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Add uv to nix and fix resulting problems#1021

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jeff_uv_for_nix
Jan 18, 2026
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Add uv to nix and fix resulting problems#1021
paul-nechifor merged 2 commits intodevfrom
jeff_uv_for_nix

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@jeff-hykin jeff-hykin commented Jan 15, 2026

  • Tested on Linux and MacOS with nix develop
  • The default uv is too old (conflicts with our pyproject.toml), so needed to update nixpkgs (flake update)
  • Flake update causes home manager to break (of a change on nixpkgs unstable), pinning to nixos-25.11 fixes that
  • pre-commit depends on dotnet (for some fricken reason) which is broken on unstable and 25.11, so I switched to the last working version of pre-commit
  • groups, envVarShellHook, and vars were created to enable debugging the flake from a nix repl (helpful now and in the future)

@jeff-hykin jeff-hykin requested a review from a team January 15, 2026 10:28
@jeff-hykin jeff-hykin changed the title add uv to nix and fix resulting problems Add uv to nix and fix resulting problems Jan 15, 2026
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Greptile Summary

Updated Nix flake to support uv by upgrading to nixpkgs 25.11, which required pinning home-manager to release-25.11 and working around a broken pre-commit package by using a specific older nixpkgs commit (f665af0).

  • Migrated from nixos-unstable to nixos-25.11 to get compatible uv version for pyproject.toml requirements
  • Pinned home-manager to release-25.11 to fix breaking changes from nixpkgs unstable
  • Added workaround for broken pre-commit by sourcing from specific nixpkgs commit where dotnet dependency works
  • Refactored package aggregation into groups structure for better organization
  • Split shellHook into envVarShellHook and full shellHook for reusability
  • Exported vars attribute containing inputs, pkgs, groups, aggregation, and hooks for REPL debugging
  • Added Darwin-specific target configuration to fix home-manager app linking issue

Confidence Score: 4/5

  • This PR is safe to merge with minimal risk - it's a necessary infrastructure update with well-documented workarounds
  • Score reflects the necessary nature of the update to support uv tooling while appropriately handling breaking changes through version pins. The workarounds (pre-commit from older nixpkgs, home-manager pinned to 25.11) are well-justified and documented. The refactoring to groups structure improves code organization without changing functionality. Minor concern: using a specific commit hash for pre-commit is fragile long-term, but acceptable as a temporary fix
  • No files require special attention - the changes are straightforward dependency updates and structural improvements

Important Files Changed

Filename Overview
flake.nix Updated nixpkgs to 25.11, added uv package, pinned home-manager and pre-commit to working versions, refactored package groups structure for better organization and REPL debugging
flake.lock Updated lock file with nixpkgs 25.11, home-manager release-25.11, and new nixpkgsSourceWithPreCommit input

Sequence Diagram

sequenceDiagram
    participant Dev as Developer
    participant Flake as flake.nix
    participant Lock as flake.lock
    participant NixPkgs as nixpkgs (25.11)
    participant PreCommit as nixpkgsSourceWithPreCommit
    participant HomeManager as home-manager (25.11)
    
    Dev->>Flake: flake update
    Flake->>NixPkgs: Update from unstable to 25.11
    Flake->>HomeManager: Pin to release-25.11
    Flake->>PreCommit: Add f665af0 commit for working pre-commit
    NixPkgs-->>Lock: Update hashes and commits
    HomeManager-->>Lock: Update to 25.11 release
    PreCommit-->>Lock: Add new input source
    Flake->>Flake: Add uv package
    Flake->>Flake: Refactor to groups structure
    Flake->>Flake: Split shellHook into envVarShellHook
    Flake->>Flake: Export vars for REPL debugging
    Lock-->>Dev: Dependencies resolved
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@paul-nechifor paul-nechifor merged commit 8af8f8f into dev Jan 18, 2026
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leshy added a commit that referenced this pull request Jan 18, 2026
leshy added a commit that referenced this pull request Jan 18, 2026
paul-nechifor pushed a commit that referenced this pull request Jan 19, 2026
* add uv to nix and fix resulting problems

* fix for linux
Nabla7 added a commit that referenced this pull request Jan 20, 2026
* feat(sim): add MJLab G1 velocity policy profile

Introduce a 'mujoco_profile' concept allowing self-contained MuJoCo
simulation bundles (MJCF + ONNX policy + assets) to be loaded by name.

Key changes:
- GlobalConfig: new 'mujoco_profile' field (--mujoco-profile CLI flag)
- model.py: profile-scoped asset loading and bundle.json support
- mujoco_process.py: read camera names from bundle.json per profile
- policy.py: MjlabVelocityOnnxController reads joint_names,
  default_joint_pos, action_scale from ONNX metadata for exact
  MJLab action contract (per-joint scaling & named ordering)
- mujoco_connection.py: skip menagerie download when profile is set
- blueprints.py / rerun_init.py: gate Rerun init on rerun_enabled

Bundle added to data/.lfs/mujoco_sim.tar.gz (LFS-tracked):
  data/mujoco_sim/unitree_g1_mjlab/
    ├── model.xml      (MJLab-compiled G1 MJCF with correct actuators)
    ├── policy.onnx    (trained velocity policy with metadata)
    ├── bundle.json    (camera name mappings)
    └── assets/        (STL meshes from MJLab asset_zoo)

Usage:
  dimos --simulation \
        --mujoco-profile unitree_g1_mjlab \
        run unitree-g1-basic-sim

* CI code cleanup

* fix(sim): resolve meshdir/profile asset conflicts for GO2 and G1

- mujoco_process.py: only use mujoco_profile when explicitly set
  (fixes GO2 accidentally being treated as a profile bundle)
- model.py: rewrite scene XML to remove meshdir/texturedir attrs
  and prefix mesh/texture filenames explicitly, preventing scene
  compiler settings from hijacking robot mesh resolution

* configure unitree go2 mapper to use 10 cm voxels (#1032)

* feat(sim): add MuJoCo subprocess profiler for performance debugging

Adds a built-in timing breakdown for the MuJoCo simulation subprocess.
When enabled, logs rolling averages of time spent in each component:
- physics_ms: mj_step loop
- viewer_sync_ms: MuJoCo viewer synchronization
- rgb_render_ms, depth_render_ms: camera rendering
- pcd_ms: depth-to-pointcloud + voxel downsample
- *_shm_ms: shared memory writes
- ctrl_calls, ctrl_obs_ms, ctrl_onnx_ms: policy cost breakdown

This helps diagnose performance issues (e.g. 'molasses' effect) by
showing exactly where frame time is being spent.

Usage:
  # Standard G1 sim with profiler:
  dimos --simulation --mujoco-profiler --mujoco-profiler-interval-s 2 run unitree-g1-basic-sim

  # MJLab bundle with profiler:
  dimos --simulation --mujoco-profile unitree_g1_mjlab --mujoco-profiler --mujoco-profiler-interval-s 2 run unitree-g1-basic-sim

New GlobalConfig flags:
- mujoco_profiler: bool (default False)
- mujoco_profiler_interval_s: float (default 2.0)

* pre commit

* small docs clarification (#1043)

* Fix split view on wide monitors (#1048)

* fix print to be correct URL based on rerun web or not

* make width of rerun/command center adjustable

* swap sides

* Docs: Install & Develop  (#1022)

* minimal edit

* rice the readme

* grammar

* formatting

* fix examples

* change links to reduce change count

* improve wording

* wording

* remove acknowledgements

* improve the humancli example

* formatting

* Update README.md

* switch to dev branch for development

* changes for paul

* Update README.md

* fix broken link

* update broken link

* Add uv to nix and fix resulting problems (#1021)

* add uv to nix and fix resulting problems

* fix for linux

* v0.0.8 version update (#1050)

* Style changes in docs (#1051)

* capitalization

* punctuation

* more small fixes

* Revert "Add uv to nix and fix resulting problems (#1021)" (#1053)

This reverts commit 8af8f8f.

* Transport benchmarks & Raw ROS transport (#1038)

* raw rospubsub and benchmarks

* typefixes, shm added to the benchmark

* SHM is not so important to tell us every time when it starts

* greptile comments

* Add co-authorship line to commit message filter patterns

* Remove unused contextmanager import

* lcmservice correct kernel settings reintroduced

* mixin mixin resolved

* lcmservice tests fix

* macos lcm rmem fix

* feat: default to rerun-web and auto-open browser on startup (#1019)

- Changed GlobalConfig.viewer_backend default from rerun-native to rerun-web
- WebsocketVisModule now opens dashboard in browser automatically on start
- Requested by Jeff

Co-authored-by: s <pomichterstash@gmail.com>

* chore: fix indentation in blueprints ambiguity check

* CI code cleanup

* use p controller to stop oscillations on unitree go2 (#1014)

* Dynamic session providers for onnxruntime (#983)

* refactor(policy): update inference session initialization

* refactor(policy): simplify inference session provider initialization

* Log the policy directory and provider

* Perception Full Refactor and Cleanup, deprecated Manipulation AIO Pipeline and replaced with Object Scene Registration  (#936)

* added rate limiting and backpressure to pointcloud publishing

CI code cleanup

updated ZED module to the same standard as realsense

CI code cleanup

fixed stash's comments

CI code cleanup

mypy fixes + comments

removed property of camera_info

should pass CI now

added detection3d pointcloud types from depth image

added yoloe support and 3D object segmentation

CI code cleanup

use yoloe-s instead for nuc

CI code cleanup

removed deprecated perception code

some pointcloud color changes

major refactor and added object class for object scene registration

CI code cleanup

refactored, added objectDB for persistent object memory

CI code cleanup

made objectDB a normal class instead of a module

CI code cleanup

revert to dev

reverted more files

CI code cleanup

completely refactored object scene registration to work natively in dimos instead of using ROS as transport. Made everything super clean and working

CI code cleanup

bug fixed + use yoloe-l by default

added yolo object exlusion list

CI code cleanup

added zed camera to the object registration demo

CI code cleanup

added image and pointclou2 fixes and as_numpy function

working promptable object scene registration

CI code cleanup

bug fixes

bug fix + remove ros imports

should not fail CI now

CI code cleanup

more CI fixes, somehow local CI did not catch

changed prompt fixed bug

CI code cleanup

reverted some changes

Cleanup very dead code and fixed mypy errors

CI code cleanup

fixed more mypy

CI code cleanup

* one last mypy fix

* added default to imagedetection2d to not set off mypy

* fixed bug and default to open vocab for detection

* mypy fixes

* fixed one last mypy error

* fixed all of Stash's comments

* should pass mypy now

* added uv lock

* sync uv.lock with dev

* fixed the last mypy error

* fixed mypy errors from source

* reverted mypy import error fixes

* fixed Ivan's comment

* fixed last of ivan's comment

* remove all to_ros_msgs stuff in this commit

* passed Ivan's detector tests

* added README for depth camera integration

* fixed last of Stash's comments

* feat(cli): type-free topic echo via /topic#pkg.Msg inference, this mi… (#988)

* feat(cli): type-free topic echo via /topic#pkg.Msg inference, this mirrors ros topic echo functionality.

- Make type_name optional in 'dimos topic echo'
- Infer message type from LCM channel suffix (e.g. /odom#nav_msgs.Odometry)
- Dynamically import dimos.msgs.<pkg> and call cls.lcm_decode(data)
- Keep existing explicit-type mode working
- Update transports.md docs

* fix(cli): use LCMPubSubBase instead of raw lcm.LCM for topic echo, my bad

* verify blueprints (#1018)

* verify blueprints

* Fix geometry msgs check failure in CI

---------

Co-authored-by: stash <pomichterstash@gmail.com>

* Experimental Streamed Temporal Memory with SpatioTemporal & Entity based RAG (#973)

* temporal memory + vlm agent + blueprints

* fixing module issue and style

* fix skill registration

* removing state functions unpickable

* inheritancefixes and memory management

* docstring for query

* microcommit: fixing memory buffer

* sharpness filter and simplified frame filtering

* CI code cleanup

* initial graph database implementation

* db implementation, working and stylized, best reply is unitree_go2_office_walk2

* type checking issues

* final edits, move into experimental, revert non-memory code edits, typechecking

* persistent db flag enabled in config

* Fix test to not run in CI due to LFS pull

* Fix CLIP filter to use dimensional clip

* Add path to temporal memory

* revert video operators

* Revert moondream

* added temporal memory docs

* Refactor move to /experimental/temporal_memory

---------

Co-authored-by: Paul Nechifor <paul@nechifor.net>
Co-authored-by: Stash Pomichter <pomichterstash@gmail.com>
Co-authored-by: shreyasrajesh0308 <shreyasrajesh0308@users.noreply.github.com>
Co-authored-by: spomichter <12108168+spomichter@users.noreply.github.com>

* Control Orchestrator - Unified Controller for multi-arm and full body controller (#970)

* archive old driver to manipulators_old for redesign

* spec.py defining minimal protocol for an arm driver

* xarm driver driver added - driver owns control thread and robot state threads also invokes rpc calls to arm specific SDK backends

* xarm SDK specific wrapper to interface with dimos RPC calls from the driver

* removed type checking for  old armdriver spec from the cartesian controller

* replicated piper driver to meet the new architecture

* added mock backend

* updated all blueprints to add new arm module

* Added readme explaining new driver architecture overview

* config now parsed in backend init instead of connect method

* addded dual arm control blueprint using trajectory controller

* adding a control orchestrator for single control loop for multiple arms and joint control -  added dataclasses for orchestrator and protocol for ControlTask

* hardware interface protocol that wraps specific arm SDK to work with orchestrator. Also solves namespace for multiple arm and hardware

* main orchestrator module and control loop that claims resources computes next commands,  and arbitrates priority of different tasks and controllers

* added a trajectory task implementation that performs trajecotry control

* added blueprints to launch orchestratory module with differnt arms for testing

* updated blueprints to add piper + xarm blueprint

* orchestrator client that can send tasks to the control orchestrator module

* added a readme

* added pytest and e2e test

* Update dimos/control/hardware_interface.py

explicit false added to the Torque Mode command sent, to avoid silent failing scenario

* CI code cleanup

* Fixed issues flagged by greptile

Mode conflict detection in routing: Added check in _route_to_hardware
Preemption tracking: Changed structure to {preempted_task: {joint: winning_task}}
Mode conflict preemption: Tasks dropped due to mode conflict at same priority
Trajectory completion edge case: Returns final position instead of None on completion
Dead code removal: and Piper backend cleanup

* Renamed deprecated old manipuialtion test file and Mypy type fixes

* fix mypy test

* mypy test fix added explicit  type

* Remove deprecated manipulators_old folder

* fixed redef error in dual trajectory setter

* Fixed bugs identified by greptile overview:
1. tick_loop.py - Race condition in _route_to_hardware
2. orchestrator.py  -  Added hardware_added tracking list and rollback in outer except block
3. hardware_interface.py - Added disconnect() to both HardwareInterface protocol and BackendHardwareInterface
4. Added disconnect() to both HardwareInterface protocol and BackendHardwareInterface
5. orchestrator.py - Start order fix Moved super().start() to end, after tick loop starts successfully
6. trajectory_task.py - Added Empty joint_names validation

* addressed greptile suggestion:
hardware_interface.py - Torque mode logging fix
orchestrator.py - Fail hardware removal if joints in use
tick_loop.py - Rate control drift fix

* undo change to pyproject.toml

* Replaced _running bool with threading.Event (_stop_event) for thread safety
Removed duplicate _auto_start() call from __init__ - connection now only happens in start()
orchestrator_client.py	IPython conversion

* added type ignore for ipythin

* removed check for has attribute in hardware interface

Moved super.start() at the beginning

replaced running bool with stop_event in tick_loop to improve thread safety

removed default ip from init

removed simple dataclasses test

* orchestrator.py: Use match statement for backend factory, restructure backend cleanup
task.py: Use match statement in get_values()
tick_loop.py: Add JointWinner NamedTuple for cleaner arbitration logic
xarm/backend.py: Extract unit conversions into static helper methods

* tick_loop.py: Notify preemption when lower-priority task loses to existing winner
hardware_interface.py: Call set_control_mode() before mode-specific writes, Convert if/elif to match statement for control mode dispatch

* tick_loop.py: Notify preemption when lower-priority task loses to existing winner
hardware_interface.py: Call set_control_mode() before mode-specific writes, convert if/elif to match statement
trajectory_task.py: Defer start time to first compute() for consistent timing
orchestrator.py: Extract _setup_hardware() helper for cleaner config setup
piper and xarm/backend.py: Fail fast on read_joint_positions(), map SERVO_POSITION to mode 1
hardware_interface.py: Retry initialization with proper error propagation,
spec.py: Add SERVO_POSITION control mode for confusion between position planning and position servo
task.py: added SERVO_POSITION to JointCommandOutput helper

* cleaned up legacy blueprints for manipulator drivers

* enforce ManipulatorBackend Protocol on the backend.py

* feat: add runtime protocol checks for manipulator backends

* added runtime checking for controlTask protocol

* Add TaskStatus dataclass, refactor get_trajectory_status and Explicitly inherit from ControlTask protocol

---------

Co-authored-by: stash <pomichterstash@gmail.com>

* configure unitree go2 mapper to use 10 cm voxels (#1032)

* Create DDSPubSubBase, DDSTopic

* Create PickleDDS

* Fix hash/equality inconsistency in DDSTopic

* Add DDSMsg

* Create DDSTransport

* Add broadcast and subscribe methods to DDSTransport

* Create DDSService

* Add CycloneDDS package

* Remove unnecessary attributes

* Add threading and serialization methods to DDSService

* Ensure broadcast and subscribe methods initialize DDS if not started

* Add Transport benchmarking capabilities to CycloneDDS (#1055)

* raw rospubsub and benchmarks

* typefixes, shm added to the benchmark

* SHM is not so important to tell us every time when it starts

* greptile comments

* Add co-authorship line to commit message filter patterns

* Remove unused contextmanager import

---------

Co-authored-by: Ivan Nikolic <lesh@sysphere.org>

* Fix DDS segmentation fault using bytearray for binary data storage

Replace base64 string encoding with native IDL bytearray type to eliminate
buffer overflow issues. The original base64 encoding exceeded CycloneDDS's
default string size limit (~256 bytes) and caused crashes on messages >= 1KB.

Key changes:
- Use make_idl_struct with bytearray field instead of string
- Convert bytes to bytearray when publishing to DDS
- Convert bytearray back to bytes when receiving from DDS
- Add _DDSMessageListener for async message dispatch
- Implement thread-safe DataWriter/DataReader management
- Add pickle support via __getstate__/__setstate__

Result: All 12 DDS benchmark tests pass (64B to 10MB messages).

* Refactor DDS PubSub implementation to use CycloneDDS Topic

* Remove DDS pickling

* CI code cleanup

* bugfix

* CI code cleanup

---------

Co-authored-by: leshy <lesh@sysphere.org>
Co-authored-by: Jeff Hykin <jeff.hykin@gmail.com>
Co-authored-by: Paul Nechifor <paul@nechifor.net>
Co-authored-by: s <pomichterstash@gmail.com>
Co-authored-by: Miguel Villa Floran <miguel.villafloran@gmail.com>
Co-authored-by: alexlin2 <44330195+alexlin2@users.noreply.github.com>
Co-authored-by: claire wang <clara32356@gmail.com>
Co-authored-by: shreyasrajesh0308 <shreyasrajesh0308@users.noreply.github.com>
Co-authored-by: spomichter <12108168+spomichter@users.noreply.github.com>
Co-authored-by: Mustafa Bhadsorawala <39084056+mustafab0@users.noreply.github.com>
spomichter added a commit that referenced this pull request Jan 23, 2026
… 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
@jeff-hykin jeff-hykin deleted the jeff_uv_for_nix branch January 24, 2026 20:30
JalajShuklaSS pushed a commit that referenced this pull request Jan 27, 2026
* add uv to nix and fix resulting problems

* fix for linux
JalajShuklaSS pushed a commit that referenced this pull request Jan 27, 2026
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