Nav pt2: Alfred

[jeff-hykin]

New robot (wheeled base) Alfred: for nav stack data collection

Testing:

dimos --rerun-host 0.0.0.0 run alfred-nav 

[greptile-apps]

Greptile Summary

This PR introduces Alfred, a new wheeled robot platform for nav-stack data collection, wiring together FastLio2 LiDAR, a simple nav stack, and a new Portal RPC-based high-level effector module. It also makes model_path optional in RobotConfig (with proper lazy-parse guards) and adds a bin/ci-check script for local/CI type-checking.

• AlfredHighLevel: subscribes to cmd_vel, applies Alfred's inverted-Y-axis frame correction, and forwards holonomic velocity commands via Portal RPC using asyncio.to_thread to avoid blocking the event loop.
• alfred_nav blueprint: connects FastLio2, nav stack, MovementManager, and AlfredHighLevel with explicit stream remappings.
• RobotConfig: model_path is now optional, enabling wheel-only robots like Alfred that have no URDF.

Confidence Score: 4/5

Mostly safe to merge for data collection; one state-tracking bug in the auto-stop path warrants a fix before the module is used in agent-driven scenarios.

In _auto_stop_movement, _last_velocities is reset to zeros unconditionally because _send_velocity swallows its own exceptions and never re-raises — meaning a failed stop command leaves the robot moving while get_state() reports STOPPED.

dimos/robot/diy/alfred/effector_high_level.py — specifically the _auto_stop_movement method and its handling of _send_velocity return value.

Important Files Changed

Filename	Overview
dimos/robot/diy/alfred/effector_high_level.py	New high-level control module for Alfred via Portal RPC; _auto_stop_movement unconditionally resets _last_velocities to zeros even when the stop command fails, making get_state() report STOPPED when the robot may still be moving.
dimos/robot/diy/alfred/config.py	New Alfred robot config; borrows G1 local-planner precomputed paths as a placeholder.
dimos/robot/diy/alfred/blueprints/alfred_nav.py	New nav-stack blueprint wiring FastLio2, nav stack, MovementManager, and AlfredHighLevel with appropriate remappings; no issues found.
dimos/robot/config.py	Makes model_path optional and adds clear ValueError guards; straightforward and safe.
bin/ci-check	New CI script; uv pip install mypy sidesteps the lock file, risking version drift.
dimos/robot/all_blueprints.py	Registers alfred-nav blueprint and alfred-high-level module.
dimos/robot/test_all_blueprints.py	Adds alfred-nav to the self-hosted blueprint set; consistent with existing pattern.

Sequence Diagram

sequenceDiagram
    participant NS as Nav Stack
    participant AHL as AlfredHighLevel
    participant PT as Portal Client
    participant WD as Watchdog

    NS->>AHL: cmd_vel (Twist)
    AHL->>WD: cancel previous _stop_task
    AHL->>PT: asyncio.to_thread(set_target_velocity(vx, -vy, -wz))
    PT-->>AHL: OK / Exception
    alt send succeeded
        AHL->>WD: create_task(_auto_stop_movement(timeout))
        WD-->>PT: set_target_velocity(0,0,0) after timeout
    else send failed
        AHL-->>NS: return False
    end

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_{Reviews (8): Last reviewed commit: "-" | Re-trigger Greptile}

[greptile-apps]

The inline comment says the LiDAR is mounted "0.10 m above ground" but the z component passed to Pose is 0.30. The comment and the value are inconsistent — either the mount height or the comment needs to be corrected.

Suggested change

	# Mid-360 lidar: 0.20 m forward, 0.20 m right of base center, 0.10 m above ground.
	# it is mounted at an angle but the livox driver will handle that automatically
	"mid360_link": Pose(0.20, -0.20, 0.30, *Quaternion.from_euler(Vector3(0, 0, 0))),
	# Mid-360 lidar: 0.20 m forward, 0.20 m right of base center, 0.30 m above ground.
	# it is mounted at an angle but the livox driver will handle that automatically
	"mid360_link": Pose(0.20, -0.20, 0.30, *Quaternion.from_euler(Vector3(0, 0, 0))),

[codecov]

Codecov Report

❌ Patch coverage is 46.66667% with 64 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/robot/diy/alfred/effector_high_level.py	35.48%	60 Missing ⚠️
dimos/robot/config.py	20.00%	3 Missing and 1 partial ⚠️

📢 Thoughts on this report? Let us know!

[greptile-apps]

Auto-stop failure silently poisons _last_velocities state

_send_velocity catches all exceptions internally and always returns False on failure — it never re-raises. This means the except Exception branch in _auto_stop_movement is dead code, and self._last_velocities = [0.0, 0.0, 0.0] always executes even when the stop command failed. If the Portal link is down when the watchdog fires, the robot continues moving at the previous velocity while get_state() reports "STOPPED". Any agent or orchestrator polling get_state() to confirm the platform has halted will get incorrect information. Fix by checking the return value of _send_velocity before resetting _last_velocities.