From 98725c5dbe84a2add5d6a4055b355f05e4253d53 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 10 Feb 2026 09:28:49 -0800 Subject: [PATCH 01/11] add arm support --- pyproject.toml | 2 +- uv.lock | 34 +++++++++++++++++++++++++++------- 2 files changed, 28 insertions(+), 8 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index d5109082c3..002cf222f4 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -51,7 +51,7 @@ dependencies = [ "colorlog==6.9.0", # Core Msgs "opencv-python", - "open3d", + "open3d-unofficial-arm", # works for non-arm too, will replace once open3d offical supports arm # CLI "pydantic-settings>=2.11.0,<3", "textual==3.7.1", diff --git a/uv.lock b/uv.lock index 2c4fc00361..cc3d87c841 100644 --- a/uv.lock +++ b/uv.lock @@ -396,10 +396,10 @@ name = "bitsandbytes" version = "0.49.1" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = 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"sha256:acd4730a0db3762d286707f4a3bc1d013d21dd5f0e441900da57ec4198578d4e", size = 31065659, upload-time = "2026-01-08T14:31:28.676Z" }, @@ -1739,7 +1739,7 @@ dependencies = [ { name = "numba" }, { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, - { name = "open3d" }, + { name = "open3d-unofficial-arm" }, { name = "opencv-python" }, { name = "pin" }, { name = "plotext" }, @@ -2050,8 +2050,8 @@ requires-dist = [ { name = "onnxruntime", marker = "extra == 'cpu'" }, { name = "onnxruntime-gpu", marker = "extra == 'cuda'", specifier = ">=1.17.1" }, { name = "open-clip-torch", marker = "extra == 'misc'", specifier = "==3.2.0" }, - { name = "open3d" }, { name = "open3d", marker = "extra == 'docker'" }, + { name = "open3d-unofficial-arm" }, { name = "openai", marker = "extra == 'agents'" }, { name = "openai-whisper", marker = "extra == 'agents'" }, { name = "opencv-contrib-python", marker = "extra == 'misc'", specifier = "==4.10.0.84" }, @@ -2386,7 +2386,7 @@ name = "exceptiongroup" version = "1.3.1" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "typing-extensions", marker = "python_full_version < '3.11'" }, + { name = "typing-extensions", marker = "python_full_version < '3.13'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/50/79/66800aadf48771f6b62f7eb014e352e5d06856655206165d775e675a02c9/exceptiongroup-1.3.1.tar.gz", hash = "sha256:8b412432c6055b0b7d14c310000ae93352ed6754f70fa8f7c34141f91c4e3219", size = 30371, upload-time = "2025-11-21T23:01:54.787Z" } wheels = [ @@ -6032,6 +6032,26 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/9f/c4/35a6e0a35aa72420e75dc28d54b24beaff79bcad150423e47c67d2ad8773/open3d-0.19.0-cp312-cp312-win_amd64.whl", hash = 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upload-time = "2026-02-10T08:38:00.654Z" }, +] + [[package]] name = "openai" version = "2.14.0" From 8696799a2dac7e1bf0a89b1096a5ebd5d2d24556 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 10 Feb 2026 13:52:06 -0800 Subject: [PATCH 02/11] - --- pyproject.toml | 3 ++- uv.lock | 30 ++++++++++++++++-------------- 2 files changed, 18 insertions(+), 15 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 002cf222f4..782bfd423d 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -51,7 +51,8 @@ dependencies = [ "colorlog==6.9.0", # Core Msgs "opencv-python", - "open3d-unofficial-arm", # works for non-arm too, will replace once open3d offical supports arm + "open3d-unofficial-arm; platform_machine == 'aarch64' and platform_system == 'Linux' ", + "open3d>=0.18.0; platform_machine != 'aarch64' or platform_system != 'Linux'", # CLI "pydantic-settings>=2.11.0,<3", "textual==3.7.1", diff --git a/uv.lock b/uv.lock index cc3d87c841..f4918a2d62 100644 --- a/uv.lock +++ b/uv.lock @@ -396,10 +396,10 @@ name = "bitsandbytes" version = "0.49.1" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, - { name = "packaging" }, - { name = "torch" }, + { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11' and sys_platform != 'darwin' and sys_platform != 'win32'" }, + { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11' and sys_platform != 'darwin' and sys_platform != 'win32'" }, + { name = "packaging", marker = "sys_platform != 'darwin' and sys_platform != 'win32'" }, + { name = "torch", marker = "sys_platform != 'darwin' and sys_platform != 'win32'" }, ] wheels = [ { url = "https://files.pythonhosted.org/packages/11/dd/5820e09213a3f7c0ee5aff20fce8b362ce935f9dd9958827274de4eaeec6/bitsandbytes-0.49.1-py3-none-manylinux_2_24_aarch64.whl", hash = "sha256:acd4730a0db3762d286707f4a3bc1d013d21dd5f0e441900da57ec4198578d4e", size = 31065659, upload-time = "2026-01-08T14:31:28.676Z" }, @@ -1739,7 +1739,8 @@ dependencies = [ { name = "numba" }, { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, - { name = "open3d-unofficial-arm" }, + { name = "open3d", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "open3d-unofficial-arm", marker = "platform_machine == 'aarch64' and sys_platform == 'linux'" }, { name = "opencv-python" }, { name = "pin" }, { name = "plotext" }, @@ -2050,8 +2051,9 @@ requires-dist = [ { name = "onnxruntime", marker = "extra == 'cpu'" }, { name = "onnxruntime-gpu", marker = "extra == 'cuda'", specifier = ">=1.17.1" }, { name = "open-clip-torch", marker = "extra == 'misc'", specifier = "==3.2.0" }, + { name = "open3d", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'", specifier = ">=0.18.0" }, { name = "open3d", marker = "extra == 'docker'" }, - { name = "open3d-unofficial-arm" }, + { name = "open3d-unofficial-arm", marker = "platform_machine == 'aarch64' and sys_platform == 'linux'" }, { name = "openai", marker = "extra == 'agents'" }, { name = "openai-whisper", marker = "extra == 'agents'" }, { name = "opencv-contrib-python", marker = "extra == 'misc'", specifier = "==4.10.0.84" }, @@ -2386,7 +2388,7 @@ name = "exceptiongroup" version = "1.3.1" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "typing-extensions", marker = "python_full_version < '3.13'" }, + { name = "typing-extensions", marker = "python_full_version < '3.11'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/50/79/66800aadf48771f6b62f7eb014e352e5d06856655206165d775e675a02c9/exceptiongroup-1.3.1.tar.gz", hash = "sha256:8b412432c6055b0b7d14c310000ae93352ed6754f70fa8f7c34141f91c4e3219", size = 30371, upload-time = "2025-11-21T23:01:54.787Z" } wheels = [ @@ -6037,13 +6039,13 @@ name = "open3d-unofficial-arm" version = "0.19.0.post5" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "configargparse" }, - { name = "dash" }, - { name = "flask" }, - { name = "nbformat" }, - { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, - { name = "werkzeug" }, + { name = "configargparse", marker = "platform_machine == 'aarch64' and sys_platform == 'linux'" }, + { name = "dash", marker = "platform_machine == 'aarch64' and sys_platform == 'linux'" }, + { name = "flask", marker = "platform_machine == 'aarch64' and sys_platform == 'linux'" }, + { name = "nbformat", marker = "platform_machine == 'aarch64' and sys_platform == 'linux'" }, + { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'linux'" }, + { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11' and platform_machine == 'aarch64' and sys_platform == 'linux'" }, + { name = "werkzeug", marker = "platform_machine == 'aarch64' and sys_platform == 'linux'" }, ] wheels = [ { url = "https://files.pythonhosted.org/packages/02/87/95d3cf9017a0e89a708e611d003abeb66c88d7947fa7238962971cc8b0cb/open3d_unofficial_arm-0.19.0.post5-cp310-cp310-manylinux_2_35_aarch64.whl", hash = "sha256:26bc160f3326a74b232f026d741a576bf0d1fa7b1d5128c5e979d7b4d2d1b983", size = 48230542, upload-time = "2026-02-10T08:37:33.928Z" }, From 5913387fb0888396538f768c84d97d8a96be5e8f Mon Sep 17 00:00:00 2001 From: Miguel Villa Floran Date: Tue, 10 Feb 2026 14:30:45 -0800 Subject: [PATCH 03/11] Update dependency specifications for open3d to support ARM and non ARM machines --- pyproject.toml | 5 +++-- uv.lock | 38 ++++++++++++++++++++------------------ 2 files changed, 23 insertions(+), 20 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 782bfd423d..08fc041aa9 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -51,7 +51,7 @@ dependencies = [ "colorlog==6.9.0", # Core Msgs "opencv-python", - "open3d-unofficial-arm; platform_machine == 'aarch64' and platform_system == 'Linux' ", + "open3d-unofficial-arm; platform_machine == 'aarch64' and platform_system == 'Linux'", "open3d>=0.18.0; platform_machine != 'aarch64' or platform_system != 'Linux'", # CLI "pydantic-settings>=2.11.0,<3", @@ -297,7 +297,8 @@ docker = [ "sortedcontainers", "PyTurboJPEG", "rerun-sdk", - "open3d" + "open3d-unofficial-arm; platform_machine == 'aarch64' and platform_system == 'Linux'", + "open3d>=0.18.0; platform_machine != 'aarch64' or platform_system != 'Linux'", ] base = [ diff --git a/uv.lock b/uv.lock index f4918a2d62..a716873c07 100644 --- a/uv.lock +++ b/uv.lock @@ -1866,7 +1866,8 @@ docker = [ { name = "lcm" }, { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, - { name = "open3d" }, + { name = "open3d", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "open3d-unofficial-arm", marker = "platform_machine == 'aarch64' and sys_platform == 'linux'" }, { name = "opencv-python-headless" }, { name = "plum-dispatch" }, { name = "pydantic" }, @@ -2052,8 +2053,9 @@ requires-dist = [ { name = "onnxruntime-gpu", marker = "extra == 'cuda'", specifier = ">=1.17.1" }, { name = "open-clip-torch", marker = "extra == 'misc'", specifier = "==3.2.0" }, { name = "open3d", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'", specifier = ">=0.18.0" }, - { name = "open3d", marker = "extra == 'docker'" }, + { name = "open3d", marker = "(platform_machine != 'aarch64' and extra == 'docker') or (sys_platform != 'linux' and extra == 'docker')", specifier = ">=0.18.0" }, { name = "open3d-unofficial-arm", marker = "platform_machine == 'aarch64' and sys_platform == 'linux'" }, + { name = "open3d-unofficial-arm", marker = "platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'docker'" }, { name = "openai", marker = "extra == 'agents'" }, { name = "openai-whisper", marker = "extra == 'agents'" }, { name = "opencv-contrib-python", marker = "extra == 'misc'", specifier = "==4.10.0.84" }, @@ -6005,22 +6007,22 @@ name = "open3d" version = "0.19.0" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "addict" }, - { name = "configargparse" }, - { name = "dash" }, - { name = "flask" }, - { name = "matplotlib" }, - { name = "nbformat" }, - { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, - { name = "pandas" }, - { name = "pillow" }, - { name = "pyquaternion" }, - { name = "pyyaml" }, - { name = "scikit-learn", version = "1.7.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "scikit-learn", version = "1.8.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, - { name = "tqdm" }, - { name = "werkzeug" }, + { name = "addict", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "configargparse", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "dash", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "flask", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "matplotlib", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "nbformat", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, + { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "pandas", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "pillow", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "pyquaternion", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "pyyaml", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "scikit-learn", version = "1.7.2", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, + { name = "scikit-learn", version = "1.8.0", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "tqdm", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "werkzeug", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] wheels = [ { url = "https://files.pythonhosted.org/packages/5c/4b/91e8a4100adf0ccd2f7ad21dd24c2e3d8f12925396528d0462cfb1735e5a/open3d-0.19.0-cp310-cp310-macosx_10_15_universal2.whl", hash = "sha256:f7128ded206e07987cc29d0917195fb64033dea31e0d60dead3629b33d3c175f", size = 103086005, upload-time = "2025-01-08T07:25:56.755Z" }, From cf097a2da617787003f9a8f72494b4a3f9f94a6a Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 11 Feb 2026 13:49:53 -0800 Subject: [PATCH 04/11] patch for CI --- dimos/agents/spec.py | 28 +++++++++++++++++++++++++--- 1 file changed, 25 insertions(+), 3 deletions(-) diff --git a/dimos/agents/spec.py b/dimos/agents/spec.py index b0a0324e89..02eef359de 100644 --- a/dimos/agents/spec.py +++ b/dimos/agents/spec.py @@ -22,7 +22,6 @@ if TYPE_CHECKING: from dimos.protocol.skill.skill import SkillContainer -from langchain.chat_models.base import _SUPPORTED_PROVIDERS from langchain_core.language_models.chat_models import BaseChatModel from langchain_core.messages import ( AIMessage, @@ -45,8 +44,31 @@ logger = setup_logger() -# Dynamically create ModelProvider enum from LangChain's supported providers -_providers = {provider.upper(): provider for provider in _SUPPORTED_PROVIDERS} +# FIXME: I dont see a stable (and dynamic) way to get these, this is only for type-hints and Paul's PR should replace this in a couple of days (this is a stop-gap change to get CI passing) +_providers = [ + "ANTHROPIC", + "AZURE_AI", + "AZURE_OPENAI", + "BEDROCK", + "BEDROCK_CONVERSE", + "COHERE", + "DEEPSEEK", + "FIREWORKS", + "GOOGLE_ANTHROPIC_VERTEX", + "GOOGLE_GENAI", + "GOOGLE_VERTEXAI", + "GROQ", + "HUGGINGFACE", + "IBM", + "MISTRALAI", + "NVIDIA", + "OLLAMA", + "OPENAI", + "PERPLEXITY", + "TOGETHER", + "UPSTAGE", + "XAI", +] Provider = Enum("Provider", _providers, type=str) # type: ignore[misc] From 17fabf875a1d99323db7771ec7cd7a6ad0634446 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 11 Feb 2026 20:17:51 -0800 Subject: [PATCH 05/11] fix mypy errors --- dimos/manipulation/manipulation_module.py | 4 ++-- dimos/navigation/rosnav.py | 6 +++--- dimos/perception/object_tracker.py | 2 ++ dimos/perception/object_tracker_2d.py | 2 ++ dimos/robot/drone/drone_tracking_module.py | 2 ++ 5 files changed, 11 insertions(+), 5 deletions(-) diff --git a/dimos/manipulation/manipulation_module.py b/dimos/manipulation/manipulation_module.py index a0b7b6889c..a4a30b5de7 100644 --- a/dimos/manipulation/manipulation_module.py +++ b/dimos/manipulation/manipulation_module.py @@ -19,7 +19,7 @@ from dataclasses import dataclass, field from enum import Enum import threading -from typing import TYPE_CHECKING, TypeAlias +from typing import TYPE_CHECKING, TypeAlias, cast from dimos.core import In, Module, rpc from dimos.core.module import ModuleConfig @@ -453,7 +453,7 @@ def get_visualization_url(self) -> str | None: """ if self._world_monitor is None: return None - return self._world_monitor.get_visualization_url() + return cast("str | None", self._world_monitor.get_visualization_url()) @rpc def clear_planned_path(self) -> bool: diff --git a/dimos/navigation/rosnav.py b/dimos/navigation/rosnav.py index f3e8907bd9..df1ac330c2 100644 --- a/dimos/navigation/rosnav.py +++ b/dimos/navigation/rosnav.py @@ -219,8 +219,8 @@ def current_position(self): # type: ignore[no-untyped-def] continue yield f"current position {tf.translation.x}, {tf.translation.y}" - @skill(stream=Stream.call_agent, reducer=Reducer.string) # type: ignore[arg-type] - def goto(self, x: float, y: float): # type: ignore[no-untyped-def] + @skill(stream=Stream.call_agent, reducer=Reducer.string) # type: ignore[arg-type,untyped-decorator] + def goto(self, x: float, y: float) -> Generator[str, None, None]: """ move the robot in relative coordinates x is forward, y is left @@ -238,7 +238,7 @@ def goto(self, x: float, y: float): # type: ignore[no-untyped-def] self.navigate_to(pose_to) yield "arrived" - @skill(stream=Stream.call_agent, reducer=Reducer.string) # type: ignore[arg-type] + @skill(stream=Stream.call_agent, reducer=Reducer.string) # type: ignore[arg-type,untyped-decorator] def goto_global(self, x: float, y: float) -> Generator[str, None, None]: """ go to coordinates x,y in the map frame diff --git a/dimos/perception/object_tracker.py b/dimos/perception/object_tracker.py index 54a5873435..4b2b04f99b 100644 --- a/dimos/perception/object_tracker.py +++ b/dimos/perception/object_tracker.py @@ -12,6 +12,8 @@ # See the License for the specific language governing permissions and # limitations under the License. +# mypy: disable-error-code=redundant-cast + from dataclasses import dataclass import threading import time diff --git a/dimos/perception/object_tracker_2d.py b/dimos/perception/object_tracker_2d.py index f5d39745c3..fa89fb7e66 100644 --- a/dimos/perception/object_tracker_2d.py +++ b/dimos/perception/object_tracker_2d.py @@ -12,6 +12,8 @@ # See the License for the specific language governing permissions and # limitations under the License. +# mypy: disable-error-code=redundant-cast + from dataclasses import dataclass import logging import threading diff --git a/dimos/robot/drone/drone_tracking_module.py b/dimos/robot/drone/drone_tracking_module.py index e6560142d1..49a19d1144 100644 --- a/dimos/robot/drone/drone_tracking_module.py +++ b/dimos/robot/drone/drone_tracking_module.py @@ -13,6 +13,8 @@ # See the License for the specific language governing permissions and # limitations under the License. +# mypy: disable-error-code=redundant-cast + """Drone tracking module with visual servoing for object following.""" import json From 87702f4ac7e0a7bd58fbf7751668c91826779bdc Mon Sep 17 00:00:00 2001 From: Miguel Villa Floran Date: Thu, 12 Feb 2026 01:41:42 -0800 Subject: [PATCH 06/11] Fix: conditionally include xcbuild for Darwin platforms only --- flake.nix | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flake.nix b/flake.nix index 50738effc0..c5aead5aa0 100644 --- a/flake.nix +++ b/flake.nix @@ -31,7 +31,7 @@ { vals.pkg=pkgs.cctools; flags={}; onlyIf=pkgs.stdenv.isDarwin; } # for pip install opencv-python { vals.pkg=pkgs.pcre2; flags={ ldLibraryGroup=pkgs.stdenv.isDarwin; packageConfGroup=pkgs.stdenv.isDarwin; }; } { vals.pkg=pkgs.libsysprof-capture; flags.packageConfGroup=true; onlyIf=pkgs.stdenv.isDarwin; } - { vals.pkg=pkgs.xcbuild; flags={}; } + { vals.pkg=pkgs.xcbuild; flags={}; onlyIf=pkgs.stdenv.isDarwin; } { vals.pkg=pkgs.git-lfs; flags={}; } { vals.pkg=pkgs.gnugrep; flags={}; } { vals.pkg=pkgs.gnused; flags={}; } From f6e67940acf102fa9e454273c5c1f3a563209e9a Mon Sep 17 00:00:00 2001 From: Miguel Villa Floran Date: Thu, 12 Feb 2026 01:57:52 -0800 Subject: [PATCH 07/11] Fix: conditionally exclude packages without ARM wheels --- pyproject.toml | 18 ++++++++++++------ 1 file changed, 12 insertions(+), 6 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 4d9f1688f8..4e2fa57bd5 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -172,13 +172,13 @@ unitree = [ manipulation = [ # Planning (Drake) - "drake>=1.40.0", + "drake>=1.40.0; platform_machine != 'aarch64'", # Contact Graspnet Dependencies "h5py>=3.7.0", "pyrender>=0.1.45", "trimesh>=3.22.0", - "python-fcl>=0.7.0.4", + "python-fcl>=0.7.0.4; platform_machine != 'aarch64'", "pyquaternion>=0.9.9", "matplotlib>=3.7.1", "rtree", @@ -205,13 +205,19 @@ cpu = [ ] cuda = [ - "cupy-cuda12x==13.6.0", - "nvidia-nvimgcodec-cu12[all]", - "onnxruntime-gpu>=1.17.1", # Only versions supporting both cuda11 and cuda12 + "cupy-cuda12x==13.6.0; platform_machine == 'x86_64'", + "nvidia-nvimgcodec-cu12[all]; platform_machine == 'x86_64'", + "onnxruntime-gpu>=1.17.1; platform_machine == 'x86_64'", # Only versions supporting both cuda11 and cuda12 "ctransformers[cuda]==0.2.27", "mmengine>=0.10.3", "mmcv>=2.1.0", - "xformers>=0.0.20", + "xformers>=0.0.20; platform_machine == 'x86_64'", +] + +jetson = [ + "mmengine>=0.10.3", + "mmcv>=2.1.0", + "ctransformers[cuda]==0.2.27", ] dev = [ From 3318e911aafd326cf5339cda83d3c473ecdc669c Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Thu, 12 Feb 2026 09:28:52 -0800 Subject: [PATCH 08/11] format --- pyproject.toml | 8 ++-- uv.lock | 111 ++++++++++++++++++++++--------------------------- 2 files changed, 54 insertions(+), 65 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 4e2fa57bd5..bba7c535d7 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -51,8 +51,8 @@ dependencies = [ "colorlog==6.9.0", # Core Msgs "opencv-python", - "open3d-unofficial-arm; platform_machine == 'aarch64' and platform_system == 'Linux'", - "open3d>=0.18.0; platform_machine != 'aarch64' or platform_system != 'Linux'", + "open3d-unofficial-arm; platform_system == 'Linux' and platform_machine == 'aarch64'", + "open3d>=0.18.0; platform_system != 'Linux' or platform_machine != 'aarch64'", # CLI "pydantic-settings>=2.11.0,<3", "textual==3.7.1", @@ -303,8 +303,8 @@ docker = [ "sortedcontainers", "PyTurboJPEG", "rerun-sdk", - "open3d-unofficial-arm; platform_machine == 'aarch64' and platform_system == 'Linux'", - "open3d>=0.18.0; platform_machine != 'aarch64' or platform_system != 'Linux'", + "open3d-unofficial-arm; platform_system == 'Linux' and platform_machine == 'aarch64'", + "open3d>=0.18.0; platform_system != 'Linux' or platform_machine != 'aarch64'", ] base = [ diff --git a/uv.lock b/uv.lock index 9f551696d8..b5f096a112 100644 --- a/uv.lock +++ b/uv.lock @@ -1558,21 +1558,17 @@ name = "cupy-cuda12x" version = "13.6.0" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "fastrlock" }, - { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, + { name = "fastrlock", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "numpy", version = 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"platform_machine == 'x86_64'" }, ] dev = [ { name = "coverage" }, @@ -1884,9 +1880,14 @@ docker = [ drone = [ { name = "pymavlink" }, ] +jetson = [ + { name = "ctransformers", extra = ["cuda"] }, + { name = "mmcv" }, + { name = "mmengine" }, +] manipulation = [ { name = "contact-graspnet-pytorch" }, - { name = "drake" }, + { name = "drake", marker = "platform_machine != 'aarch64'" }, { name = "h5py" }, { name = "kaleido" }, { name = "matplotlib" }, @@ -1895,7 +1896,7 @@ manipulation = [ { name = "plotly" }, { name = "pyquaternion" }, { name = "pyrender" }, - { name = "python-fcl" }, + { name = "python-fcl", marker = "platform_machine != 'aarch64'" }, { name = "pyyaml" }, { name = "rtree" }, { name = "tqdm" }, @@ -2002,14 +2003,15 @@ requires-dist = [ { name = "coverage", marker = "extra == 'dev'", specifier = ">=7.0" }, { name = "ctransformers", marker = "extra == 'cpu'", specifier = "==0.2.27" }, { name = "ctransformers", extras = ["cuda"], marker = "extra == 'cuda'", specifier = "==0.2.27" }, - { name = "cupy-cuda12x", marker = "extra == 'cuda'", specifier = "==13.6.0" }, + { name = "ctransformers", extras = ["cuda"], marker = "extra == 'jetson'", specifier = "==0.2.27" }, + { name = "cupy-cuda12x", marker = "platform_machine == 'x86_64' and extra == 'cuda'", specifier = "==13.6.0" }, { name = "dask", extras = ["complete"], specifier = "==2025.5.1" }, { name = "dask", extras = ["distributed"], marker = "extra == 'docker'", specifier = "==2025.5.1" }, { name = "dimos", extras = ["agents", "web", "perception", "visualization", "sim"], marker = "extra == 'base'" }, { name = "dimos", extras = ["base"], marker = "extra == 'unitree'" }, { name = "dimos-lcm" }, { name = "dimos-lcm", marker = "extra == 'docker'" }, - { name = "drake", marker = "extra == 'manipulation'", specifier = ">=1.40.0" }, + { name = "drake", marker = "platform_machine != 'aarch64' and extra == 'manipulation'", specifier = ">=1.40.0" }, { name = "edgetam-dimos", marker = "extra == 'misc'" }, { name = "einops", marker = "extra == 'misc'", specifier = "==0.8.1" }, { name = "empy", marker = "extra == 'misc'", specifier = "==3.3.4" }, @@ -2038,19 +2040,21 @@ requires-dist = [ { name = "mcp", marker = "extra == 'agents'", specifier = ">=1.0.0" }, { name = "md-babel-py", marker = "extra == 'dev'", specifier = "==1.1.1" }, { name = "mmcv", marker = "extra == 'cuda'", specifier = ">=2.1.0" }, + { name = "mmcv", marker = "extra == 'jetson'", specifier = ">=2.1.0" }, { name = "mmengine", marker = "extra == 'cuda'", specifier = ">=0.10.3" }, + { name = "mmengine", marker = "extra == 'jetson'", specifier = ">=0.10.3" }, { name = "moondream", marker = "extra == 'perception'" }, { name = "mujoco", marker = "extra == 'sim'", specifier = ">=3.3.4" }, { name = "mypy", marker = "extra == 'dev'", specifier = "==1.19.0" }, { name = "numba", specifier = ">=0.60.0" }, { name = "numpy", specifier = ">=1.26.4" }, { name = "numpy", marker = "extra == 'docker'", specifier = ">=1.26.4" }, - { name = "nvidia-nvimgcodec-cu12", extras = ["all"], marker = "extra == 'cuda'" }, + { name = "nvidia-nvimgcodec-cu12", extras = ["all"], marker = "platform_machine == 'x86_64' and extra == 'cuda'" }, { name = "ollama", marker = "extra == 'agents'", specifier = ">=0.6.0" }, { name = "omegaconf", marker = "extra == 'perception'", specifier = ">=2.3.0" }, { name = "onnx", marker = "extra == 'misc'" }, { name = "onnxruntime", marker = "extra == 'cpu'" }, - { name = "onnxruntime-gpu", marker = "extra == 'cuda'", specifier = ">=1.17.1" }, + { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and extra == 'cuda'", specifier = ">=1.17.1" }, { name = "open-clip-torch", marker = "extra == 'misc'", specifier = "==3.2.0" }, { name = "open3d", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'", specifier = ">=0.18.0" }, { name = "open3d", marker = "(platform_machine != 'aarch64' and extra == 'docker') or (sys_platform != 'linux' and extra == 'docker')", specifier = 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2001 From: Jeff Hykin Date: Thu, 12 Feb 2026 09:35:11 -0800 Subject: [PATCH 09/11] try to make mypy CI happy --- dimos/manipulation/manipulation_module.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/dimos/manipulation/manipulation_module.py b/dimos/manipulation/manipulation_module.py index a4a30b5de7..a0b7b6889c 100644 --- a/dimos/manipulation/manipulation_module.py +++ b/dimos/manipulation/manipulation_module.py @@ -19,7 +19,7 @@ from dataclasses import dataclass, field from enum import Enum import threading -from typing import TYPE_CHECKING, TypeAlias, cast +from typing import TYPE_CHECKING, TypeAlias from dimos.core import In, Module, rpc from dimos.core.module import ModuleConfig @@ -453,7 +453,7 @@ def get_visualization_url(self) -> str | None: """ if self._world_monitor is None: return None - return cast("str | None", self._world_monitor.get_visualization_url()) + return self._world_monitor.get_visualization_url() @rpc def clear_planned_path(self) -> bool: From 37f05dcbcc07b6c3189105da42f9178689db9ca6 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Thu, 12 Feb 2026 09:54:43 -0800 Subject: [PATCH 10/11] remove unused --- pyproject.toml | 6 ------ uv.lock | 10 +--------- 2 files changed, 1 insertion(+), 15 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index bba7c535d7..f23b292298 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -214,12 +214,6 @@ cuda = [ "xformers>=0.0.20; platform_machine == 'x86_64'", ] -jetson = [ - "mmengine>=0.10.3", - "mmcv>=2.1.0", - "ctransformers[cuda]==0.2.27", -] - dev = [ "ruff==0.14.3", "mypy==1.19.0", diff --git a/uv.lock b/uv.lock index b5f096a112..6edc266faf 100644 --- a/uv.lock +++ b/uv.lock @@ -1880,11 +1880,6 @@ docker = [ drone = [ { name = "pymavlink" }, ] -jetson = [ - { name = "ctransformers", extra = ["cuda"] }, - { name = "mmcv" }, - { name = "mmengine" }, -] manipulation = [ { name = "contact-graspnet-pytorch" }, { name = "drake", marker = "platform_machine != 'aarch64'" }, @@ -2003,7 +1998,6 @@ requires-dist = [ { name = "coverage", marker = "extra == 'dev'", specifier = ">=7.0" }, { name = "ctransformers", marker = "extra == 'cpu'", specifier = "==0.2.27" }, { name = "ctransformers", extras = ["cuda"], marker = "extra == 'cuda'", specifier = "==0.2.27" }, - { name = "ctransformers", extras = ["cuda"], marker = "extra == 'jetson'", specifier = "==0.2.27" }, { name = "cupy-cuda12x", marker = "platform_machine == 'x86_64' and extra == 'cuda'", specifier = "==13.6.0" }, { name = "dask", extras = ["complete"], specifier = "==2025.5.1" }, { name = "dask", extras = ["distributed"], marker = "extra == 'docker'", specifier = "==2025.5.1" }, @@ -2040,9 +2034,7 @@ requires-dist = [ { name = "mcp", marker = "extra == 'agents'", specifier = ">=1.0.0" }, { name = "md-babel-py", marker = "extra == 'dev'", specifier = "==1.1.1" }, { name = "mmcv", marker = "extra == 'cuda'", specifier = ">=2.1.0" }, - { name = "mmcv", marker = "extra == 'jetson'", specifier = ">=2.1.0" }, { name = "mmengine", marker = "extra == 'cuda'", specifier = ">=0.10.3" }, - { name = "mmengine", marker = "extra == 'jetson'", specifier = ">=0.10.3" }, { name = "moondream", marker = "extra == 'perception'" }, { name = "mujoco", marker = "extra == 'sim'", specifier = ">=3.3.4" }, { name = "mypy", marker = "extra == 'dev'", specifier = "==1.19.0" }, @@ -2158,7 +2150,7 @@ requires-dist = [ { name = "xformers", marker = "platform_machine == 'x86_64' and extra == 'cuda'", specifier = ">=0.0.20" }, { name = "yapf", marker = "extra == 'misc'", specifier = "==0.40.2" }, ] -provides-extras = ["misc", "visualization", "agents", "web", "perception", "unitree", "manipulation", "cpu", "cuda", "jetson", "dev", "sim", "drone", "docker", "base"] +provides-extras = ["misc", "visualization", "agents", "web", "perception", "unitree", "manipulation", "cpu", "cuda", "dev", "sim", "drone", "docker", "base"] [[package]] name = "dimos-lcm" From 45dfc789180b85015328976626c8aa8a76aa83b0 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 18 Feb 2026 10:27:57 -0800 Subject: [PATCH 11/11] revert mypy stuff --- dimos/perception/object_tracker.py | 2 -- dimos/perception/object_tracker_2d.py | 2 -- dimos/robot/drone/drone_tracking_module.py | 2 -- 3 files changed, 6 deletions(-) diff --git a/dimos/perception/object_tracker.py b/dimos/perception/object_tracker.py index 373818f863..da415ac32a 100644 --- a/dimos/perception/object_tracker.py +++ b/dimos/perception/object_tracker.py @@ -12,8 +12,6 @@ # See the License for the specific language governing permissions and # limitations under the License. -# mypy: disable-error-code=redundant-cast - from dataclasses import dataclass import threading import time diff --git a/dimos/perception/object_tracker_2d.py b/dimos/perception/object_tracker_2d.py index e5691b97da..1264b0e92b 100644 --- a/dimos/perception/object_tracker_2d.py +++ b/dimos/perception/object_tracker_2d.py @@ -12,8 +12,6 @@ # See the License for the specific language governing permissions and # limitations under the License. -# mypy: disable-error-code=redundant-cast - from dataclasses import dataclass import logging import threading diff --git a/dimos/robot/drone/drone_tracking_module.py b/dimos/robot/drone/drone_tracking_module.py index 2331170710..e1b633a05b 100644 --- a/dimos/robot/drone/drone_tracking_module.py +++ b/dimos/robot/drone/drone_tracking_module.py @@ -13,8 +13,6 @@ # See the License for the specific language governing permissions and # limitations under the License. -# mypy: disable-error-code=redundant-cast - """Drone tracking module with visual servoing for object following.""" import json