go2 cli

[leshy]

allows you discover robots

both on your LAN network (find IP)
and via BT (find robots that are not on wifi) and set the wifi settings via BT (no need for app, logins and unbinding, and claude is able to setup a robot for you)

new dep for bluetooth (under go2 extras)
uv sync --all-extras --no-extra dds

dimos go2tool discover
dimos go2tool connect-wifi

[greptile-apps]

Greptile Summary

This PR adds dimos go2tool — a CLI for discovering Unitree Go2 robots over BLE and LAN, and provisioning their WiFi credentials via Bluetooth without requiring the official app.

• ble.py: Reverse-engineered BLE provisioning protocol (from UniPwn); implements encrypted packet exchange (AES-CFB-128 with firmware-burned key/IV), chunked GATT writes, and a BleakScanner-backed async discovery stream.
• landiscovery.py: UDP multicast scanner (group 231.1.1.1:10131) that pins probes to specific interfaces to avoid Tailscale/VPN swallowing; resolves MAC addresses via /proc/net/arp.
• go2tool.py + dimos.py: Typer subcommand surface (discover, connect-wifi) wired into the main dimos CLI.

Confidence Score: 3/5

The BLE provisioning state machine has race conditions and a fragile cryptography import that can silently fail or break during WiFi setup.

Multiple independent defects exist on the primary provisioning path: the shared asyncio.Event between serial-chunk assembly and ACK responses can corrupt subsequent validated writes, send_chunked does not clear the event before starting, and the modes.CFB import path is slated for removal in cryptography 49.0.0 with no upper bound pinning it.

dimos/robot/unitree/go2/cli/ble.py — the _Session event handling and cryptography import path should both be resolved before merging.

Security Review

• Credential exposure via process table (go2tool.py): The --password CLI option puts the WiFi password in /proc/$pid/cmdline, visible to any local user via ps aux and retained in shell history. An envvar= fallback sidesteps this without breaking automation.
• Public AES key/IV (ble.py): The 128-bit key and IV are firmware-burned constants documented by the UniPwn project. Any BLE observer who knows the protocol can decrypt the provisioning exchange. This is an inherent limitation of the Unitree firmware protocol, not introduced by this PR.
• No upper bound on cryptography (pyproject.toml): cryptography>=46.0.5 allows installing 49.0.0, which removes modes.CFB from its current import path, causing a runtime ImportError on any connect-wifi invocation.

Important Files Changed

Filename	Overview
dimos/robot/unitree/go2/cli/ble.py	New BLE WiFi provisioning module for Unitree Go2 robots; contains a hardcoded AES-CFB key/IV (firmware-public), a shared asyncio.Event between serial-chunk assembly and ACK responses (race condition), and uses the deprecated modes.CFB import path that will be removed in cryptography 49.0.0
dimos/robot/unitree/go2/cli/landiscovery.py	New UDP multicast LAN discovery module; probes interfaces sequentially rather than the parallel behavior its docstring promises, and has a socket resource leak if the multicast join setsockopt raises between bind and the try/finally guard
dimos/robot/unitree/go2/cli/go2tool.py	New Typer CLI app exposing discover and connect-wifi subcommands; WiFi password accepted via --password flag, exposing it in process table and shell history
dimos/robot/cli/dimos.py	Registers go2tool_app typer subcommand; import moved to top-level block alongside other imports
pyproject.toml	Adds bleak and cryptography as mandatory core dependencies; bleak pulls in platform-specific BLE stacks for all users, and cryptography is underpinned by a lower bound that doesn't account for the modes.CFB removal in 49.0.0

_{Reviews (7): Last reviewed commit: "remove time pre-flight check, this is au..." | Re-trigger Greptile}

[mustafab0]

Tested the discover command, got the robot IP works 👍

Did not setup the wifi. A bit more documentation on that would be nicer to know exactly what's going to happen.

[leshy]

Tested the discover command, got the robot IP works 👍

Did not setup the wifi. A bit more documentation on that would be nicer to know exactly what's going to happen.

didn't want to merge without main docs, added now

[codecov]

Codecov Report

❌ Patch coverage is 13.40206% with 84 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/robot/unitree/go2/cli/go2tool.py	11.57%	83 Missing and 1 partial ⚠️

📢 Thoughts on this report? Let us know!