Harden Go2 LAN discovery bind

Agent-Logs-Url: https://github.com/dimensionalOS/dimos/sessions/d74a3b7d-0da7-489d-be97-134b75284670

Co-authored-by: Dreamsorcerer <2203121+Dreamsorcerer@users.noreply.github.com>

Author: Copilot

dimos/robot/unitree/go2/cli/landiscovery.py

@@ -109,7 +109,7 @@ def discover(timeout: float = 2.0, iface_ip: str | None = None) -> list[Go2Devic
     Args:
         timeout: seconds to wait for replies after sending the probe.
         iface_ip: pin multicast to this local IPv4 address. If None, probe every
-            non-tunnel interfacel.
+            non-tunnel interface.
     """
     targets: list[tuple[str | None, str]] = (
         [(None, iface_ip)] if iface_ip else list(_candidate_ifaces())
@@ -132,7 +132,7 @@ def _probe_iface(iface_ip: str, timeout: float) -> Iterator[Go2Device]:
     sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP)
     sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
     try:
-        sock.bind(("", REPLY_PORT))
+        sock.bind((iface_ip, REPLY_PORT))
     except OSError as e:
         logger.warning(f"could not bind UDP {REPLY_PORT} on {iface_ip}: {e}")
         sock.close()

dimos/robot/unitree/type/lidar.py

@@ -129,7 +129,7 @@ def _repair(item: T) -> T:
             calibrated = True
             use_system_time = True
             logger.warning(
-                "repair_stale_ts: lidar timestmaps frozen (%d calibration stamps equal) — using system time, upgrade your GO2 firmware",
+                "repair_stale_ts: lidar timestamps frozen (%d calibration stamps equal) — using system time, upgrade your GO2 firmware",
                 calibration_frames,
             )