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fix(unitree): marshal stop_movement zero-twist onto the loop thread #2977

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Merged
spomichter merged 1 commit into from
Jul 15, 2026
Merged

fix(unitree): marshal stop_movement zero-twist onto the loop thread #2977

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11 changes: 10 additions & 1 deletion dimos/robot/unitree/connection.py
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Original file line number Diff line number Diff line change
Expand Up @@ -502,7 +502,16 @@ def stop_movement(self) -> None:
if self.stop_timer:
self.stop_timer.cancel()
self.stop_timer = None
self._publish_movement(0, 0, 0)

async def async_stop() -> None:
self._publish_movement(0, 0, 0)

if not self.loop.is_running():
return
try:
asyncio.run_coroutine_threadsafe(async_stop(), self.loop).result(timeout=1.0)
except Exception as e:
logger.warning("Failed to publish stop twist: %s", e)
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ruthwikdasyam marked this conversation as resolved.

def disconnect(self) -> None:
"""Disconnect from the robot and clean up resources."""
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