Feat/mjlab g1

bin/hooks/filter_commit_message.py

@@ -28,10 +28,16 @@ def main() -> int:
 
     lines = commit_msg_file.read_text().splitlines(keepends=True)
 
-    # Find the first line containing "Generated with" and truncate there
+    # Patterns that trigger truncation (everything from this line onwards is removed)
+    truncate_patterns = [
+        "Generated with",
+        "Co-Authored-By",
+    ]
+
+    # Find the first line containing any truncate pattern and truncate there
     filtered_lines = []
     for line in lines:
-        if "Generated with" in line:
+        if any(pattern in line for pattern in truncate_patterns):
             break
         filtered_lines.append(line)
 

dimos/core/__init__.py

@@ -13,6 +13,7 @@
 from dimos.core.rpc_client import RPCClient
 from dimos.core.stream import In, Out, RemoteIn, RemoteOut, Transport
 from dimos.core.transport import (
+    DDSTransport,
     LCMTransport,
     SHMTransport,
     ZenohTransport,
@@ -31,6 +32,7 @@
     "LCMRPC",
     "LCMTF",
     "TF",
+    "DDSTransport",
     "DimosCluster",
     "In",
     "LCMTransport",

dimos/core/blueprints.py

@@ -392,7 +392,7 @@ def build(
         module_coordinator.start_all_modules()
 
         # Compose and send Rerun blueprint from module contributions
-        if global_config.viewer_backend.startswith("rerun"):
+        if global_config.rerun_enabled and global_config.viewer_backend.startswith("rerun"):
             self._init_rerun_blueprint(module_coordinator)
 
         return module_coordinator

dimos/core/global_config.py

@@ -33,7 +33,7 @@ class GlobalConfig(BaseSettings):
     replay: bool = False
     rerun_enabled: bool = True
     rerun_server_addr: str | None = None
-    viewer_backend: ViewerBackend = "rerun-native"
+    viewer_backend: ViewerBackend = "rerun-web"
     n_dask_workers: int = 2
     memory_limit: str = "auto"
     mujoco_camera_position: str | None = None
@@ -44,6 +44,14 @@ class GlobalConfig(BaseSettings):
     mujoco_start_pos: str = "-1.0, 1.0"
     mujoco_steps_per_frame: int = 7
     robot_model: str | None = None
+    # Optional: name of a MuJoCo "bundle" that selects the robot MJCF + policy together.
+    # If set, Dimos MuJoCo sim will prefer:
+    # - data/mujoco_sim/{mujoco_profile}.xml
+    # - data/mujoco_sim/{mujoco_profile}_policy.onnx
+    mujoco_profile: str | None = None
+    # Enable lightweight timing breakdown logs from the MuJoCo subprocess (physics/render/pcd/policy).
+    mujoco_profiler: bool = False
+    mujoco_profiler_interval_s: float = 2.0
     robot_width: float = 0.3
     robot_rotation_diameter: float = 0.6
     planner_strategy: NavigationStrategy = "simple"

dimos/core/transport.py

@@ -26,6 +26,7 @@
 )
 
 from dimos.core.stream import In, Out, Stream, Transport
+from dimos.protocol.pubsub.ddspubsub import DDS, Topic as DDSTopic
 from dimos.protocol.pubsub.jpeg_shm import JpegSharedMemory
 from dimos.protocol.pubsub.lcmpubsub import LCM, JpegLCM, PickleLCM, Topic as LCMTopic
 from dimos.protocol.pubsub.shmpubsub import PickleSharedMemory, SharedMemory
@@ -212,4 +213,34 @@ def start(self) -> None: ...
     def stop(self) -> None: ...
 
 
+class DDSTransport(PubSubTransport[T]):
+    _started: bool = False
+
+    def __init__(self, topic: str, type: type, **kwargs) -> None:  # type: ignore[no-untyped-def]
+        super().__init__(DDSTopic(topic, type))
+        if not hasattr(self, "dds"):
+            self.dds = DDS(**kwargs)
+
+    def start(self) -> None:
+        self.dds.start()
+        self._started = True
+
+    def stop(self) -> None:
+        self.dds.stop()
+        self._started = False
+
+    def __reduce__(self):  # type: ignore[no-untyped-def]
+        return (DDSTransport, (self.topic.topic, self.topic.dds_type))
+
+    def broadcast(self, _, msg) -> None:  # type: ignore[no-untyped-def]
+        if not self._started:
+            self.start()
+        self.dds.publish(self.topic, msg)
+
+    def subscribe(self, callback: Callable[[T], None], selfstream: In[T] = None) -> None:  # type: ignore[assignment, override]
+        if not self._started:
+            self.start()
+        return self.dds.subscribe(self.topic, lambda msg, topic: callback(msg))  # type: ignore[return-value]
+
+
 class ZenohTransport(PubSubTransport[T]): ...

dimos/dashboard/rerun_init.py

@@ -137,6 +137,13 @@ def connect_rerun(
             logger.debug("Already connected to Rerun server")
             return
 
+        # Skip if Rerun is disabled globally (even if viewer_backend is still set to rerun-*).
+        if global_config and not global_config.rerun_enabled:
+            logger.debug(
+                "Rerun disabled; skipping connect", viewer_backend=global_config.viewer_backend
+            )
+            return
+
         # Skip if foxglove backend selected
         if global_config and not global_config.viewer_backend.startswith("rerun"):
             logger.debug("Rerun connection skipped", viewer_backend=global_config.viewer_backend)

dimos/protocol/pubsub/__init__.py

@@ -1,3 +1,4 @@
+import dimos.protocol.pubsub.ddspubsub as dds
 import dimos.protocol.pubsub.lcmpubsub as lcm
 from dimos.protocol.pubsub.memory import Memory
 from dimos.protocol.pubsub.spec import PubSub

dimos/protocol/pubsub/benchmark/test_benchmark.py

@@ -0,0 +1,175 @@
+#!/usr/bin/env python3
+
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from collections.abc import Generator
+import threading
+import time
+from typing import Any
+
+import pytest
+
+from dimos.protocol.pubsub.benchmark.testdata import testdata
+from dimos.protocol.pubsub.benchmark.type import (
+    BenchmarkResult,
+    BenchmarkResults,
+    MsgGen,
+    PubSubContext,
+    TestCase,
+)
+
+# Message sizes for throughput benchmarking (powers of 2 from 64B to 10MB)
+MSG_SIZES = [
+    64,
+    256,
+    1024,
+    4096,
+    16384,
+    65536,
+    262144,
+    524288,
+    1048576,
+    1048576 * 2,
+    1048576 * 5,
+    1048576 * 10,
+]
+
+# Benchmark duration in seconds
+BENCH_DURATION = 1.0
+
+# Max messages to send per test (prevents overwhelming slower transports)
+MAX_MESSAGES = 5000
+
+# Max time to wait for in-flight messages after publishing stops
+RECEIVE_TIMEOUT = 1.0
+
+
+def size_id(size: int) -> str:
+    """Convert byte size to human-readable string for test IDs."""
+    if size >= 1048576:
+        return f"{size // 1048576}MB"
+    if size >= 1024:
+        return f"{size // 1024}KB"
+    return f"{size}B"
+
+
+def pubsub_id(testcase: TestCase[Any, Any]) -> str:
+    """Extract pubsub implementation name from context manager function name."""
+    name: str = testcase.pubsub_context.__name__
+    # Convert e.g. "lcm_pubsub_channel" -> "LCM", "memory_pubsub_channel" -> "Memory"
+    prefix = name.replace("_pubsub_channel", "").replace("_", " ")
+    return prefix.upper() if len(prefix) <= 3 else prefix.title().replace(" ", "")
+
+
+@pytest.fixture(scope="module")
+def benchmark_results() -> Generator[BenchmarkResults, None, None]:
+    """Module-scoped fixture to collect benchmark results."""
+    results = BenchmarkResults()
+    yield results
+    results.print_summary()
+    results.print_heatmap()
+    results.print_bandwidth_heatmap()
+    results.print_latency_heatmap()
+
+
+@pytest.mark.tool
+@pytest.mark.parametrize("msg_size", MSG_SIZES, ids=[size_id(s) for s in MSG_SIZES])
+@pytest.mark.parametrize("pubsub_context, msggen", testdata, ids=[pubsub_id(t) for t in testdata])
+def test_throughput(
+    pubsub_context: PubSubContext[Any, Any],
+    msggen: MsgGen[Any, Any],
+    msg_size: int,
+    benchmark_results: BenchmarkResults,
+) -> None:
+    """Measure throughput for publishing and receiving messages over a fixed duration."""
+    with pubsub_context() as pubsub:
+        topic, msg = msggen(msg_size)
+        received_count = 0
+        target_count = [0]  # Use list to allow modification after publish loop
+        lock = threading.Lock()
+        all_received = threading.Event()
+
+        def callback(message: Any, _topic: Any) -> None:
+            nonlocal received_count
+            with lock:
+                received_count += 1
+                if target_count[0] > 0 and received_count >= target_count[0]:
+                    all_received.set()
+
+        # Subscribe
+        pubsub.subscribe(topic, callback)
+
+        # Warmup: give DDS/ROS time to establish connection
+        time.sleep(0.1)
+
+        # Set target so callback can signal when all received
+        target_count[0] = MAX_MESSAGES
+
+        # Publish messages until time limit, max messages, or all received
+        msgs_sent = 0
+        start = time.perf_counter()
+        end_time = start + BENCH_DURATION
+
+        while time.perf_counter() < end_time and msgs_sent < MAX_MESSAGES:
+            pubsub.publish(topic, msg)
+            msgs_sent += 1
+            # Check if all already received (fast transports)
+            if all_received.is_set():
+                break
+
+        publish_end = time.perf_counter()
+        target_count[0] = msgs_sent  # Update to actual sent count
+
+        # Check if already done, otherwise wait up to RECEIVE_TIMEOUT
+        with lock:
+            if received_count >= msgs_sent:
+                all_received.set()
+
+        if not all_received.is_set():
+            all_received.wait(timeout=RECEIVE_TIMEOUT)
+        latency_end = time.perf_counter()
+
+        with lock:
+            final_received = received_count
+
+        # Latency: how long we waited after publishing for messages to arrive
+        # 0 = all arrived during publishing, 1000ms = hit timeout (loss occurred)
+        latency = latency_end - publish_end
+
+        # Record result (duration is publish time only for throughput calculation)
+        # Extract transport name from context manager function name
+        ctx_name = pubsub_context.__name__
+        prefix = ctx_name.replace("_pubsub_channel", "").replace("_", " ")
+        transport_name = prefix.upper() if len(prefix) <= 3 else prefix.title().replace(" ", "")
+        result = BenchmarkResult(
+            transport=transport_name,
+            duration=publish_end - start,
+            msgs_sent=msgs_sent,
+            msgs_received=final_received,
+            msg_size_bytes=msg_size,
+            receive_time=latency,
+        )
+        benchmark_results.add(result)
+
+        # Warn if significant message loss (but don't fail - benchmark records the data)
+        loss_pct = (1 - final_received / msgs_sent) * 100 if msgs_sent > 0 else 0
+        if loss_pct > 10:
+            import warnings
+
+            warnings.warn(
+                f"{transport_name} {msg_size}B: {loss_pct:.1f}% message loss "
+                f"({final_received}/{msgs_sent})",
+                stacklevel=2,
+            )