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

[KrishnaH96]

What

In dimos/hardware/whole_body/registry.py, made discover() also scan the sim adapter root (dimos/simulation/adapters/whole_body/) via a new _discover_flat() helper — so flat <name>.py adapter modules get imported and registered. Graceful ImportError skip so hardware-only installs are unaffected. (~20 lines, registry.py only.)

Why

discover() only scanned dimos/hardware/whole_body/, so the sim adapter sim_mujoco_g1 was never registered — dimos --simulation mujoco run unitree-g1-groot-wbc crashed with KeyError: Unknown whole-body adapter: sim_mujoco_g1. The registry's own docstring already says it should scan both roots, so this makes the code match the documented intent. (Same fix Pim intended in the closed part-3 PR #2225, isolated as a surgical change.)

How tested

• Repro → fixed: before, the command crashed at adapter lookup; after, it runs end-to-end — SimMujocoG1WholeBodyAdapter connected, GR00T policy armed, TickLoop started at 50.0Hz, robot pose rendering in the viewer.
• No regression: hardware adapters still register (the transport_lcm/transport_ros path is untouched and ordered first).
• Gates green: ruff check + ruff format --check pass; mypy clean on the file.

Contributor License Agreement

• I have read and approved the CLA.

[greptile-apps]

Greptile Summary

This PR fixes the whole-body adapter registry so discover() also scans dimos/simulation/adapters/whole_body/ for flat <name>.py adapter modules, resolving the KeyError: Unknown whole-body adapter: sim_mujoco_g1 crash. The existing registry docstring already described this dual-root intent; the code now matches it.

• Adds a _discover_flat() helper that walks a directory for top-level .py files and calls their register() function, mirroring the existing _discover_in() pattern used for hardware adapters.
• Correctly iterates all entries in sim_pkg.__path__ (instead of indexing [0]) so the discovery works properly with namespace packages that may span multiple source trees.
• Guards the sim package import with except ImportError so hardware-only installs are unaffected.

Confidence Score: 4/5

Safe to merge for the targeted bug fix; the one open concern from a prior thread — that mod.register(self) in _discover_flat is unguarded against non-ImportError exceptions — remains unaddressed but is low-probability given current adapter implementations.

The change is small, surgical, and solves the documented crash. The namespace-package __path__ iteration is handled correctly on the new sim side. The lingering concern is that a future adapter whose register() raises something other than ImportError (e.g. a ValueError or RuntimeError from a bad default) would propagate all the way out and break module-level registry initialization for every consumer — a blast radius disproportionate to the failure. The current g1.py adapter's register() is just a registry.register() call and cannot throw, so there is no immediate breakage.

dimos/hardware/whole_body/registry.py — specifically the unguarded mod.register(self) call in _discover_flat (line 116).

Important Files Changed

Filename	Overview
dimos/hardware/whole_body/registry.py	Adds sim adapter discovery via a new _discover_flat() helper and correctly iterates all sim_pkg.__path__ entries for namespace-package safety. The mod.register(self) call inside _discover_flat (line 116) sits outside any exception handler, so a non-ImportError raised by a future adapter's register() will propagate and crash module-level initialization — noted in a prior review thread.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A["whole_body_adapter_registry.discover()"] --> B["import dimos.hardware.whole_body"]
    B --> C["_discover_in('dimos.hardware.whole_body', hw_pkg.__path__[0], max_depth=2)"]
    C --> D{entry is dir\nnot _/. prefixed?}
    D -- yes --> E["importlib.import_module(sub_pkg.adapter)"]
    E -- ImportError & depth > 1 --> C
    E -- ImportError & depth == 1 --> F["log warning, skip"]
    E -- success --> G["mod.register(registry)"]
    A --> H{"import dimos.simulation\n.adapters.whole_body"}
    H -- ImportError --> I["log warning, return"]
    H -- success --> J["for sim_root in sim_pkg.__path__"]
    J --> K["_discover_flat('dimos.simulation.adapters.whole_body', sim_root)"]
    K --> L{entry ends .py\nnot _/. prefixed?}
    L -- no --> K
    L -- yes --> M["importlib.import_module(pkg_path.module)"]
    M -- ImportError --> N["log warning, continue"]
    M -- success --> O["mod.register(registry)"]

Loading

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flowchart TD
    A["whole_body_adapter_registry.discover()"] --> B["import dimos.hardware.whole_body"]
    B --> C["_discover_in('dimos.hardware.whole_body', hw_pkg.__path__[0], max_depth=2)"]
    C --> D{entry is dir\nnot _/. prefixed?}
    D -- yes --> E["importlib.import_module(sub_pkg.adapter)"]
    E -- ImportError & depth > 1 --> C
    E -- ImportError & depth == 1 --> F["log warning, skip"]
    E -- success --> G["mod.register(registry)"]
    A --> H{"import dimos.simulation\n.adapters.whole_body"}
    H -- ImportError --> I["log warning, return"]
    H -- success --> J["for sim_root in sim_pkg.__path__"]
    J --> K["_discover_flat('dimos.simulation.adapters.whole_body', sim_root)"]
    K --> L{entry ends .py\nnot _/. prefixed?}
    L -- no --> K
    L -- yes --> M["importlib.import_module(pkg_path.module)"]
    M -- ImportError --> N["log warning, continue"]
    M -- success --> O["mod.register(registry)"]

Loading

_{Reviews (2): Last reviewed commit: "Update dimos/hardware/whole_body/registr..." | Re-trigger Greptile}

[greptile-apps]

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}")

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ All tests successful. No failed tests found.

@@           Coverage Diff           @@
##             main    #2653   +/-   ##
=======================================
  Coverage   71.10%   71.10%           
=======================================
  Files         897      897           
  Lines       80290    80290           
  Branches     7183     7183           
=======================================
+ Hits        57088    57090    +2     
+ Misses      21319    21318    -1     
+ Partials     1883     1882    -1     

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