Import Fix & Optimize: G1 without ROS, lazy imports, Fix bad dir naming, DIM-457, DIM-458, DIM-460, DIM-461 by jeff-hykin · Pull Request #1221 · dimensionalOS/dimos

jeff-hykin · 2026-02-08T05:06:18Z

Test with: bin/pytest-slow (no added functionality)

Performance Improvements

BEFORE

dimos --help  4.86s user 1.27s system 103% cpu 5.943 total
dimos --help  4.53s user 1.27s system 122% cpu 4.750 total
dimos --help  4.61s user 1.49s system 119% cpu 5.112 total

# below is time till first `onimage` call for `dimos --replay run unitree-go2-basic`
dimos --replay run unitree-go2-basic  13.85s user 2.73s system 68% cpu 24.35

AFTER

dimos --help  0.90s user 0.15s system 98% cpu 1.069 total
dimos --help  0.88s user 0.16s system 97% cpu 1.061 total
dimos --help  0.92s user 0.16s system 96% cpu 1.115 total

# below is time till first `onimage` call for `dimos --replay run unitree-go2-basic`
dimos --replay run unitree-go2-basic  5.60s user 1.99s system 49% cpu 15.262 total

New Dir Structure:

robots/unitree/<robot name>/<stuff for robot>
robots/unitree/<robot name>/blueprints/
every init.py going forward should use the lazy system as much as possible (see diffs)
no more robots/unitree_webrtc dir*

Closes DIM-457, DIM-458, DIM-460, DIM-461

…eff/fix_dirs

greptile-apps · 2026-02-08T05:06:35Z

Too many files changed for review. (128 files found, 100 file limit)

paul-nechifor · 2026-02-11T05:29:47Z

dimos/robot/unitree/g1/blueprints/primitive/uintree_g1_primitive_no_nav.py

@@ -0,0 +1,84 @@
+#!/usr/bin/env python3


typo in file name uintree

paul-nechifor · 2026-02-11T05:30:08Z

dimos/robot/unitree/g1/blueprints/primitive/uintree_g1_primitive_no_nav.py

+from dimos.robot.foxglove_bridge import foxglove_bridge
+from dimos.web.websocket_vis.websocket_vis_module import websocket_vis
+
+uintree_g1_primitive_no_nav = (


typo here too

paul-nechifor · 2026-02-11T05:32:32Z

dimos/robot/unitree_webrtc/type/timeseries.py

-    def __repr__(self) -> str:
-        """Return a string representation of the TList using Timeseries repr method."""
-        return Timeseries.__repr__(self)
+from dimos.robot.unitree.type.timeseries import *  # noqa: F403


Just import each individually Don't use * because it kills the ability of the linter to check for bad names.

In general I agree, I actually wish python would deprecate import *, but for a shim thats supposed to be deleted anyways (as soon as pickle file gets rerecorded) I thought it would be fine.

…eff/fix_dirs

@jca0

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)

jeff-hykin added 19 commits February 6, 2026 13:24

first shot at breaking up the g1 blueprints

e08a311

the great unitree renaming

4f38e8f

fixup imports for pickle, and docs

d1e5de4

break up unitree go2 blueprints

9618a01

fix and switch to absolute pathed imports

2129157

-

8136806

revert

05287b2

minor test fix

dbfb6d6

Merge branch 'jeff/fix_dirs' of github.com:dimensionalOS/dimos into j…

0d28205

…eff/fix_dirs

make blueprint imports lazy

829412b

Merge branch 'dev' into jeff/fix_dirs

c10a81c

make all __init__ imports lazy

e992482

mark cuda required tests

0d8dd3f

add hook filter for cuda

9f76c6c

add to toml

1a530a1

fix var name

a1f5352

Merge branch 'jeff/cuda_tests_marker' into jeff/fix_dirs

5845f8d

Merge branch 'dev' into jeff/fix_dirs

a4e8a45

make dimos --help fast

e0aba66

jeff-hykin and others added 10 commits February 7, 2026 21:16

name issue

290253a

CI code cleanup

ba6e29a

mypy stuff

36c69bb

remove dead/broken code (revealed by mypy)

28271c1

fix name (mypy revealed error)

fe5b6a1

another name fix

3614dca

mypy fixes

72a9542

correct g1 blueprint name

40f03ba

fix rpc typing

364ad8f

undo the ignores for rpc calls

e9891f8

more mypy

1f685dc

jeff-hykin changed the title ~~Import Fix & Optimize: G1 without ROS, lazy imports (4x faster), Fix bad dir naming~~ Import Fix & Optimize: G1 without ROS, lazy imports, Fix bad dir naming Feb 9, 2026

Merge branch 'dev' into jeff/fix_dirs

300e6d5

jeff-hykin force-pushed the jeff/fix_dirs branch from ca8396a to 300e6d5 Compare February 10, 2026 21:43

jeff-hykin and others added 2 commits February 10, 2026 13:59

-

beb93f1

pin langchain

dd552d0

paul-nechifor reviewed Feb 11, 2026

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paul-nechifor previously approved these changes Feb 11, 2026

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Merge branch 'jeff/fix_dirs' of github.com:dimensionalOS/dimos into j…

925e4aa

…eff/fix_dirs

jeff-hykin dismissed paul-nechifor’s stale review via 925e4aa February 11, 2026 21:28

jeff-hykin added 8 commits February 11, 2026 13:31

Merge branch 'dev' into jeff/fix_dirs

1dd7961

fix for CI

302877c

-

7488427

Merge branch 'dev' into jeff/fix_dirs

adffef3

fix mypy

406bf99

all_blueprints update

1833026

fix mypy

bf1e3cb

-

694d1b3

paul-nechifor approved these changes Feb 12, 2026

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jeff-hykin merged commit 8e491cb into dev Feb 12, 2026
27 of 28 checks passed

jeff-hykin changed the title ~~Import Fix & Optimize: G1 without ROS, lazy imports, Fix bad dir naming~~ Import Fix & Optimize: G1 without ROS, lazy imports, Fix bad dir naming, DIM-457 Feb 12, 2026

jeff-hykin changed the title ~~Import Fix & Optimize: G1 without ROS, lazy imports, Fix bad dir naming, DIM-457~~ Import Fix & Optimize: G1 without ROS, lazy imports, Fix bad dir naming, DIM-457, DIM-458 Feb 12, 2026

jeff-hykin changed the title ~~Import Fix & Optimize: G1 without ROS, lazy imports, Fix bad dir naming, DIM-457, DIM-458~~ Import Fix & Optimize: G1 without ROS, lazy imports, Fix bad dir naming, DIM-457, DIM-458, DIM-460 Feb 12, 2026

jeff-hykin changed the title ~~Import Fix & Optimize: G1 without ROS, lazy imports, Fix bad dir naming, DIM-457, DIM-458, DIM-460~~ Import Fix & Optimize: G1 without ROS, lazy imports, Fix bad dir naming, DIM-457, DIM-458, DIM-460, DIM-461 Feb 12, 2026

spomichter mentioned this pull request Feb 21, 2026

Release v0.0.10: Manipulation Stack, MuJoCo Simulation, DDS Transport, Web and Native Visualization via Rerun #1336

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paul-nechifor mentioned this pull request Mar 14, 2026

fix(imports): remove dunder init #1545

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dimos-bot mentioned this pull request Mar 14, 2026

Delete all dunder init files #1547

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Import Fix & Optimize: G1 without ROS, lazy imports, Fix bad dir naming, DIM-457, DIM-458, DIM-460, DIM-461#1221

Import Fix & Optimize: G1 without ROS, lazy imports, Fix bad dir naming, DIM-457, DIM-458, DIM-460, DIM-461#1221
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jeff-hykin commented Feb 8, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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Performance Improvements

New Dir Structure:

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