fix(core): resolve remap targets through subclasses - #3233
Open
mustafab0 wants to merge 1 commit into
Open
Conversation
mustafab0
requested review from
Dreamsorcerer,
leshy,
paul-nechifor and
spomichter
as code owners
July 28, 2026 01:34
mustafab0
added
the
backport:skip
Codecov Report✅ All modified and coverable lines are covered by tests. @@ Coverage Diff @@
## main #3233 +/- ##
=======================================
Coverage 74.96% 74.97%
=======================================
Files 1117 1117
Lines 106875 106898 +23
Branches 9699 9701 +2
=======================================
+ Hits 80124 80145 +21
- Misses 23943 23944 +1
- Partials 2808 2809 +1
Flags with carried forward coverage won't be shown. Click here to find out more.
... and 1 file with indirect coverage changes 🚀 New features to boost your workflow:
|
github-actions
Bot
added
the
ready-to-merge
mustafab0
changed the title
mustafab0
force-pushed
the
fix-remap-instance-key
branch
from
July 28, 2026 18:53
27e80d1 to
c7ff853
Compare
github-actions
Bot
added
ready-to-merge
…ly missing Blueprint.remappings() converts the module you name into an instance-name string, and _instance_key matched atoms with `is`. A deployment that subclasses a module to declare extra ports (the per-robot joint-stream pattern) therefore stopped matching, and the miss was silent: remapping_map is read with .get(key, original_name), so the rename just did not happen. On unitree-g1-groot-wbc that would have left the coordinator listening on twist_command while the nav stack published cmd_vel — no error, no command path. Exact class match still wins, because sibling modules inherit from each other too (ObjectDBModule is a Detection3DModule) and both get deployed; subclasses are only consulted when no atom matches exactly. Naming a module that is not in the blueprint now raises instead of guessing a name that matches nothing.
mustafab0
force-pushed
the
fix-remap-instance-key
branch
from
July 28, 2026 21:19
c7ff853 to
a81a7b2
Compare
github-actions
Bot
added
ready-to-merge
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Problem
A blueprint can rename a module's port so two modules connect.
That rename is looked up by class. If a blueprint subclasses the module — which the new
per-robot joint streams need — the lookup misses and the rename never happens. Nothing
errors and nothing warns. You get a G1 that boots fine and ignores every nav and WASD
command.
Issue: #
Solution
If the exact class isn't in the blueprint, look for a subclass of it instead.
Exact match is still tried first. Some modules that get deployed together inherit from
each other (
ObjectDBModuleextendsDetection3DModule), and there you meant the classyou actually named.
Renaming a module that isn't in the blueprint used to do nothing, quietly. It now raises.
Breaking Changes
None. All 139 importable blueprints resolve identically.
.remappings()on an absentmodule now raises; nothing in-repo does that.
How to Test
pytest dimos/core/coordination/test_module_coordinator.py -k remappytest dimos/core dimos/robot -m 'not (tool or self_hosted or mujoco or self_hosted_large)'unitree-g1-detectionfails; revert toisand the subclass test fails.