[Nabla7]

Why do we need this?

An operator should be able to activate SONIC, stop a navigation command without dropping balance, and request damping from Desktop. The Controller app must act on the run the operator inspected, not a replacement run.

What is this feature?

Stack: #4304 -> #4305 -> #3557 -> #4783 -> #4784.

Layer 4, based on #3557. 9 files, +220/-2 relative to that base.

• Add G1SonicPolicyModule.activate(): validate feedback, clocks and ramp, then request live measured-pose activation in one operation.
• Add policy stop_motion() and MovementManager stop/status RPCs. Stop motion cancels navigation and operator references while balancing continues.
• Expose feedback ages and execution mode in policy status.
• Let the existing generic gateway RPC route accept an optional run_id, rejecting a replaced run. No new controller or motor-command publisher.

The UI is a companion change in jeff-hykin/dim-controller#1. This PR has no sim2, ControlCoordinator or Pico implementation.

How to manually run this

On macOS or a CUDA-enabled Linux host with SONIC dependencies installed:

uv run dimos-sonic-models
uv run --no-sync dimos --simulation mujoco --transport zenoh --viewer rerun run unitree-g1-sonic-wbc

Open Desktop's Controller app with the companion frontend branch. Inspect the SONIC panel, drive with the existing controls, click Stop motion and confirm walking stops but balancing continues. Exercise Deactivate/Activate with the robot supported in simulation, then Damping stop. Damping is latched until restart, not a physical power disconnect. Hardware starts unarmed; the existing sim automatically activates.

macOS simulation selects CPU inference automatically. Install with uv sync --extra control --extra sim on a Mac. Real hardware still requires CUDA and rejects the CPU-simulation option. See sonic-desktop.md.

Verification

• Focused backend checks: 43 passed, 2 deselected; targeted mypy and commit hooks passed.
• Companion frontend: 290 tests, production build/typecheck and endpoint manifest validation passed.
• Production-bundle browser checks at desktop and mobile sizes used mocked gateway responses: activation, stop, damping, run binding, no JS errors or horizontal overflow.
• Native Mac CPU walking/stopping checks passed for the WBC and WebXR stacks using actual models; a heavily loaded repeat hit the planner watchdog (details in Integrate standalone G1 SONIC policy and blueprint #3557). Desktop UI checks above still use mocked gateway responses; live Desktop-to-simulator interaction, enterprise headset tracking and physical-robot acceptance remain pending. No robot deployment or actuation was performed.

Which issue(s) does this PR close?

Follow-up to #3557; no separate issue closed.

Checklist

• I have read and approved the CLA.

[github-actions]

go2 replay realtime (arm64)

Details

Benchmark suite	Current: 2fb2aab	Previous: c3f0add	Ratio
peak memory	1780.062 MB	1762.234 MB	1.01
peak threads	356 threads	359 threads	0.99
network (transport)	2730.958 MB	2735.794 MB	1.00
disk write	1.793 MB	1.699 MB	1.06
instructions	137.571 G	137.654 G	1.00

This comment was automatically generated by workflow using github-action-benchmark.

[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
6778	1	6777	46

View the top 1 failed test(s) by shortest run time

experimental.gateway.tests.test_config::test_every_registered_blueprint_is_annotated

Stack Traces | 0.185s run time

def test_every_registered_blueprint_is_annotated() -> None:
        source = annotation_file.load()
        annotated = {name for robot in source["robots"].values() for name in robot["blueprints"]}
        missing = sorted(
            name
            for name in all_blueprints
            if name not in annotated and not annotation_file.HIDDEN_NAME.search(name)
        )
>       assert not missing, f"add these to experimental/gateway/annotations.yaml: {', '.join(missing)}"
E       AssertionError: add these to experimental/gateway/annotations.yaml: unitree-g1-sonic-wbc
E       assert not ['unitree-g1-sonic-wbc']

annotated  = {'a1z-planner-coordinator', 'alfred-keyboard-teleop', 'alfred-mls-nav', 'alfred-mls-nav-lidar', 'alfred-nav', 'coordinator-a1z', ...}
missing    = ['unitree-g1-sonic-wbc']
source     = {'robots': {'a1z': {'blueprints': {'a1z-planner-coordinator': {'description': 'Motion planning and execution for a Gal...': {'label': 'Arms'}, 'dog': {'label': 'Dogs'}, 'drone': {'label': 'Drones'}, 'humanoid': {'label': 'Humanoids'}, ...}}

.../gateway/tests/test_config.py:255: AssertionError

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