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… Unitree Go2 Navigation & Exploration Beta Pre-Release v0.0.8: Unitree Go2 Navigation & Exploration Beta, Transport Updates, Documentation updates, Rerun fixes, Person follow, Readme updates ## What's Changed * Small docs clarification about stream getters by @leshy in #1043 * Fix split view on wide monitors by @jeff-hykin in #1048 * Docs: Install & Develop by @jeff-hykin in #1022 * Add uv to nix and fix resulting problems by @jeff-hykin in #1021 * v0.0.8 by @paul-nechifor in #1050 * Style changes in docs by @paul-nechifor in #1051 * Revert "Add uv to nix and fix resulting problems" by @leshy in #1053 * Transport benchmarks + Raw ros transport by @leshy in #1038 * feat: default to rerun-web and auto-open browser on startup (browser … by @Nabla7 in #1019 * bbox detections visual check by @leshy in #1017 * fix: only auto-open browser for rerun-web viewer backend by @Nabla7 in #1066 * move slow tests to integration by @paul-nechifor in #1063 * Streamline transport start/stop methods by @Kaweees in #1062 * Person follow skill with EdgeTAM by @paul-nechifor in #1042 * fix: increase costmap floor z_offset to avoid z-fighting by @Nabla7 in #1073 * Fixed issue #1074 by @alexlin2 in #1075 * ROS transports initial by @leshy in #1057 * Fix System Config Values for LCM on MacOS and Refactor by @jeff-hykin in #1065 * SHM Transport basic fixes by @leshy in #1041 * commented out Mem Transport test case by @leshy in #1077 * Docs/advanced streams update 2 by @leshy in #1078 * Fix more tests by @paul-nechifor in #1071 * feat: navigation docker updates from bona_local_dev by @baishibona in #1081 * Fix missing dependencies by @Kaweees in #1085 * Release readme fixes by @spomichter in #1076 ## New Contributors * @baishibona made their first contribution in #1081 **Full Changelog**: v0.0.7...v0.0.8
…HTTPS from SSH, get_data change, LFS changes v0.0.9 Release Patch: Git clone change to HTTPS from SSH, get_data change, LFS changes
Release v0.0.10: Manipulation Stack, MuJoCo Simulation, DDS Transport, Web and Native Visualization via Rerun ## Highlights 88+ commits, 20 contributors, 700+ files changed. The TLDR: **a complete manipulation stack**, **MuJoCo simulation**, **DDS transport**, and **a rewritten visualization pipeline**. Agents are no longer bolted on top — they're refactored as native modules with direct stream access. The entire ROS message dependency has been removed from core DimOS, and we've added VR, phone, and arm teleoperation stacks. You can now vibecode a pick-and-place task from natural language to motor commands. Installation has been significantly streamlined — no more direnv, simpler setup, and the web viewer is now the default. --- ## 🚀 New Features ### Simulation - **MuJoCo simulation module** — Run any DimOS blueprint in simulation with no hardware. Supports xArm and Unitree embodiments, parses MJCF/URDF for robot properties, monotonic clock timing (no `time.sleep`). `dimos --simulation run unitree-go2` ([#1035](#1035)) by @jca0 - **Simulation teleop blueprints** — Added simulation teleop blueprints for Piper, xArm6, and xArm7. ([#1308](#1308)) by @mustafab0 ### Manipulation - **Modular manipulation stack** — Full planning stack with Drake: FK/IK solvers (Jacobian + Drake optimization), RRT path planning, world model with obstacle monitoring, multi-robot management. xArm6/7 and Piper support. ([#1079](#1079)) by @mustafab0 - **Joint servo and cartesian controllers** — Joint position/velocity controllers and cartesian IK task with Pinocchio solver. PoseStamped stream input for real-time control. ([#1116](#1116)) by @mustafab0 - **GraspGen integration** — Grasp generation via Docker-hosted GPU model. Lazy container startup, thread-safe init, RPC `generate_grasps()` returns ranked PoseArray. ([#1119](#1119), [#1234](#1234)) by @JalajShuklaSS - **Gripper control** — Gripper RPC methods on control coordinator, exposed adapter property for custom implementations. ([#1213](#1213)) by @mustafab0 - **Detection3D and Object support** — Object input topics, TF support on manipulation module, pointcloud-to-convex-hull for Drake imports. ([#1236](#1236)) by @mustafab0 - **Agentic pick and place** — Reimplemented manipulation skills for agent-driven pick-and-place workflows. ([#1237](#1237)) by @mustafab0 ### Teleoperation - **Quest VR teleoperation** — Full WebXR + Deno bridge stack. Quest controller data (pose, trigger, grip) streamed to DimOS modules. Monitor-style locking for control loops. ([#1215](#1215)) by @ruthwikdasyam - **Phone teleoperation** — Control Go2 from your phone with a web-based teleop interface. ([#1280](#1280)) by @ruthwikdasyam - **Arm teleop with Pinocchio IK** — Single and dual arm teleoperation using Pinocchio inverse kinematics. Blueprints for xArm, Piper, and dual configurations. ([#1246](#1246)) by @ruthwikdasyam ### Transports & Infrastructure - **DDS transport protocol** — CycloneDDS transport with configurable QoS (high-throughput and reliable profiles). Optional install, benchmark integration. ([#1174](#1174)) by @Kaweees - **Pubsub pattern subscriptions** — Glob and regex pattern matching for topic subscriptions. `subscribe_all()` for bridge-style consumers. Topic type encoding in channel strings (`/topic#module.ClassName`). ([#1114](#1114)) by @leshy - **LCM raw bytes passthrough** — Skip `lcm_encode()` when message is already bytes. ([#1223](#1223)) by @leshy - **Unified TimeSeriesStore** — Pluggable backends (InMemory, SQLite, Pickle, PostgreSQL) with SortedKeyList for O(log n) operations. Replaces the old replay system and TimestampedCollection. Collection API with slice, range, and streaming methods. ([#1080](#1080)) by @leshy - **DimosROS benchmark tests** — Benchmark suite for ROS transport performance. ([#1087](#1087)) by @leshy ### Navigation - **FASTLIO2 support** — Hardware-verified localization with arm64 support. Docker deployment with FAR Planner, terrain analysis, and bagfile playback mode. Builds or-tools from source on arm64. ([#1149](#1149)) by @baishibona - **Native Livox + FASTLIO2 module** — First-class DimOS native module for Livox Mid-360 lidar with FASTLIO2 localization. ([#1235](#1235)) by @leshy ### Visualization - **RerunBridge module and CLI** — New bridge that subscribes to all LCM messages and logs those with `to_rerun()` to Rerun viewer. GlobalConfig singleton, web viewer support. Replaces the old rerun initialization system. ([#1154](#1154)) by @leshy - **Webcam rerun visualization** — Camera module logs to Rerun with pinhole projection for 3D visualization. ([#1117](#1117)) by @ruthwikdasyam - **Default viewer switched to rerun-web** — Browser-based viewer is now the default for broader compatibility. No native viewer install needed. ([#1324](#1324)) by @spomichter ### Agents - **Agent refactor** — Restructured agent module with cleaner imports and global config integration. ([#1211](#1211)) by @paul-nechifor - **Timestamp knowledge** — Agents now have timestamp awareness in prompts for temporal reasoning. ([#1093](#1093)) by @ClaireBookworm - **Observe skill** — Go2 can now observe (capture and describe) its environment via agent skill. ([#1109](#1109)) by @paul-nechifor ### Platform & Hardware - **G1 without ROS** — Unitree G1 blueprints decoupled from ROS dependency. Lazy imports for fast startup. ([#1221](#1221)) by @jeff-hykin - **ARM (aarch64) support** — DimOS runs on ARM hardware. Platform-conditional dependencies, open3d source builds for arm64. ([#1229](#1229)) by @jeff-hykin - **Universal joint/hardware schema** — `HardwareComponent` dataclass with `JointState`, `JointName` type aliases. Backend registry with auto-discovery for SDK adapters. ([#1040](#1040), [#1067](#1067)) by @mustafab0 --- ## 🔧 Improvements - **Optional Dask** — Start without Dask using `--no-dask` flag. Startup time reduced from ~60s to ~45s. ([#1111](#1111), [#1232](#1232)) by @paul-nechifor - **RPC rework** — Renamed `ModuleBlueprint` → `_BlueprintAtom`, `ModuleBlueprintSet` → `Blueprint`, `ModuleConnection` → `Stream`. Added `ModuleRef`, improved type hints throughout. ([#1143](#1143)) by @jeff-hykin - **Image class simplification** — Rewritten as pure NumPy dataclass. Removed CUDA backend, unused methods (solve_pnp, csrt_tracker), and image_impls/ directory. ([#1161](#1161)) by @leshy - **Odometry message cleanup** — Simplified Odometry message type. ([#1256](#1256)) by @leshy - **Remove all ROS message dependencies** — Purged ROS message types from core DimOS. Refactored rosnav to use ROSTransport. Removed dead ROS bridge code. ([#1230](#1230)) by @alexlin2 - **Removed bad function serialization** — Eliminated unnecessary serialization of Python functions. ([#1121](#1121)) by @paul-nechifor - **Benchmark IEC units** — Switched bandwidth benchmarks from SI to IEC units for accuracy. ([#1147](#1147)) by @leshy - **Pubsub typing improvements** — Thread-safety locks on `subscribe_new_topics` and `subscribe_all`. Proper type params across pubsub stack. ([#1153](#1153)) by @leshy - **Autogenerated blueprint list** — Blueprints are now auto-discovered and listed. ([#1100](#1100)) by @paul-nechifor - **Generic Buttons message** — Renamed `QuestButtons` to `Buttons` with generic field names for cross-platform teleop. ([#1261](#1261)) by @ruthwikdasyam - **Dev container uses ros-dev image** — `./bin/dev` now runs the ROS-enabled dev image. ([#1170](#1170)) by @leshy - **LSP support** — Added python-lsp-server and python-lsp-ruff to dev dependencies. ([#1169](#1169)) by @leshy - **Lazy-load pyrealsense2** — RealSense camera module uses lazy imports to avoid errors in simulation environments without the SDK. ([#1309](#1309)) by @spomichter - **Removed unused mmcv and mmengine** — Dead Detic dependencies removed, eliminating slow source builds from install. ([#1319](#1319)) by @spomichter - **Simplified installation** — Removed direnv requirement, streamlined install instructions across all platforms. ([#1315](#1315)) by @spomichter - **DDS extra excluded from --all-extras** — `cyclonedds` requires a source build, so `dds` is now excluded from `uv sync --all-extras` by default. ([#1318](#1318)) by @spomichter - **Nix pre-commit skip** — Skip pre-commit install if hooks already exist. ([#1162](#1162)) by @leshy - **Removed base-requirements** — Consolidated dependency management. ([#1098](#1098)) by @paul-nechifor - **Removed old graspnet** — Cleaned up deprecated graspnet version. ([#1248](#1248)) by @paul-nechifor - **Code cleanup** — Removed `tofix` markers ([#1216](#1216)), fixed ruff issues ([#1112](#1112)), removed old README_installation.md ([#1101](#1101)) by @paul-nechifor --- ## 🐛 Bug Fixes - Fix LFS updating (move from .local to venv) ([#1090](#1090)) by @jeff-hykin - Launch hotfixes: git clone HTTPS, get_data main branch ([#1091](#1091)) by @spomichter - Fix camera demo not showing in Rerun ([#1148](#1148)) by @jeff-hykin - Default to rerun native viewer ([#1099](#1099)) by @Nabla7 - Fix exploration blocking agent loop ([#1258](#1258)) by @paul-nechifor - Fix person-follow blocking agent loop ([#1278](#1278)) by @paul-nechifor - Skip metric3d tests on unsupported xformers GPUs (Blackwell compute capability >9.0) ([#1225](#1225)) by @leshy - Fix manipulation tests ([#1218](#1218), [#1247](#1247)) by @jeff-hykin, @paul-nechifor - Fix control coordinator e2e test ([#1212](#1212)) by @mustafab0 - Fix xarm7-sim broken e2e tests ([#1294](#1294)) by @paul-nechifor - Pin langchain to restore supported providers ([#1241](#1241)) by @spomichter - Fix missing library dependencies in Nix flake ([#1240](#1240)) by @Kaweees - Fix discord invite link ([#1122](#1122)) by @spomichter - macOS edgecase fix ([#1096](#1096)) by @jeff-hykin - Fix second N in logo ([#1250](#1250)) by @jeff-hykin - Fix Unitree Go2 minor issues ([#1307](#1307)) by @paul-nechifor - Fix broken tests ([#1305](#1305)) by @ruthwikdasyam - Fix `uv sync` for some macOS systems ([#1322](#1322)) by @jeff-hykin - Fix mmcv install ([#1313](#1313)) by @paul-nechifor - Fix mypy issues ([#1150](#1150), [#1167](#1167), [#1257](#1257)) by @leshy, @paul-nechifor, @jeff-hykin - Fix Nix install uv pip extras ([#1321](#1321)) by @spomichter --- ## 📚 Documentation - **Major docs overhaul** — New README with feature grid, hardware table, quickstart. Navigation, transports, data streams, and agent docs. ([#1295](#1295)) by @leshy - **Day 1 docs** — Comprehensive getting started guide, development docs, contributing guide, architecture overview. Executable blueprint docs via md-babel-py. ([#1064](#1064)) by @jeff-hykin - **Arm integration guide** — How-to for integrating new robotic arms with DimOS. ([#1238](#1238)) by @mustafab0 - **MCP documentation update** — Updated MCP install and usage instructions. ([#1251](#1251)) by @Kaweees - **Docker docs** — First pass on Docker deployment documentation. ([#1151](#1151)) by @leshy - **Transports documentation** — Encode/decode mixins, SHM examples, ROS/DDS transport docs. ([#1107](#1107)) by @leshy - **Rerun API examples** — Updated examples for the new RerunBridge API. ([#1262](#1262)) by @jeff-hykin - **PR template** added ([#1172](#1172)) by @christiefhyang - **Simplified install instructions** — Removed direnv, streamlined across all platforms. ([#1315](#1315)) by @spomichter - **Python example restored** — Added back the Python usage example. ([#1317](#1317)) by @jeff-hykin - **Nix install updated** — Replaced uv with pip for Nix compatibility. ([#1326](#1326)) by @ruthwikdasyam - **README improvements** ([#1311](#1311)) by @paul-nechifor - **Simplified writing docs** — Consolidated writing_docs to a single markdown file. ([#1254](#1254)) by @jeff-hykin --- ## 🏗️ CI & Build - **ci-complete gate** — Dynamic branch protection via single aggregated status check. MD-only PRs no longer blocked. ([#1279](#1279)) by @spomichter - **Path-based test filtering** — Test jobs fully skip (no container spin-up) when no relevant code changed. ([#1284](#1284), [#1286](#1286)) by @spomichter - **Navigation docker build workflow** — CI builds for the ROS navigation stack. ([#1259](#1259)) by @spomichter - **CUDA test marker** — `@pytest.mark.cuda` for GPU-dependent tests. ([#1220](#1220)) by @jeff-hykin - **e2e test marker** — Marked end-to-end tests for selective CI runs. ([#1110](#1110)) by @paul-nechifor - **pytest stdin fix** — Added `-s` to default addopts for LCM autoconf compatibility. ([#1320](#1320)) by @spomichter --- ##⚠️ Breaking Changes - **RPC renames**: `ModuleBlueprint` → `_BlueprintAtom`, `ModuleBlueprintSet` → `Blueprint`, `ModuleConnection` → `Stream` ([#1143](#1143)) - **Image class rewrite**: `CudaImage` and `NumpyImage` removed. Image is now a pure NumPy dataclass. Methods like `solve_pnp`, `csrt_tracker`, `from_depth`, `to_depth_meters` removed. ([#1161](#1161)) - **ROS messages removed from core**: All `to_ros`/`from_ros` conversion methods removed. Use `ROSTransport` instead. ([#1230](#1230)) - **QuestButtons → Buttons**: Renamed with generic field names. ([#1261](#1261)) - **RerunBridge replaces old rerun init**: `dimos.dashboard.rerun_init` removed. Use `RerunBridgeModule` or the `rerun-bridge` CLI. ([#1154](#1154)) - **Unitree directory restructuring**: `unitree_go2` → `unitree/go2`, `unitree_g1` → `unitree/g1`. Blueprint names updated. ([#1221](#1221)) - **Default viewer is now rerun-web**: Use `--viewer-backend rerun` to restore native viewer. ([#1324](#1324)) --- ## Quickstart ```bash # Install uv pip install dimos[base,unitree] # Try it (no hardware needed) # NOTE: First run downloads ~2.4 GB from LFS dimos --replay run unitree-go2 # Simulate uv pip install dimos[base,unitree,sim] dimos --simulation run unitree-go2 ``` --- ## New Contributors 🎉 - @ruthwikdasyam — Quest VR teleoperation, phone teleop, arm teleop, webcam rerun viz - @JalajShuklaSS — GraspGen integration - @jca0 — MuJoCo simulation module - @christiefhyang — PR template --- **Full Changelog**: [v0.0.9...v0.0.10](v0.0.9...v0.0.10)
docs(go2): add getting started guide (#1339)
…cker3 # Conflicts: # dimos/core/global_config.py # dimos/mapping/occupancy/path_map.py
Resolve conflicts: - path_map.py: remove stale blank line (take dev) - vl/create.py: keep __all__ export, remove duplicate import
- test_process_crash_triggers_stop: call mod.stop() after watchdog cleanup to release LCM transport and event loop threads (fixes CI thread leak error) - docker pull: remove stderr=subprocess.PIPE so both stdout and stderr are visible during pulls (progress bars, layer downloads)
test_sim_module.py was replaced by test_sim_adapter.py in PR #1639 (MuJoCo sim support for Manipulation). Accept dev's deletion.
# Conflicts: # uv.lock
When docker pull fails, the error message now includes the actual output to help diagnose auth/network/registry issues. Revert: git revert HEAD
Test file used ExceptionGroup without importing it, causing NameError on Python < 3.11. Import from safe_thread_map where it's polyfilled. Revert: git revert HEAD
…o jeff/fix/docker3
Keep both the sleep (for watchdog thread cleanup) and explicit stop() (for LCM transport cleanup).
Greptile SummaryThis PR is a significant architectural refactor of the DimOS module deployment pipeline. It consolidates Docker tooling ( Key changes and concerns:
Confidence Score: 4/5
Important Files Changed
Flowchart%%{init: {'theme': 'neutral'}}%%
flowchart TD
A["Blueprint.build()"] --> B["Phase 1: Config\nglobal_config.update()"]
B --> C["Phase 2: Validate\n_check_requirements()"]
C --> D["Phase 3: Compile\nDeploySpec (pure)"]
D --> D1["_compile_module_specs()"]
D --> D2["_compile_stream_wiring()"]
D --> D3["_compile_rpc_wiring()"]
D --> D4["_compile_module_ref_wiring()"]
D1 & D2 & D3 & D4 --> E["Phase 4: Execute\nModuleCoordinator(deploy_spec)"]
E --> F["deploy_parallel()"]
F --> G{Docker module?}
G -- Yes --> H["WorkerManagerDocker\n.deploy_parallel()"]
G -- No --> I["WorkerManagerPython\n.deploy_parallel()"]
H --> J["DockerModuleOuter.build()\n(pull/build image, start container,\nwait for RPC)"]
I --> K["Worker.deploy_module()\n+ RPCClient"]
J & K --> L["_wire_streams()"]
L --> M["_wire_rpc_methods()"]
M --> N["_wire_module_refs()"]
N --> O["_build_all_modules()\n(calls build() RPC on each)"]
O --> P["start_all_modules()\n(calls start() RPC on each)"]
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dimos/core/worker_manager_docker.py
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| self._deployed: list[DockerModuleOuter] = [] | ||
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| def should_manage(self, module_class: type) -> bool: | ||
| # inlined to prevent circular dependency |
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g=global_config leaks into Docker module config constructor
DockerModuleOuter.__init__ accepts **kwargs and passes them all directly to config_class(**kwargs). So this call adds g=GlobalConfig(...) to the kwargs dict that becomes arguments to DockerModuleConfig(...) (or a subclass). Unless BaseConfig / ModuleConfig is configured with model_config = ConfigDict(extra='ignore'), Pydantic will raise a ValidationError for the unknown g field — making every Docker module deployment fail.
The # type: ignore[arg-type] annotation hints the author is aware of a typing mismatch, but the runtime failure risk is real. The global_config argument does not belong in the Docker module's config; it should be used only to configure the manager itself (as WorkerManagerPython does).
# In deploy(), use config only to route; don't forward g= into the module config
mod = DockerModuleOuter(module_class, **kwargs) # type: ignore[arg-type]
dimos/core/worker_manager_docker.py
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| from dimos.core.docker_module import DockerModuleOuter | ||
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| mod = DockerModuleOuter(module_class, g=global_config, **kwargs) # type: ignore[arg-type] |
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| context = cfg.docker_build_context or cfg.docker_file.parent | ||
| cmd = [cfg.docker_bin, "build", "-t", cfg.docker_image, "-f", str(dockerfile)] | ||
| cmd.extend(["--label", f"{_BUILD_HASH_LABEL}={build_hash}"]) |
There was a problem hiding this comment.
Silent breaking defaults for GPU and restart policy
Two defaults have changed relative to the previous release:
docker_gpus:"all"→None— disables GPU passthroughdocker_restart_policy:"on-failure:3"→"no"— containers no longer restart on crash
Both are acknowledged in changes.md as "intentional breaking change?" with no migration guidance. Users upgrading who relied on GPU access or automatic restarts will silently lose those behaviours. The PR description's Breaking Changes section says only "None".
These should either be documented as breaking changes or preserved as opt-in/opt-out flags with a deprecation path.
changes.md
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| # PR #1431 (Docker Restoration) — Paul Review Fixes | ||
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| ## Commits (local, not pushed) | ||
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| ### 1. `317c487a2` — Include stdout/stderr in docker pull error | ||
| - Pull failures were silent — no diagnostic output | ||
| - Now includes both stdout and stderr in exception | ||
| - **Revert:** `git revert 317c487a2` | ||
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| ### 2. `91a13f1e7` — Import ExceptionGroup in test file | ||
| - Test used ExceptionGroup without import → NameError on Python < 3.11 | ||
| - Now imports from safe_thread_map polyfill | ||
| - **Revert:** `git revert 91a13f1e7` | ||
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| ## Reviewer was wrong on | ||
| - `rpc_timeouts` class-level mutable dict — it's in ModuleConfig (pydantic) with `Field(default_factory=...)`, which is correct | ||
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| ## Not addressed (need Jeff's input / bigger refactor) | ||
| - Container launch in `__init__` vs `start()` — lifecycle redesign | ||
| - Deterministic container naming (removed PID+timestamp) — collision risk | ||
| - `docker_gpus` default None (was "all") — intentional breaking change? | ||
| - `docker_restart_policy` default "no" (was "on-failure:3") — same | ||
| - Build hash includes original Dockerfile, not converted (with footer) | ||
| - `getattr(default_config, "rpc_timeouts", ...)` returns FieldInfo on class |
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Developer scratch notes committed to the repository
changes.md appears to be a personal working notes file ("Commits (local, not pushed)", "Reviewer was wrong on", "Not addressed (need Jeff's input)"). Committing this kind of internal review dialogue to the repo history adds noise and may inadvertently expose in-flight design discussions. Consider removing it from the PR and keeping it in a local branch note, PR description body, or Jira comment instead.
…ordinator.py refactor Conflicts resolved: - blueprints.py, module_coordinator.py: kept docker4's DeploySpec architecture - All other conflicts: took dev's versions - Removed docker4-only files (thread_utils, typing_utils, worker_manager_python, worker_python) - Restored dev's worker.py and worker_manager.py
- Added _DisabledModuleProxy class back to blueprints.py - Added optional field to ModuleRef - _compile_module_ref_wiring now detects disabled providers and creates no-op proxies - DeploySpec carries disabled_ref_proxies - ModuleCoordinator._wire_disabled_ref_proxies wires them after module refs
Draft b/c: contains misc, and isn't up to date with dev
Problem
Closes DIM-XXX
Solution
Breaking Changes
How to Test
Contributor License Agreement