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Fix LFS Updating Issue#1090

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spomichter merged 3 commits intodevfrom
jeff_large_data_update_fix
Jan 23, 2026
Merged

Fix LFS Updating Issue#1090
spomichter merged 3 commits intodevfrom
jeff_large_data_update_fix

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  • Tested on linux (mkdir temp, uv venv, pip install git url, dimos run --replay, LFS downloads successfully, replay runs)
  • This is a tiny change to prevent conflicts/updates, later we'll properly fix the whole system

@jeff-hykin jeff-hykin requested a review from a team January 23, 2026 19:39
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Greptile Overview

Greptile Summary

Fixed a type consistency bug in _get_user_data_dir() where the virtual environment path was returned as a string instead of a Path object, causing LFS updating issues when running in virtual environments.

  • Wrapped the venv_data_dir variable in Path() constructor on line 36-38
  • Ensures consistent return type across all code paths (function signature declares -> Path)
  • Prevents type-related errors when the returned value is used by callers expecting a Path object
  • Author tested successfully on Linux with uv venv and LFS downloads work correctly

Confidence Score: 5/5

  • This PR is safe to merge with minimal risk
  • The fix is a simple, focused type correction that wraps a string in Path() to match the function's return type annotation. The change has been tested by the author on Linux and resolves the LFS updating issue. No logic changes were made, only type consistency.
  • No files require special attention

Important Files Changed

Filename Overview
dimos/utils/data.py Fixed return type from string to Path object for virtual environment data directory, ensuring type consistency

Sequence Diagram

sequenceDiagram
    participant User
    participant get_data
    participant _get_data_dir
    participant _get_repo_root
    participant _get_user_data_dir
    participant VirtualEnv as Virtual Environment
    participant LFS as Git LFS

    User->>get_data: Request data file
    get_data->>_get_data_dir: Get data directory path
    _get_data_dir->>_get_repo_root: Get repository root
    _get_repo_root->>_get_user_data_dir: Get user data directory
    
    alt VIRTUAL_ENV is set
        _get_user_data_dir->>VirtualEnv: Check VIRTUAL_ENV variable
        _get_user_data_dir->>_get_user_data_dir: Construct venv-specific path
        Note over _get_user_data_dir: Path(f"{VIRTUAL_ENV}/lib/python{ver}/site-packages/dimos/data")
        _get_user_data_dir-->>_get_repo_root: Return Path object (venv-specific)
    else No VIRTUAL_ENV
        _get_user_data_dir-->>_get_repo_root: Return Path object (platform-specific)
    end
    
    _get_repo_root->>_get_repo_root: Check if repo exists, clone if needed
    _get_repo_root-->>_get_data_dir: Return repo path
    _get_data_dir-->>get_data: Return data directory path
    
    alt File already exists
        get_data-->>User: Return file path
    else File needs LFS pull
        get_data->>LFS: Pull and decompress LFS archive
        LFS-->>get_data: File downloaded
        get_data-->>User: Return file path
    end
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@spomichter spomichter merged commit 78b6585 into dev Jan 23, 2026
26 of 27 checks passed
@spomichter spomichter deleted the jeff_large_data_update_fix branch January 23, 2026 19:52
@jeff-hykin jeff-hykin restored the jeff_large_data_update_fix branch January 23, 2026 21:02
@jeff-hykin jeff-hykin deleted the jeff_large_data_update_fix branch January 24, 2026 19:42
spomichter added a commit that referenced this pull request Feb 21, 2026
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)
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