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💡 Codex Review
dimos/dimos/robot/unitree_webrtc/unitree_g1.py
Lines 341 to 347 in c12c9cc
Align connection movecmd transport with Twist inputs
After switching G1ConnectionModule.movecmd to accept Twist, _deploy_connection still binds the stream to LCMTransport("/cmd_vel", TwistStamped). Since LCM topics include the message type suffix, the connection module now listens on /cmd_vel#geometry_msgs.TwistStamped while the joystick and navigation blueprints publish plain Twist on /cmd_vel#geometry_msgs.Twist. As a result, the robot connection never receives movement commands. Change the transport to use Twist (or convert messages to TwistStamped) so the topic names match.
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| def deploy(dimos: DimosCluster): | ||
| nav = dimos.deploy(ROSNav) | ||
| nav.pointcloud.transport = pSHMTransport("/lidar") | ||
| nav.global_pointcloud.transport = pSHMTransport("/map") | ||
| # nav.pointcloud.transport = LCMTransport("/lidar", PointCloud2) | ||
| # nav.global_pointcloud.transport = LCMTransport("/map", PointCloud2) | ||
|
|
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| nav.goal_req.transport = LCMTransport("/goal_req", PoseStamped) | ||
| nav.goal_active.transport = LCMTransport("/goal_active", PoseStamped) | ||
| nav.path_active.transport = LCMTransport("/path_active", Path) | ||
| nav.cmd_vel.transport = LCMTransport("/cmd_vel", TwistStamped) | ||
| nav.start() |
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The new deploy helper wires nav.cmd_vel to LCMTransport("/cmd_vel", TwistStamped), but ROSNav/ROSNavigationModule only ever emit plain Twist objects. Because LCMTransport encodes the message type into the channel name, a publisher sending Twist will broadcast on /cmd_vel#geometry_msgs.Twist while this transport subscribes/publishes on /cmd_vel#geometry_msgs.TwistStamped. Subscribers will either fail to decode or never receive velocity commands, so the deployed navigation node cannot move the robot. Use a Twist transport here (or convert to TwistStamped before publishing).
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Release v0.0.6: Pre-Launch Unitree Go2 Release ## What's Changed * Added is_flying_to_target agent skill and fly_to now return string for agent feeback by @spomichter in #635 * Release v0.0.5 by @spomichter in #697 * Rebase ivan g1 by @paul-nechifor in #709 * Navspec by @leshy in #648 * Remove depth module from base unitree go2 blueprints by @spomichter in #712 * Fix Unitree Go2 (replay and spatial memory) by @paul-nechifor in #714 * Add G1 blueprints, and simulation by @paul-nechifor in #724 * New g1 blueprint runfiles by @spomichter in #706 * Update G1/Go2 skills and remove some Robot interfaces by @paul-nechifor in #717 * Add dimos-robot end-to-end test with agents by @paul-nechifor in #716 * Run DimOS and ROS nav in Docker by @paul-nechifor in #700 * Anim experiment by @leshy in #701 * G1 navigation documentation fixes by @spomichter in #738 * Rename dimos-robot to dimos by @paul-nechifor in #740 * Use a process for MuJoCo by @paul-nechifor in #747 * Remove unneeded code files by @paul-nechifor in #718 * Make pygame G1JoystickModule usable for all modules by @paul-nechifor in #741 * error on conflicts by @paul-nechifor in #763 * Hosted Moondream 3 for VLM queries by @alexlin2 in #751 * transport: Remove DaskTransport dead code by @ym-han in #767 * Add editorconfig by @paul-nechifor in #769 * add `type: ignore` by @paul-nechifor in #768 * exclude .md changes from CICD builds by @spomichter in #770 * Working Ivan g1 detection in blueprints by @spomichter in #737 * small env fixes on a fresh install by @leshy in #778 * autofixes by @paul-nechifor in #744 * Support running local agents by @paul-nechifor in #739 * pin major version of langchain packages by @paul-nechifor in #789 * Deduplicate Unitree connections/entrypoints. by @paul-nechifor in #749 * Add TTS and STT by @paul-nechifor in #753 * fix mypy errors by @paul-nechifor in #791 * Use structlog and store JSON logs on disk by @paul-nechifor in #715 * Rpc fixes merge by @paul-nechifor in #801 * transport improvements by @leshy in #713 * Added concurrency check by @spomichter in #803 * make connections work with string annotations by @paul-nechifor in #807 * Run mypy checks in GitHub Actions by @paul-nechifor in #805 * Fix incorrect `= None` by @paul-nechifor in #802 * increase mujoco timeout by @paul-nechifor in #823 * MacOS Support: tests + devShell + mujoco by @jeff-hykin in #745 * nix flake revert by @leshy in #824 * fix mypy issues by @paul-nechifor in #827 * PRODUCTION Nav skills on drone with tracking by @spomichter in #640 * Fix added memory limit to blueprint global config by @spomichter in #856 * models/ refactor by @leshy in #819 * Point Detections by @leshy in #859 * Add generic ignore to gitignore by @jeff-hykin in #864 * fix set transport by @paul-nechifor in #866 * cli-precedence by @paul-nechifor in #857 * show `get_data` progress by @paul-nechifor in #873 * skip if OPENAI_API_KEY not defined by @paul-nechifor in #872 * build foxglove extension by @paul-nechifor in #871 * New planner by @paul-nechifor in #792 * Use `uv` by @paul-nechifor in #870 * Add direnv to gitignore by @Kaweees in #875 * Cuda mapper by @leshy in #862 * rename agents to agents_deprecated by @paul-nechifor in #877 * new planner new mapper by @paul-nechifor in #879 * odom ts parsing by @leshy in #882 * Sim fix by @paul-nechifor in #881 * navigation tuning by @leshy in #883 * Fix: Module init and agents by @leshy in #876 * Remove old setup.sh by @paul-nechifor in #888 * Release planner by @leshy in #887 * fix replay leak by @paul-nechifor in #890 * first pass on large file deletions by @leshy in #891 * Generalized manipulator driver by @mustafab0 in #831 * Restore MacOS Support (flake.nix) by @jeff-hykin in #863 * check-uv by @paul-nechifor in #902 * Make dimos pip-installable by @paul-nechifor in #731 * Revert "Restore MacOS Support (flake.nix)" by @leshy in #907 * jeff flake without py env stuff by @leshy in #911 * remove deprecated docker files by @paul-nechifor in #912 * command center stop and home by @leshy in #893 * use packages by @paul-nechifor in #915 * Fix agents prompt by @paul-nechifor in #914 * fix manifest by @paul-nechifor in #916 * fix move skill by @paul-nechifor in #913 * Ignore individual errors by @paul-nechifor in #919 * Feat/rerun latency panels by @Nabla7 in #917 * WIP Release detections by @leshy in #889 * Remove old navigation modules by @paul-nechifor in #923 * Feat/rerun latency panels by @Nabla7 in #925 * Repair camera module by @leshy in #929 * Repair Stream by @leshy in #932 * Docs Clean by @leshy in #933 * docs: sensor streams by @leshy in #934 * Docs: bugfixes by @leshy in #940 * Fixed doclinks to use git ls by @spomichter in #943 * Examples: third party language interop by @leshy in #946 * DOCS: temporal alignment docs improvements by @leshy in #944 * filter bots from commits by @leshy in #947 * Fix skills by @paul-nechifor in #950 * Limit Rerun viewer memory to 4GB default by @Nabla7 in #949 * Working dimensional MCP server - tested with Claude Code MCP client by @spomichter in #945 * allow registration of different agents by @paul-nechifor in #951 * Pre commit large files by @leshy in #953 * Proper Realsense and ZED Camera Drivers by @alexlin2 in #935 * Granular deps by @leshy in #894 * class VLMAgent(AgentSpec, Module) for streamed VLM queries over Transport by @spomichter in #960 * mac compatible commit filter by @paul-nechifor in #961 ## New Contributors * @ym-han made their first contribution in #767 * @jeff-hykin made their first contribution in #745 * @Kaweees made their first contribution in #875 * @mustafab0 made their first contribution in #831 * @Nabla7 made their first contribution in #917 **Full Changelog**: v0.0.5...v0.0.6
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Release v0.0.6: Pre-Launch Unitree Go2 Release ## What's Changed * Added is_flying_to_target agent skill and fly_to now return string for agent feeback by @spomichter in #635 * Release v0.0.5 by @spomichter in #697 * Rebase ivan g1 by @paul-nechifor in #709 * Navspec by @leshy in #648 * Remove depth module from base unitree go2 blueprints by @spomichter in #712 * Fix Unitree Go2 (replay and spatial memory) by @paul-nechifor in #714 * Add G1 blueprints, and simulation by @paul-nechifor in #724 * New g1 blueprint runfiles by @spomichter in #706 * Update G1/Go2 skills and remove some Robot interfaces by @paul-nechifor in #717 * Add dimos-robot end-to-end test with agents by @paul-nechifor in #716 * Run DimOS and ROS nav in Docker by @paul-nechifor in #700 * Anim experiment by @leshy in #701 * G1 navigation documentation fixes by @spomichter in #738 * Rename dimos-robot to dimos by @paul-nechifor in #740 * Use a process for MuJoCo by @paul-nechifor in #747 * Remove unneeded code files by @paul-nechifor in #718 * Make pygame G1JoystickModule usable for all modules by @paul-nechifor in #741 * error on conflicts by @paul-nechifor in #763 * Hosted Moondream 3 for VLM queries by @alexlin2 in #751 * transport: Remove DaskTransport dead code by @ym-han in #767 * Add editorconfig by @paul-nechifor in #769 * add `type: ignore` by @paul-nechifor in #768 * exclude .md changes from CICD builds by @spomichter in #770 * Working Ivan g1 detection in blueprints by @spomichter in #737 * small env fixes on a fresh install by @leshy in #778 * autofixes by @paul-nechifor in #744 * Support running local agents by @paul-nechifor in #739 * pin major version of langchain packages by @paul-nechifor in #789 * Deduplicate Unitree connections/entrypoints. by @paul-nechifor in #749 * Add TTS and STT by @paul-nechifor in #753 * fix mypy errors by @paul-nechifor in #791 * Use structlog and store JSON logs on disk by @paul-nechifor in #715 * Rpc fixes merge by @paul-nechifor in #801 * transport improvements by @leshy in #713 * Added concurrency check by @spomichter in #803 * make connections work with string annotations by @paul-nechifor in #807 * Run mypy checks in GitHub Actions by @paul-nechifor in #805 * Fix incorrect `= None` by @paul-nechifor in #802 * increase mujoco timeout by @paul-nechifor in #823 * MacOS Support: tests + devShell + mujoco by @jeff-hykin in #745 * nix flake revert by @leshy in #824 * fix mypy issues by @paul-nechifor in #827 * PRODUCTION Nav skills on drone with tracking by @spomichter in #640 * Fix added memory limit to blueprint global config by @spomichter in #856 * models/ refactor by @leshy in #819 * Point Detections by @leshy in #859 * Add generic ignore to gitignore by @jeff-hykin in #864 * fix set transport by @paul-nechifor in #866 * cli-precedence by @paul-nechifor in #857 * show `get_data` progress by @paul-nechifor in #873 * skip if OPENAI_API_KEY not defined by @paul-nechifor in #872 * build foxglove extension by @paul-nechifor in #871 * New planner by @paul-nechifor in #792 * Use `uv` by @paul-nechifor in #870 * Add direnv to gitignore by @Kaweees in #875 * Cuda mapper by @leshy in #862 * rename agents to agents_deprecated by @paul-nechifor in #877 * new planner new mapper by @paul-nechifor in #879 * odom ts parsing by @leshy in #882 * Sim fix by @paul-nechifor in #881 * navigation tuning by @leshy in #883 * Fix: Module init and agents by @leshy in #876 * Remove old setup.sh by @paul-nechifor in #888 * Release planner by @leshy in #887 * fix replay leak by @paul-nechifor in #890 * first pass on large file deletions by @leshy in #891 * Generalized manipulator driver by @mustafab0 in #831 * Restore MacOS Support (flake.nix) by @jeff-hykin in #863 * check-uv by @paul-nechifor in #902 * Make dimos pip-installable by @paul-nechifor in #731 * Revert "Restore MacOS Support (flake.nix)" by @leshy in #907 * jeff flake without py env stuff by @leshy in #911 * remove deprecated docker files by @paul-nechifor in #912 * command center stop and home by @leshy in #893 * use packages by @paul-nechifor in #915 * Fix agents prompt by @paul-nechifor in #914 * fix manifest by @paul-nechifor in #916 * fix move skill by @paul-nechifor in #913 * Ignore individual errors by @paul-nechifor in #919 * Feat/rerun latency panels by @Nabla7 in #917 * WIP Release detections by @leshy in #889 * Remove old navigation modules by @paul-nechifor in #923 * Feat/rerun latency panels by @Nabla7 in #925 * Repair camera module by @leshy in #929 * Repair Stream by @leshy in #932 * Docs Clean by @leshy in #933 * docs: sensor streams by @leshy in #934 * Docs: bugfixes by @leshy in #940 * Fixed doclinks to use git ls by @spomichter in #943 * Examples: third party language interop by @leshy in #946 * DOCS: temporal alignment docs improvements by @leshy in #944 * filter bots from commits by @leshy in #947 * Fix skills by @paul-nechifor in #950 * Limit Rerun viewer memory to 4GB default by @Nabla7 in #949 * Working dimensional MCP server - tested with Claude Code MCP client by @spomichter in #945 * allow registration of different agents by @paul-nechifor in #951 * Pre commit large files by @leshy in #953 * Proper Realsense and ZED Camera Drivers by @alexlin2 in #935 * Granular deps by @leshy in #894 * class VLMAgent(AgentSpec, Module) for streamed VLM queries over Transport by @spomichter in #960 * mac compatible commit filter by @paul-nechifor in #961 ## New Contributors * @ym-han made their first contribution in #767 * @jeff-hykin made their first contribution in #745 * @Kaweees made their first contribution in #875 * @mustafab0 made their first contribution in #831 * @Nabla7 made their first contribution in #917 **Full Changelog**: v0.0.5...v0.0.6 Former-commit-id: 26e61a70a9469f2e33e51f1296f082b470009c09 [formerly 7ffc878] Former-commit-id: 725e628
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Release v0.0.6: Pre-Launch Unitree Go2 Release ## What's Changed * Added is_flying_to_target agent skill and fly_to now return string for agent feeback by @spomichter in #635 * Release v0.0.5 by @spomichter in #697 * Rebase ivan g1 by @paul-nechifor in #709 * Navspec by @leshy in #648 * Remove depth module from base unitree go2 blueprints by @spomichter in #712 * Fix Unitree Go2 (replay and spatial memory) by @paul-nechifor in #714 * Add G1 blueprints, and simulation by @paul-nechifor in #724 * New g1 blueprint runfiles by @spomichter in #706 * Update G1/Go2 skills and remove some Robot interfaces by @paul-nechifor in #717 * Add dimos-robot end-to-end test with agents by @paul-nechifor in #716 * Run DimOS and ROS nav in Docker by @paul-nechifor in #700 * Anim experiment by @leshy in #701 * G1 navigation documentation fixes by @spomichter in #738 * Rename dimos-robot to dimos by @paul-nechifor in #740 * Use a process for MuJoCo by @paul-nechifor in #747 * Remove unneeded code files by @paul-nechifor in #718 * Make pygame G1JoystickModule usable for all modules by @paul-nechifor in #741 * error on conflicts by @paul-nechifor in #763 * Hosted Moondream 3 for VLM queries by @alexlin2 in #751 * transport: Remove DaskTransport dead code by @ym-han in #767 * Add editorconfig by @paul-nechifor in #769 * add `type: ignore` by @paul-nechifor in #768 * exclude .md changes from CICD builds by @spomichter in #770 * Working Ivan g1 detection in blueprints by @spomichter in #737 * small env fixes on a fresh install by @leshy in #778 * autofixes by @paul-nechifor in #744 * Support running local agents by @paul-nechifor in #739 * pin major version of langchain packages by @paul-nechifor in #789 * Deduplicate Unitree connections/entrypoints. by @paul-nechifor in #749 * Add TTS and STT by @paul-nechifor in #753 * fix mypy errors by @paul-nechifor in #791 * Use structlog and store JSON logs on disk by @paul-nechifor in #715 * Rpc fixes merge by @paul-nechifor in #801 * transport improvements by @leshy in #713 * Added concurrency check by @spomichter in #803 * make connections work with string annotations by @paul-nechifor in #807 * Run mypy checks in GitHub Actions by @paul-nechifor in #805 * Fix incorrect `= None` by @paul-nechifor in #802 * increase mujoco timeout by @paul-nechifor in #823 * MacOS Support: tests + devShell + mujoco by @jeff-hykin in #745 * nix flake revert by @leshy in #824 * fix mypy issues by @paul-nechifor in #827 * PRODUCTION Nav skills on drone with tracking by @spomichter in #640 * Fix added memory limit to blueprint global config by @spomichter in #856 * models/ refactor by @leshy in #819 * Point Detections by @leshy in #859 * Add generic ignore to gitignore by @jeff-hykin in #864 * fix set transport by @paul-nechifor in #866 * cli-precedence by @paul-nechifor in #857 * show `get_data` progress by @paul-nechifor in #873 * skip if OPENAI_API_KEY not defined by @paul-nechifor in #872 * build foxglove extension by @paul-nechifor in #871 * New planner by @paul-nechifor in #792 * Use `uv` by @paul-nechifor in #870 * Add direnv to gitignore by @Kaweees in #875 * Cuda mapper by @leshy in #862 * rename agents to agents_deprecated by @paul-nechifor in #877 * new planner new mapper by @paul-nechifor in #879 * odom ts parsing by @leshy in #882 * Sim fix by @paul-nechifor in #881 * navigation tuning by @leshy in #883 * Fix: Module init and agents by @leshy in #876 * Remove old setup.sh by @paul-nechifor in #888 * Release planner by @leshy in #887 * fix replay leak by @paul-nechifor in #890 * first pass on large file deletions by @leshy in #891 * Generalized manipulator driver by @mustafab0 in #831 * Restore MacOS Support (flake.nix) by @jeff-hykin in #863 * check-uv by @paul-nechifor in #902 * Make dimos pip-installable by @paul-nechifor in #731 * Revert "Restore MacOS Support (flake.nix)" by @leshy in #907 * jeff flake without py env stuff by @leshy in #911 * remove deprecated docker files by @paul-nechifor in #912 * command center stop and home by @leshy in #893 * use packages by @paul-nechifor in #915 * Fix agents prompt by @paul-nechifor in #914 * fix manifest by @paul-nechifor in #916 * fix move skill by @paul-nechifor in #913 * Ignore individual errors by @paul-nechifor in #919 * Feat/rerun latency panels by @Nabla7 in #917 * WIP Release detections by @leshy in #889 * Remove old navigation modules by @paul-nechifor in #923 * Feat/rerun latency panels by @Nabla7 in #925 * Repair camera module by @leshy in #929 * Repair Stream by @leshy in #932 * Docs Clean by @leshy in #933 * docs: sensor streams by @leshy in #934 * Docs: bugfixes by @leshy in #940 * Fixed doclinks to use git ls by @spomichter in #943 * Examples: third party language interop by @leshy in #946 * DOCS: temporal alignment docs improvements by @leshy in #944 * filter bots from commits by @leshy in #947 * Fix skills by @paul-nechifor in #950 * Limit Rerun viewer memory to 4GB default by @Nabla7 in #949 * Working dimensional MCP server - tested with Claude Code MCP client by @spomichter in #945 * allow registration of different agents by @paul-nechifor in #951 * Pre commit large files by @leshy in #953 * Proper Realsense and ZED Camera Drivers by @alexlin2 in #935 * Granular deps by @leshy in #894 * class VLMAgent(AgentSpec, Module) for streamed VLM queries over Transport by @spomichter in #960 * mac compatible commit filter by @paul-nechifor in #961 ## New Contributors * @ym-han made their first contribution in #767 * @jeff-hykin made their first contribution in #745 * @Kaweees made their first contribution in #875 * @mustafab0 made their first contribution in #831 * @Nabla7 made their first contribution in #917 **Full Changelog**: v0.0.5...v0.0.6 Former-commit-id: 7ffc878
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Jan 8, 2026
Release v0.0.6: Pre-Launch Unitree Go2 Release ## What's Changed * Added is_flying_to_target agent skill and fly_to now return string for agent feeback by @spomichter in #635 * Release v0.0.5 by @spomichter in #697 * Rebase ivan g1 by @paul-nechifor in #709 * Navspec by @leshy in #648 * Remove depth module from base unitree go2 blueprints by @spomichter in #712 * Fix Unitree Go2 (replay and spatial memory) by @paul-nechifor in #714 * Add G1 blueprints, and simulation by @paul-nechifor in #724 * New g1 blueprint runfiles by @spomichter in #706 * Update G1/Go2 skills and remove some Robot interfaces by @paul-nechifor in #717 * Add dimos-robot end-to-end test with agents by @paul-nechifor in #716 * Run DimOS and ROS nav in Docker by @paul-nechifor in #700 * Anim experiment by @leshy in #701 * G1 navigation documentation fixes by @spomichter in #738 * Rename dimos-robot to dimos by @paul-nechifor in #740 * Use a process for MuJoCo by @paul-nechifor in #747 * Remove unneeded code files by @paul-nechifor in #718 * Make pygame G1JoystickModule usable for all modules by @paul-nechifor in #741 * error on conflicts by @paul-nechifor in #763 * Hosted Moondream 3 for VLM queries by @alexlin2 in #751 * transport: Remove DaskTransport dead code by @ym-han in #767 * Add editorconfig by @paul-nechifor in #769 * add `type: ignore` by @paul-nechifor in #768 * exclude .md changes from CICD builds by @spomichter in #770 * Working Ivan g1 detection in blueprints by @spomichter in #737 * small env fixes on a fresh install by @leshy in #778 * autofixes by @paul-nechifor in #744 * Support running local agents by @paul-nechifor in #739 * pin major version of langchain packages by @paul-nechifor in #789 * Deduplicate Unitree connections/entrypoints. by @paul-nechifor in #749 * Add TTS and STT by @paul-nechifor in #753 * fix mypy errors by @paul-nechifor in #791 * Use structlog and store JSON logs on disk by @paul-nechifor in #715 * Rpc fixes merge by @paul-nechifor in #801 * transport improvements by @leshy in #713 * Added concurrency check by @spomichter in #803 * make connections work with string annotations by @paul-nechifor in #807 * Run mypy checks in GitHub Actions by @paul-nechifor in #805 * Fix incorrect `= None` by @paul-nechifor in #802 * increase mujoco timeout by @paul-nechifor in #823 * MacOS Support: tests + devShell + mujoco by @jeff-hykin in #745 * nix flake revert by @leshy in #824 * fix mypy issues by @paul-nechifor in #827 * PRODUCTION Nav skills on drone with tracking by @spomichter in #640 * Fix added memory limit to blueprint global config by @spomichter in #856 * models/ refactor by @leshy in #819 * Point Detections by @leshy in #859 * Add generic ignore to gitignore by @jeff-hykin in #864 * fix set transport by @paul-nechifor in #866 * cli-precedence by @paul-nechifor in #857 * show `get_data` progress by @paul-nechifor in #873 * skip if OPENAI_API_KEY not defined by @paul-nechifor in #872 * build foxglove extension by @paul-nechifor in #871 * New planner by @paul-nechifor in #792 * Use `uv` by @paul-nechifor in #870 * Add direnv to gitignore by @Kaweees in #875 * Cuda mapper by @leshy in #862 * rename agents to agents_deprecated by @paul-nechifor in #877 * new planner new mapper by @paul-nechifor in #879 * odom ts parsing by @leshy in #882 * Sim fix by @paul-nechifor in #881 * navigation tuning by @leshy in #883 * Fix: Module init and agents by @leshy in #876 * Remove old setup.sh by @paul-nechifor in #888 * Release planner by @leshy in #887 * fix replay leak by @paul-nechifor in #890 * first pass on large file deletions by @leshy in #891 * Generalized manipulator driver by @mustafab0 in #831 * Restore MacOS Support (flake.nix) by @jeff-hykin in #863 * check-uv by @paul-nechifor in #902 * Make dimos pip-installable by @paul-nechifor in #731 * Revert "Restore MacOS Support (flake.nix)" by @leshy in #907 * jeff flake without py env stuff by @leshy in #911 * remove deprecated docker files by @paul-nechifor in #912 * command center stop and home by @leshy in #893 * use packages by @paul-nechifor in #915 * Fix agents prompt by @paul-nechifor in #914 * fix manifest by @paul-nechifor in #916 * fix move skill by @paul-nechifor in #913 * Ignore individual errors by @paul-nechifor in #919 * Feat/rerun latency panels by @Nabla7 in #917 * WIP Release detections by @leshy in #889 * Remove old navigation modules by @paul-nechifor in #923 * Feat/rerun latency panels by @Nabla7 in #925 * Repair camera module by @leshy in #929 * Repair Stream by @leshy in #932 * Docs Clean by @leshy in #933 * docs: sensor streams by @leshy in #934 * Docs: bugfixes by @leshy in #940 * Fixed doclinks to use git ls by @spomichter in #943 * Examples: third party language interop by @leshy in #946 * DOCS: temporal alignment docs improvements by @leshy in #944 * filter bots from commits by @leshy in #947 * Fix skills by @paul-nechifor in #950 * Limit Rerun viewer memory to 4GB default by @Nabla7 in #949 * Working dimensional MCP server - tested with Claude Code MCP client by @spomichter in #945 * allow registration of different agents by @paul-nechifor in #951 * Pre commit large files by @leshy in #953 * Proper Realsense and ZED Camera Drivers by @alexlin2 in #935 * Granular deps by @leshy in #894 * class VLMAgent(AgentSpec, Module) for streamed VLM queries over Transport by @spomichter in #960 * mac compatible commit filter by @paul-nechifor in #961 ## New Contributors * @ym-han made their first contribution in #767 * @jeff-hykin made their first contribution in #745 * @Kaweees made their first contribution in #875 * @mustafab0 made their first contribution in #831 * @Nabla7 made their first contribution in #917 **Full Changelog**: v0.0.5...v0.0.6 Former-commit-id: 7ffc878 Former-commit-id: 067332a
spomichter
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Jan 8, 2026
Release v0.0.6: Pre-Launch Unitree Go2 Release ## What's Changed * Added is_flying_to_target agent skill and fly_to now return string for agent feeback by @spomichter in #635 * Release v0.0.5 by @spomichter in #697 * Rebase ivan g1 by @paul-nechifor in #709 * Navspec by @leshy in #648 * Remove depth module from base unitree go2 blueprints by @spomichter in #712 * Fix Unitree Go2 (replay and spatial memory) by @paul-nechifor in #714 * Add G1 blueprints, and simulation by @paul-nechifor in #724 * New g1 blueprint runfiles by @spomichter in #706 * Update G1/Go2 skills and remove some Robot interfaces by @paul-nechifor in #717 * Add dimos-robot end-to-end test with agents by @paul-nechifor in #716 * Run DimOS and ROS nav in Docker by @paul-nechifor in #700 * Anim experiment by @leshy in #701 * G1 navigation documentation fixes by @spomichter in #738 * Rename dimos-robot to dimos by @paul-nechifor in #740 * Use a process for MuJoCo by @paul-nechifor in #747 * Remove unneeded code files by @paul-nechifor in #718 * Make pygame G1JoystickModule usable for all modules by @paul-nechifor in #741 * error on conflicts by @paul-nechifor in #763 * Hosted Moondream 3 for VLM queries by @alexlin2 in #751 * transport: Remove DaskTransport dead code by @ym-han in #767 * Add editorconfig by @paul-nechifor in #769 * add `type: ignore` by @paul-nechifor in #768 * exclude .md changes from CICD builds by @spomichter in #770 * Working Ivan g1 detection in blueprints by @spomichter in #737 * small env fixes on a fresh install by @leshy in #778 * autofixes by @paul-nechifor in #744 * Support running local agents by @paul-nechifor in #739 * pin major version of langchain packages by @paul-nechifor in #789 * Deduplicate Unitree connections/entrypoints. by @paul-nechifor in #749 * Add TTS and STT by @paul-nechifor in #753 * fix mypy errors by @paul-nechifor in #791 * Use structlog and store JSON logs on disk by @paul-nechifor in #715 * Rpc fixes merge by @paul-nechifor in #801 * transport improvements by @leshy in #713 * Added concurrency check by @spomichter in #803 * make connections work with string annotations by @paul-nechifor in #807 * Run mypy checks in GitHub Actions by @paul-nechifor in #805 * Fix incorrect `= None` by @paul-nechifor in #802 * increase mujoco timeout by @paul-nechifor in #823 * MacOS Support: tests + devShell + mujoco by @jeff-hykin in #745 * nix flake revert by @leshy in #824 * fix mypy issues by @paul-nechifor in #827 * PRODUCTION Nav skills on drone with tracking by @spomichter in #640 * Fix added memory limit to blueprint global config by @spomichter in #856 * models/ refactor by @leshy in #819 * Point Detections by @leshy in #859 * Add generic ignore to gitignore by @jeff-hykin in #864 * fix set transport by @paul-nechifor in #866 * cli-precedence by @paul-nechifor in #857 * show `get_data` progress by @paul-nechifor in #873 * skip if OPENAI_API_KEY not defined by @paul-nechifor in #872 * build foxglove extension by @paul-nechifor in #871 * New planner by @paul-nechifor in #792 * Use `uv` by @paul-nechifor in #870 * Add direnv to gitignore by @Kaweees in #875 * Cuda mapper by @leshy in #862 * rename agents to agents_deprecated by @paul-nechifor in #877 * new planner new mapper by @paul-nechifor in #879 * odom ts parsing by @leshy in #882 * Sim fix by @paul-nechifor in #881 * navigation tuning by @leshy in #883 * Fix: Module init and agents by @leshy in #876 * Remove old setup.sh by @paul-nechifor in #888 * Release planner by @leshy in #887 * fix replay leak by @paul-nechifor in #890 * first pass on large file deletions by @leshy in #891 * Generalized manipulator driver by @mustafab0 in #831 * Restore MacOS Support (flake.nix) by @jeff-hykin in #863 * check-uv by @paul-nechifor in #902 * Make dimos pip-installable by @paul-nechifor in #731 * Revert "Restore MacOS Support (flake.nix)" by @leshy in #907 * jeff flake without py env stuff by @leshy in #911 * remove deprecated docker files by @paul-nechifor in #912 * command center stop and home by @leshy in #893 * use packages by @paul-nechifor in #915 * Fix agents prompt by @paul-nechifor in #914 * fix manifest by @paul-nechifor in #916 * fix move skill by @paul-nechifor in #913 * Ignore individual errors by @paul-nechifor in #919 * Feat/rerun latency panels by @Nabla7 in #917 * WIP Release detections by @leshy in #889 * Remove old navigation modules by @paul-nechifor in #923 * Feat/rerun latency panels by @Nabla7 in #925 * Repair camera module by @leshy in #929 * Repair Stream by @leshy in #932 * Docs Clean by @leshy in #933 * docs: sensor streams by @leshy in #934 * Docs: bugfixes by @leshy in #940 * Fixed doclinks to use git ls by @spomichter in #943 * Examples: third party language interop by @leshy in #946 * DOCS: temporal alignment docs improvements by @leshy in #944 * filter bots from commits by @leshy in #947 * Fix skills by @paul-nechifor in #950 * Limit Rerun viewer memory to 4GB default by @Nabla7 in #949 * Working dimensional MCP server - tested with Claude Code MCP client by @spomichter in #945 * allow registration of different agents by @paul-nechifor in #951 * Pre commit large files by @leshy in #953 * Proper Realsense and ZED Camera Drivers by @alexlin2 in #935 * Granular deps by @leshy in #894 * class VLMAgent(AgentSpec, Module) for streamed VLM queries over Transport by @spomichter in #960 * mac compatible commit filter by @paul-nechifor in #961 ## New Contributors * @ym-han made their first contribution in #767 * @jeff-hykin made their first contribution in #745 * @Kaweees made their first contribution in #875 * @mustafab0 made their first contribution in #831 * @Nabla7 made their first contribution in #917 **Full Changelog**: v0.0.5...v0.0.6 Former-commit-id: 26e61a70a9469f2e33e51f1296f082b470009c09 [formerly 7ffc878] Former-commit-id: 725e628 Former-commit-id: 2e5f1d4
spomichter
added a commit
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Jan 8, 2026
Release v0.0.6: Pre-Launch Unitree Go2 Release ## What's Changed * Added is_flying_to_target agent skill and fly_to now return string for agent feeback by @spomichter in #635 * Release v0.0.5 by @spomichter in #697 * Rebase ivan g1 by @paul-nechifor in #709 * Navspec by @leshy in #648 * Remove depth module from base unitree go2 blueprints by @spomichter in #712 * Fix Unitree Go2 (replay and spatial memory) by @paul-nechifor in #714 * Add G1 blueprints, and simulation by @paul-nechifor in #724 * New g1 blueprint runfiles by @spomichter in #706 * Update G1/Go2 skills and remove some Robot interfaces by @paul-nechifor in #717 * Add dimos-robot end-to-end test with agents by @paul-nechifor in #716 * Run DimOS and ROS nav in Docker by @paul-nechifor in #700 * Anim experiment by @leshy in #701 * G1 navigation documentation fixes by @spomichter in #738 * Rename dimos-robot to dimos by @paul-nechifor in #740 * Use a process for MuJoCo by @paul-nechifor in #747 * Remove unneeded code files by @paul-nechifor in #718 * Make pygame G1JoystickModule usable for all modules by @paul-nechifor in #741 * error on conflicts by @paul-nechifor in #763 * Hosted Moondream 3 for VLM queries by @alexlin2 in #751 * transport: Remove DaskTransport dead code by @ym-han in #767 * Add editorconfig by @paul-nechifor in #769 * add `type: ignore` by @paul-nechifor in #768 * exclude .md changes from CICD builds by @spomichter in #770 * Working Ivan g1 detection in blueprints by @spomichter in #737 * small env fixes on a fresh install by @leshy in #778 * autofixes by @paul-nechifor in #744 * Support running local agents by @paul-nechifor in #739 * pin major version of langchain packages by @paul-nechifor in #789 * Deduplicate Unitree connections/entrypoints. by @paul-nechifor in #749 * Add TTS and STT by @paul-nechifor in #753 * fix mypy errors by @paul-nechifor in #791 * Use structlog and store JSON logs on disk by @paul-nechifor in #715 * Rpc fixes merge by @paul-nechifor in #801 * transport improvements by @leshy in #713 * Added concurrency check by @spomichter in #803 * make connections work with string annotations by @paul-nechifor in #807 * Run mypy checks in GitHub Actions by @paul-nechifor in #805 * Fix incorrect `= None` by @paul-nechifor in #802 * increase mujoco timeout by @paul-nechifor in #823 * MacOS Support: tests + devShell + mujoco by @jeff-hykin in #745 * nix flake revert by @leshy in #824 * fix mypy issues by @paul-nechifor in #827 * PRODUCTION Nav skills on drone with tracking by @spomichter in #640 * Fix added memory limit to blueprint global config by @spomichter in #856 * models/ refactor by @leshy in #819 * Point Detections by @leshy in #859 * Add generic ignore to gitignore by @jeff-hykin in #864 * fix set transport by @paul-nechifor in #866 * cli-precedence by @paul-nechifor in #857 * show `get_data` progress by @paul-nechifor in #873 * skip if OPENAI_API_KEY not defined by @paul-nechifor in #872 * build foxglove extension by @paul-nechifor in #871 * New planner by @paul-nechifor in #792 * Use `uv` by @paul-nechifor in #870 * Add direnv to gitignore by @Kaweees in #875 * Cuda mapper by @leshy in #862 * rename agents to agents_deprecated by @paul-nechifor in #877 * new planner new mapper by @paul-nechifor in #879 * odom ts parsing by @leshy in #882 * Sim fix by @paul-nechifor in #881 * navigation tuning by @leshy in #883 * Fix: Module init and agents by @leshy in #876 * Remove old setup.sh by @paul-nechifor in #888 * Release planner by @leshy in #887 * fix replay leak by @paul-nechifor in #890 * first pass on large file deletions by @leshy in #891 * Generalized manipulator driver by @mustafab0 in #831 * Restore MacOS Support (flake.nix) by @jeff-hykin in #863 * check-uv by @paul-nechifor in #902 * Make dimos pip-installable by @paul-nechifor in #731 * Revert "Restore MacOS Support (flake.nix)" by @leshy in #907 * jeff flake without py env stuff by @leshy in #911 * remove deprecated docker files by @paul-nechifor in #912 * command center stop and home by @leshy in #893 * use packages by @paul-nechifor in #915 * Fix agents prompt by @paul-nechifor in #914 * fix manifest by @paul-nechifor in #916 * fix move skill by @paul-nechifor in #913 * Ignore individual errors by @paul-nechifor in #919 * Feat/rerun latency panels by @Nabla7 in #917 * WIP Release detections by @leshy in #889 * Remove old navigation modules by @paul-nechifor in #923 * Feat/rerun latency panels by @Nabla7 in #925 * Repair camera module by @leshy in #929 * Repair Stream by @leshy in #932 * Docs Clean by @leshy in #933 * docs: sensor streams by @leshy in #934 * Docs: bugfixes by @leshy in #940 * Fixed doclinks to use git ls by @spomichter in #943 * Examples: third party language interop by @leshy in #946 * DOCS: temporal alignment docs improvements by @leshy in #944 * filter bots from commits by @leshy in #947 * Fix skills by @paul-nechifor in #950 * Limit Rerun viewer memory to 4GB default by @Nabla7 in #949 * Working dimensional MCP server - tested with Claude Code MCP client by @spomichter in #945 * allow registration of different agents by @paul-nechifor in #951 * Pre commit large files by @leshy in #953 * Proper Realsense and ZED Camera Drivers by @alexlin2 in #935 * Granular deps by @leshy in #894 * class VLMAgent(AgentSpec, Module) for streamed VLM queries over Transport by @spomichter in #960 * mac compatible commit filter by @paul-nechifor in #961 ## New Contributors * @ym-han made their first contribution in #767 * @jeff-hykin made their first contribution in #745 * @Kaweees made their first contribution in #875 * @mustafab0 made their first contribution in #831 * @Nabla7 made their first contribution in #917 **Full Changelog**: v0.0.5...v0.0.6 Former-commit-id: 7ffc878 Former-commit-id: 067332a
spomichter
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Jan 8, 2026
Release v0.0.6: Pre-Launch Unitree Go2 Release ## What's Changed * Added is_flying_to_target agent skill and fly_to now return string for agent feeback by @spomichter in #635 * Release v0.0.5 by @spomichter in #697 * Rebase ivan g1 by @paul-nechifor in #709 * Navspec by @leshy in #648 * Remove depth module from base unitree go2 blueprints by @spomichter in #712 * Fix Unitree Go2 (replay and spatial memory) by @paul-nechifor in #714 * Add G1 blueprints, and simulation by @paul-nechifor in #724 * New g1 blueprint runfiles by @spomichter in #706 * Update G1/Go2 skills and remove some Robot interfaces by @paul-nechifor in #717 * Add dimos-robot end-to-end test with agents by @paul-nechifor in #716 * Run DimOS and ROS nav in Docker by @paul-nechifor in #700 * Anim experiment by @leshy in #701 * G1 navigation documentation fixes by @spomichter in #738 * Rename dimos-robot to dimos by @paul-nechifor in #740 * Use a process for MuJoCo by @paul-nechifor in #747 * Remove unneeded code files by @paul-nechifor in #718 * Make pygame G1JoystickModule usable for all modules by @paul-nechifor in #741 * error on conflicts by @paul-nechifor in #763 * Hosted Moondream 3 for VLM queries by @alexlin2 in #751 * transport: Remove DaskTransport dead code by @ym-han in #767 * Add editorconfig by @paul-nechifor in #769 * add `type: ignore` by @paul-nechifor in #768 * exclude .md changes from CICD builds by @spomichter in #770 * Working Ivan g1 detection in blueprints by @spomichter in #737 * small env fixes on a fresh install by @leshy in #778 * autofixes by @paul-nechifor in #744 * Support running local agents by @paul-nechifor in #739 * pin major version of langchain packages by @paul-nechifor in #789 * Deduplicate Unitree connections/entrypoints. by @paul-nechifor in #749 * Add TTS and STT by @paul-nechifor in #753 * fix mypy errors by @paul-nechifor in #791 * Use structlog and store JSON logs on disk by @paul-nechifor in #715 * Rpc fixes merge by @paul-nechifor in #801 * transport improvements by @leshy in #713 * Added concurrency check by @spomichter in #803 * make connections work with string annotations by @paul-nechifor in #807 * Run mypy checks in GitHub Actions by @paul-nechifor in #805 * Fix incorrect `= None` by @paul-nechifor in #802 * increase mujoco timeout by @paul-nechifor in #823 * MacOS Support: tests + devShell + mujoco by @jeff-hykin in #745 * nix flake revert by @leshy in #824 * fix mypy issues by @paul-nechifor in #827 * PRODUCTION Nav skills on drone with tracking by @spomichter in #640 * Fix added memory limit to blueprint global config by @spomichter in #856 * models/ refactor by @leshy in #819 * Point Detections by @leshy in #859 * Add generic ignore to gitignore by @jeff-hykin in #864 * fix set transport by @paul-nechifor in #866 * cli-precedence by @paul-nechifor in #857 * show `get_data` progress by @paul-nechifor in #873 * skip if OPENAI_API_KEY not defined by @paul-nechifor in #872 * build foxglove extension by @paul-nechifor in #871 * New planner by @paul-nechifor in #792 * Use `uv` by @paul-nechifor in #870 * Add direnv to gitignore by @Kaweees in #875 * Cuda mapper by @leshy in #862 * rename agents to agents_deprecated by @paul-nechifor in #877 * new planner new mapper by @paul-nechifor in #879 * odom ts parsing by @leshy in #882 * Sim fix by @paul-nechifor in #881 * navigation tuning by @leshy in #883 * Fix: Module init and agents by @leshy in #876 * Remove old setup.sh by @paul-nechifor in #888 * Release planner by @leshy in #887 * fix replay leak by @paul-nechifor in #890 * first pass on large file deletions by @leshy in #891 * Generalized manipulator driver by @mustafab0 in #831 * Restore MacOS Support (flake.nix) by @jeff-hykin in #863 * check-uv by @paul-nechifor in #902 * Make dimos pip-installable by @paul-nechifor in #731 * Revert "Restore MacOS Support (flake.nix)" by @leshy in #907 * jeff flake without py env stuff by @leshy in #911 * remove deprecated docker files by @paul-nechifor in #912 * command center stop and home by @leshy in #893 * use packages by @paul-nechifor in #915 * Fix agents prompt by @paul-nechifor in #914 * fix manifest by @paul-nechifor in #916 * fix move skill by @paul-nechifor in #913 * Ignore individual errors by @paul-nechifor in #919 * Feat/rerun latency panels by @Nabla7 in #917 * WIP Release detections by @leshy in #889 * Remove old navigation modules by @paul-nechifor in #923 * Feat/rerun latency panels by @Nabla7 in #925 * Repair camera module by @leshy in #929 * Repair Stream by @leshy in #932 * Docs Clean by @leshy in #933 * docs: sensor streams by @leshy in #934 * Docs: bugfixes by @leshy in #940 * Fixed doclinks to use git ls by @spomichter in #943 * Examples: third party language interop by @leshy in #946 * DOCS: temporal alignment docs improvements by @leshy in #944 * filter bots from commits by @leshy in #947 * Fix skills by @paul-nechifor in #950 * Limit Rerun viewer memory to 4GB default by @Nabla7 in #949 * Working dimensional MCP server - tested with Claude Code MCP client by @spomichter in #945 * allow registration of different agents by @paul-nechifor in #951 * Pre commit large files by @leshy in #953 * Proper Realsense and ZED Camera Drivers by @alexlin2 in #935 * Granular deps by @leshy in #894 * class VLMAgent(AgentSpec, Module) for streamed VLM queries over Transport by @spomichter in #960 * mac compatible commit filter by @paul-nechifor in #961 ## New Contributors * @ym-han made their first contribution in #767 * @jeff-hykin made their first contribution in #745 * @Kaweees made their first contribution in #875 * @mustafab0 made their first contribution in #831 * @Nabla7 made their first contribution in #917 **Full Changelog**: v0.0.5...v0.0.6 Former-commit-id: 26e61a70a9469f2e33e51f1296f082b470009c09 [formerly 7ffc878] Former-commit-id: 725e628 Former-commit-id: 2e5f1d4
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