <generator object unified_diff at 0xff8479773920>
diff_str   = '--- all_blueprints.py (current)\n+++ all_blueprints.py (generated)\n@@ -121,6 +121,7 @@\n     "unitree-go2-markers": ...    "unitree-go2-relocalization": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2:unitree_go2_relocalization",\n'
file_path  = PosixPath('.../dimos/robot/all_blueprints.py')
generated_content = '# Copyright 2025-2026 Dimensional Inc.\n#\n# Licensed under the Apache License, Version 2.0 (the "License");\n# you m...ebsocket_vis_module.WebsocketVisModule",\n    "zed-camera": "dimos.hardware.sensors.camera.zed.camera.ZEDCamera",\n}\n'
root       = PosixPath('.../dimos/dimos/dimos')

dimos/robot/test_all_blueprints_generation.py:76: Failed

To view more test analytics, go to the Test Analytics Dashboard
_{📋 Got 3 mins? Take this short survey to help us improve Test Analytics.}