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…haul # Perception and Navigation Architecture Overhaul Major refactoring to improve modularity and organization of perception and navigation systems. ## Key Changes ### Core - Added timeout to RPC calls ### Navigation - Added recovery server - Added stuck checking - Added orientation to Path ### 👁️ Perception Improvements - Enhanced object tracking with improved spatial perception - Updated manipulation modules to use standardized DimOS types - Removed deprecated visual servoing code ### ⚙️ Core Infrastructure - Enhanced LCM pub/sub with observable operators - Improved message types (OccupancyGrid, Image, Header) - Added comprehensive transform utilities and testing - New camera module for monocular depth estimation ### 🤖 skill refactor - All navigation skills now work again ## Impact This refactoring establishes a cleaner separation of concerns between robot-specific code and reusable navigation/perception modules, setting up the foundation for more scalable development. Former-commit-id: f25afaf [formerly 001cda9] Former-commit-id: 56bf4eb
…execution and processing
Skill coordinator
```py
# we register a hook to call an agent with state of skills update (when something finished evaluating, when voice command has been received etc)
agentInterface = AgentInterface(agent_callback=print)
agentInterface.start()
testContainer = TestContainer()
# we can register a skill container (even if deployed remotely as a module)
agentInterface.register_skills(testContainer)
# we can investigate availabe skills (to provide to an agent)
print(agentInterface.skills())
# we can execute a skill
agentInterface.execute_skill("delayadd", 1, 2)
# while skill is executing, we can introspect the state
# (we see that the skill is running)
time.sleep(0.25)
print(agentInterface)
time.sleep(0.75)
# skill has finished, we can check the messages we received from it and it's state
print(agentInterface)
```
adds `agentspy` cli
<img width="1526" height="1260" alt="2025-08-06_00-46" src="https://github.com/user-attachments/assets/2a2723da-3d3b-448f-9342-e37b801125c4" />
Former-commit-id: 25db809 [formerly 61ead46]
Former-commit-id: ee579c0
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Closed because it's old and it's before the rebase. |
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