WIP: Just for reference

dimos/agents/skills/person_follow.py

@@ -80,14 +80,18 @@ def __init__(self, **kwargs: Any) -> None:
         self._should_stop: Event = Event()
         self._lock = RLock()
 
-        # Use MuJoCo camera intrinsics in simulation mode
+        # Use simulator camera intrinsics in simulation mode
         camera_info = self.config.camera_info
-        if self.config.g.simulation:
+        if self.config.g.simulation == "mujoco":
             from dimos.robot.unitree.mujoco_connection import MujocoConnection
 
             camera_info = MujocoConnection.camera_info_static
+        elif self.config.g.simulation == "dimsim":
+            from dimos.robot.unitree.dimsim_connection import DimSimConnection
 
-        self._visual_servo = VisualServoing2D(camera_info, self.config.g.simulation)
+            camera_info = DimSimConnection.camera_info_static
+
+        self._visual_servo = VisualServoing2D(camera_info, bool(self.config.g.simulation))
         self._detection_navigation = DetectionNavigation(self.tf, camera_info)
 
     @rpc

dimos/core/global_config.py

@@ -32,7 +32,7 @@ class GlobalConfig(BaseSettings):
     xarm7_ip: str | None = None
     xarm6_ip: str | None = None
     can_port: str = "can0"
-    simulation: bool = False
+    simulation: str = ""
     replay: bool = False
     replay_dir: str = "go2_sf_office"
     new_memory: bool = False
@@ -70,12 +70,15 @@ def update(self, **kwargs: object) -> None:
                 raise AttributeError(f"GlobalConfig has no field '{key}'")
             setattr(self, key, value)
 
+    dimsim_scene: str = "apt"
+    dimsim_port: int = 8090
+
     @property
     def unitree_connection_type(self) -> str:
         if self.replay:
             return "replay"
         if self.simulation:
-            return "mujoco"
+            return self.simulation
         return "webrtc"
 
     @property

dimos/msgs/sensor_msgs/Image.py

@@ -480,6 +480,11 @@ def lcm_encode(self, frame_id: str | None = None) -> bytes:
     @classmethod
     def lcm_decode(cls, data: bytes, **kwargs: Any) -> Image:
         msg = LCMImage.lcm_decode(data)
+
+        # JPEG-compressed images use a different decode path.
+        if msg.encoding == "jpeg":
+            return cls.lcm_jpeg_decode(data, **kwargs)
+
         fmt, dtype, channels = _parse_lcm_encoding(msg.encoding)
         arr: np.ndarray[Any, Any] = np.frombuffer(msg.data, dtype=dtype)
         if channels == 1: