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Contributor
|
THis is pretty nice I didnt realize langchain supports this like this |
Contributor
|
WHen i try and run │ │ │ │ │ │ │ type=<class 'dimos.msgs.nav_msgs.OccupancyGrid.OccupancyGrid'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='odom', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='goal_reached', │ │
│ │ │ │ │ │ │ type=<class 'dimos_lcm.std_msgs.Bool.Bool'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='explore_cmd', │ │
│ │ │ │ │ │ │ type=<class 'dimos_lcm.std_msgs.Bool.Bool'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='stop_explore_cmd', │ │
│ │ │ │ │ │ │ type=<class 'dimos_lcm.std_msgs.Bool.Bool'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='goal_request', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ) │ │
│ │ │ │ │ ), │ │
│ │ │ │ │ args=(), │ │
│ │ │ │ │ kwargs={} │ │
│ │ │ │ ), │ │
│ │ │ │ ModuleBlueprint( │ │
│ │ │ │ │ module=<class 'dimos.web.websocket_vis.websocket_vis_module.WebsocketVisModule'>, │ │
│ │ │ │ │ connections=( │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='odom', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='gps_location', │ │
│ │ │ │ │ │ │ type=<class 'dimos.mapping.types.LatLon'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='path', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.nav_msgs.Path.Path'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='global_costmap', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.nav_msgs.OccupancyGrid.OccupancyGrid'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='goal_request', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='gps_goal', │ │
│ │ │ │ │ │ │ type=<class 'dimos.mapping.types.LatLon'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='explore_cmd', │ │
│ │ │ │ │ │ │ type=<class 'dimos_lcm.std_msgs.Bool.Bool'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='stop_explore_cmd', │ │
│ │ │ │ │ │ │ type=<class 'dimos_lcm.std_msgs.Bool.Bool'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='cmd_vel', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.geometry_msgs.Twist.Twist'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='movecmd_stamped', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.geometry_msgs.TwistStamped.TwistStamped'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ) │ │
│ │ │ │ │ ), │ │
│ │ │ │ │ args=(), │ │
│ │ │ │ │ kwargs={} │ │
│ │ │ │ ), │ │
│ │ │ │ ModuleBlueprint( │ │
│ │ │ │ │ module=<class 'dimos.robot.foxglove_bridge.FoxgloveBridge'>, │ │
│ │ │ │ │ connections=(), │ │
│ │ │ │ │ args=(), │ │
│ │ │ │ │ kwargs={} │ │
│ │ │ │ ), │ │
│ │ │ │ ModuleBlueprint( │ │
│ │ │ │ │ module=<class 'dimos.perception.spatial_perception.SpatialMemory'>, │ │
│ │ │ │ │ connections=( │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='color_image', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.sensor_msgs.Image.Image'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ ), │ │
│ │ │ │ │ args=(), │ │
│ │ │ │ │ kwargs={} │ │
│ │ │ │ ), │ │
│ │ │ │ ModuleBlueprint( │ │
│ │ │ │ │ module=<class 'dimos.perception.object_tracker.ObjectTracking'>, │ │
│ │ │ │ │ connections=( │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='color_image', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.sensor_msgs.Image.Image'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='depth', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.sensor_msgs.Image.Image'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='camera_info', │ │
│ │ │ │ │ │ │ type=<class 'dimos_lcm.sensor_msgs.CameraInfo.CameraInfo'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='detection2darray', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.vision_msgs.Detection2DArray.Detection2DArray'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='detection3darray', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.vision_msgs.Detection3DArray.Detection3DArray'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='tracked_overlay', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.sensor_msgs.Image.Image'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ) │ │
│ │ │ │ │ ), │ │
│ │ │ │ │ args=(), │ │
│ │ │ │ │ kwargs={'frame_id': 'camera_link'} │ │
│ │ │ │ ), │ │
│ │ │ │ ... +5 │ │
│ │ │ ), │ │
│ │ │ transport_map=mappingproxy({ │ │
│ │ │ │ ('color_image', <class 'dimos.msgs.sensor_msgs.Image.Image'>): │ │
│ │ <dimos.core.transport.LCMTransport object at 0x75798bffaf20>, │ │
│ │ │ │ ('camera_pose', <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>): │ │
│ │ <dimos.core.transport.LCMTransport object at 0x75798bffa5f0>, │ │
│ │ │ │ ('camera_info', <class 'dimos_lcm.sensor_msgs.CameraInfo.CameraInfo'>): │ │
│ │ <dimos.core.transport.LCMTransport object at 0x7579828b6980> │ │
│ │ │ }), │ │
│ │ │ global_config_overrides=mappingproxy({'n_dask_workers': 8, 'robot_model': 'unitree_go2'}), │ │
│ │ │ remapping_map=mappingproxy({}) │ │
│ │ ) │ │
│ ╰──────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯ │
│ │
│ /home/stash/dimensional/dimos/dimos/core/blueprints.py:121 in _deploy_all_modules │
│ │
│ 118 │ │ │ sig = inspect.signature(blueprint.module.__init__) │
│ 119 │ │ │ if "global_config" in sig.parameters: │
│ 120 │ │ │ │ kwargs["global_config"] = global_config │
│ ❱ 121 │ │ │ module_coordinator.deploy(blueprint.module, *blueprint.args, **kwargs) │
│ 122 │ │
│ 123 │ def _connect_transports(self, module_coordinator: ModuleCoordinator) -> None: │
│ 124 │ │ # Gather all the In/Out connections with remapping applied. │
│ │
│ ╭─────────────────────────────────────────────────────────── locals ───────────────────────────────────────────────────────────╮ │
│ │ blueprint = ModuleBlueprint( │ │
│ │ │ module=<class 'dimos.agents2.agent.LlmAgent'>, │ │
│ │ │ connections=(), │ │
│ │ │ args=(), │ │
│ │ │ kwargs={'model': 'qwen3:8b', 'provider': <Provider.OLLAMA: 'ollama'>} │ │
│ │ ) │ │
│ │ global_config = GlobalConfig( │ │
│ │ │ robot_ip='192.168.9.140', │ │
│ │ │ simulation=False, │ │
│ │ │ replay=False, │ │
│ │ │ n_dask_workers=8, │ │
│ │ │ mujoco_room=None, │ │
│ │ │ robot_model='unitree_go2' │ │
│ │ ) │ │
│ │ kwargs = {'model': 'qwen3:8b', 'provider': <Provider.OLLAMA: 'ollama'>} │ │
│ │ module_coordinator = <dimos.core.module_coordinator.ModuleCoordinator object at 0x757a99ce3b50> │ │
│ │ self = ModuleBlueprintSet( │ │
│ │ │ blueprints=( │ │
│ │ │ │ ModuleBlueprint( │ │
│ │ │ │ │ module=<class 'dimos.robot.unitree_webrtc.unitree_go2.ConnectionModule'>, │ │
│ │ │ │ │ connections=( │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='cmd_vel', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.geometry_msgs.Twist.Twist'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='odom', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='gps_location', │ │
│ │ │ │ │ │ │ type=<class 'dimos.mapping.types.LatLon'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='lidar', │ │
│ │ │ │ │ │ │ type=<class 'dimos.robot.unitree_webrtc.type.lidar.LidarMessage'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='color_image', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.sensor_msgs.Image.Image'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='camera_info', │ │
│ │ │ │ │ │ │ type=<class 'dimos_lcm.sensor_msgs.CameraInfo.CameraInfo'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='camera_pose', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ) │ │
│ │ │ │ │ ), │ │
│ │ │ │ │ args=(), │ │
│ │ │ │ │ kwargs={} │ │
│ │ │ │ ), │ │
│ │ │ │ ModuleBlueprint( │ │
│ │ │ │ │ module=<class 'dimos.robot.unitree_webrtc.type.map.Map'>, │ │
│ │ │ │ │ connections=( │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='lidar', │ │
│ │ │ │ │ │ │ type=<class 'dimos.robot.unitree_webrtc.type.lidar.LidarMessage'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='global_map', │ │
│ │ │ │ │ │ │ type=<class 'dimos.robot.unitree_webrtc.type.lidar.LidarMessage'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='global_costmap', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.nav_msgs.OccupancyGrid.OccupancyGrid'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='local_costmap', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.nav_msgs.OccupancyGrid.OccupancyGrid'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ) │ │
│ │ │ │ │ ), │ │
│ │ │ │ │ args=(), │ │
│ │ │ │ │ kwargs={'voxel_size': 0.5, 'global_publish_interval': 2.5} │ │
│ │ │ │ ), │ │
│ │ │ │ ModuleBlueprint( │ │
│ │ │ │ │ module=<class 'dimos.navigation.global_planner.planner.AstarPlanner'>, │ │
│ │ │ │ │ connections=( │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='target', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='global_costmap', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.nav_msgs.OccupancyGrid.OccupancyGrid'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='odom', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='path', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.nav_msgs.Path.Path'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ) │ │
│ │ │ │ │ ), │ │
│ │ │ │ │ args=(), │ │
│ │ │ │ │ kwargs={} │ │
│ │ │ │ ), │ │
│ │ │ │ ModuleBlueprint( │ │
│ │ │ │ │ module=<class │ │
│ │ 'dimos.navigation.local_planner.holonomic_local_planner.HolonomicLocalPlanner'>, │ │
│ │ │ │ │ connections=( │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='local_costmap', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.nav_msgs.OccupancyGrid.OccupancyGrid'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='odom', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='path', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.nav_msgs.Path.Path'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='cmd_vel', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.geometry_msgs.Twist.Twist'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ) │ │
│ │ │ │ │ ), │ │
│ │ │ │ │ args=(), │ │
│ │ │ │ │ kwargs={} │ │
│ │ │ │ ), │ │
│ │ │ │ ModuleBlueprint( │ │
│ │ │ │ │ module=<class 'dimos.navigation.bt_navigator.navigator.BehaviorTreeNavigator'>, │ │
│ │ │ │ │ connections=( │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='odom', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='goal_request', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='global_costmap', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.nav_msgs.OccupancyGrid.OccupancyGrid'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='target', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='goal_reached', │ │
│ │ │ │ │ │ │ type=<class 'dimos_lcm.std_msgs.Bool.Bool'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='navigation_state', │ │
│ │ │ │ │ │ │ type=<class 'dimos_lcm.std_msgs.String.String'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ) │ │
│ │ │ │ │ ), │ │
│ │ │ │ │ args=(), │ │
│ │ │ │ │ kwargs={} │ │
│ │ │ │ ), │ │
│ │ │ │ ModuleBlueprint( │ │
│ │ │ │ │ module=<class │ │
│ │ 'dimos.navigation.frontier_exploration.wavefront_frontier_goal_selector.WavefrontFrontierExplorer'>, │ │
│ │ │ │ │ connections=( │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='global_costmap', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.nav_msgs.OccupancyGrid.OccupancyGrid'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='odom', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='goal_reached', │ │
│ │ │ │ │ │ │ type=<class 'dimos_lcm.std_msgs.Bool.Bool'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='explore_cmd', │ │
│ │ │ │ │ │ │ type=<class 'dimos_lcm.std_msgs.Bool.Bool'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='stop_explore_cmd', │ │
│ │ │ │ │ │ │ type=<class 'dimos_lcm.std_msgs.Bool.Bool'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='goal_request', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ) │ │
│ │ │ │ │ ), │ │
│ │ │ │ │ args=(), │ │
│ │ │ │ │ kwargs={} │ │
│ │ │ │ ), │ │
│ │ │ │ ModuleBlueprint( │ │
│ │ │ │ │ module=<class 'dimos.web.websocket_vis.websocket_vis_module.WebsocketVisModule'>, │ │
│ │ │ │ │ connections=( │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='odom', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='gps_location', │ │
│ │ │ │ │ │ │ type=<class 'dimos.mapping.types.LatLon'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='path', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.nav_msgs.Path.Path'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='global_costmap', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.nav_msgs.OccupancyGrid.OccupancyGrid'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='goal_request', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='gps_goal', │ │
│ │ │ │ │ │ │ type=<class 'dimos.mapping.types.LatLon'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='explore_cmd', │ │
│ │ │ │ │ │ │ type=<class 'dimos_lcm.std_msgs.Bool.Bool'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='stop_explore_cmd', │ │
│ │ │ │ │ │ │ type=<class 'dimos_lcm.std_msgs.Bool.Bool'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='cmd_vel', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.geometry_msgs.Twist.Twist'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='movecmd_stamped', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.geometry_msgs.TwistStamped.TwistStamped'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ) │ │
│ │ │ │ │ ), │ │
│ │ │ │ │ args=(), │ │
│ │ │ │ │ kwargs={} │ │
│ │ │ │ ), │ │
│ │ │ │ ModuleBlueprint( │ │
│ │ │ │ │ module=<class 'dimos.robot.foxglove_bridge.FoxgloveBridge'>, │ │
│ │ │ │ │ connections=(), │ │
│ │ │ │ │ args=(), │ │
│ │ │ │ │ kwargs={} │ │
│ │ │ │ ), │ │
│ │ │ │ ModuleBlueprint( │ │
│ │ │ │ │ module=<class 'dimos.perception.spatial_perception.SpatialMemory'>, │ │
│ │ │ │ │ connections=( │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='color_image', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.sensor_msgs.Image.Image'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ ), │ │
│ │ │ │ │ args=(), │ │
│ │ │ │ │ kwargs={} │ │
│ │ │ │ ), │ │
│ │ │ │ ModuleBlueprint( │ │
│ │ │ │ │ module=<class 'dimos.perception.object_tracker.ObjectTracking'>, │ │
│ │ │ │ │ connections=( │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='color_image', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.sensor_msgs.Image.Image'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='depth', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.sensor_msgs.Image.Image'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='camera_info', │ │
│ │ │ │ │ │ │ type=<class 'dimos_lcm.sensor_msgs.CameraInfo.CameraInfo'>, │ │
│ │ │ │ │ │ │ direction='in' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='detection2darray', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.vision_msgs.Detection2DArray.Detection2DArray'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='detection3darray', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.vision_msgs.Detection3DArray.Detection3DArray'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ), │ │
│ │ │ │ │ │ ModuleConnection( │ │
│ │ │ │ │ │ │ name='tracked_overlay', │ │
│ │ │ │ │ │ │ type=<class 'dimos.msgs.sensor_msgs.Image.Image'>, │ │
│ │ │ │ │ │ │ direction='out' │ │
│ │ │ │ │ │ ) │ │
│ │ │ │ │ ), │ │
│ │ │ │ │ args=(), │ │
│ │ │ │ │ kwargs={'frame_id': 'camera_link'} │ │
│ │ │ │ ), │ │
│ │ │ │ ... +5 │ │
│ │ │ ), │ │
│ │ │ transport_map=mappingproxy({ │ │
│ │ │ │ ('color_image', <class 'dimos.msgs.sensor_msgs.Image.Image'>): │ │
│ │ <dimos.core.transport.LCMTransport object at 0x75798bffaf20>, │ │
│ │ │ │ ('camera_pose', <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>): │ │
│ │ <dimos.core.transport.LCMTransport object at 0x75798bffa5f0>, │ │
│ │ │ │ ('camera_info', <class 'dimos_lcm.sensor_msgs.CameraInfo.CameraInfo'>): │ │
│ │ <dimos.core.transport.LCMTransport object at 0x7579828b6980> │ │
│ │ │ }), │ │
│ │ │ global_config_overrides=mappingproxy({'n_dask_workers': 8, 'robot_model': 'unitree_go2'}), │ │
│ │ │ remapping_map=mappingproxy({}) │ │
│ │ ) │ │
│ │ sig = <Signature (self, *args, **kwargs) -> None> │ │
│ ╰──────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯ │
│ │
│ /home/stash/dimensional/dimos/dimos/core/module_coordinator.py:55 in deploy │
│ │
│ 52 │ │ if not self._client: │
│ 53 │ │ │ raise ValueError("Not started") │
│ 54 │ │ │
│ ❱ 55 │ │ module = self._client.deploy(module_class, *args, **kwargs) │
│ 56 │ │ self._deployed_modules[module_class] = module │
│ 57 │ │ return module │
│ 58 │
│ │
│ ╭────────────────────────────────────── locals ───────────────────────────────────────╮ │
│ │ args = () │ │
│ │ kwargs = {'model': 'qwen3:8b', 'provider': <Provider.OLLAMA: 'ollama'>} │ │
│ │ self = <dimos.core.module_coordinator.ModuleCoordinator object at 0x757a99ce3b50> │ │
│ ╰─────────────────────────────────────────────────────────────────────────────────────╯ │
│ │
│ /home/stash/dimensional/dimos/dimos/core/__init__.py:100 in deploy │
│ │
│ 97 │ │ │ │ *args, │
│ 98 │ │ │ │ **kwargs, │
│ 99 │ │ │ │ actor=True, │
│ ❱ 100 │ │ │ ).result() │
│ 101 │ │ │ │
│ 102 │ │ │ worker = actor.set_ref(actor).result() │
│ 103 │ │ │ print(f"deployed: {colors.blue(actor)} @ {colors.orange('worker ' + str(work │
│ │
│ ╭───────────────────────────────────────── locals ─────────────────────────────────────────╮ │
│ │ args = () │ │
│ │ console = <console width=132 ColorSystem.TRUECOLOR> │ │
│ │ dask_client = <Client: 'tcp://127.0.0.1:35279' processes=8 threads=32, memory=31.01 GiB> │ │
│ │ kwargs = {'model': 'qwen3:8b', 'provider': <Provider.OLLAMA: 'ollama'>} │ │
│ ╰──────────────────────────────────────────────────────────────────────────────────────────╯ │
│ │
│ /home/stash/dimensional/dimos/local-venv/lib/python3.10/site-packages/distributed/client.py:392 in result │
│ │
│ 389 │ │ """ │
│ 390 │ │ self._verify_initialized() │
│ 391 │ │ with shorten_traceback(): │
│ ❱ 392 │ │ │ return self.client.sync(self._result, callback_timeout=timeout) │
│ 393 │ │
│ 394 │ async def _result(self, raiseit=True): │
│ 395 │ │ await self._state.wait() │
│ │
│ ╭─────────────────────────────────── locals ────────────────────────────────────╮ │
│ │ self = <Future: error, key: LlmAgent-8a3699f8-c2d5-4aa4-a0b2-bf10f091118c> │ │
│ │ timeout = None │ │
│ ╰───────────────────────────────────────────────────────────────────────────────╯ │
│ │
│ /home/stash/dimensional/dimos/dimos/agents2/agent.py:207 in __init__ │
│ │
│ 204 │ │ else: │
│ 205 │ │ │ # For Ollama provider, ensure the model is available before initializing │
│ 206 │ │ │ if self.config.provider.value.lower() == "ollama": │
│ ❱ 207 │ │ │ │ _ensure_ollama_model(self.config.model) │
│ 208 │ │ │ │
│ 209 │ │ │ # For HuggingFace, we need to create a pipeline and wrap it in ChatHuggingFa │
│ 210 │ │ │ if self.config.provider.value.lower() == "huggingface": │
│ │
│ /home/stash/dimensional/dimos/dimos/agents2/agent.py:165 in _ensure_ollama_model │
│ │
│ 162 │
│ 163 │
│ 164 def _ensure_ollama_model(model_name: str) -> None: │
│ ❱ 165 │ available_models = ollama.list() │
│ 166 │ model_exists = any(model_name == m.model for m in available_models.models) │
│ 167 │ if not model_exists: │
│ 168 │ │ logger.info(f"Ollama model '{model_name}' not found. Pulling...") │
│ │
│ /home/stash/dimensional/dimos/local-venv/lib/python3.10/site-packages/ollama/_client.py:604 in list │
│ │
│ 601 │ return digest │
│ 602 │
│ 603 def list(self) -> ListResponse: │
│ ❱ 604 │ return self._request( │
│ 605 │ ListResponse, │
│ 606 │ 'GET', │
│ 607 │ '/api/tags', │
│ │
│ /home/stash/dimensional/dimos/local-venv/lib/python3.10/site-packages/ollama/_client.py:189 in _request │
│ │
│ 186 │ │
│ 187 │ return inner() │
│ 188 │ │
│ ❱ 189 │ return cls(**self._request_raw(*args, **kwargs).json()) │
│ 190 │
│ 191 @overload │
│ 192 def generate( │
│ │
│ /home/stash/dimensional/dimos/local-venv/lib/python3.10/site-packages/ollama/_client.py:135 in _request_raw │
│ │
│ 132 │ except httpx.HTTPStatusError as e: │
│ 133 │ raise ResponseError(e.response.text, e.response.status_code) from None │
│ 134 │ except httpx.ConnectError: │
│ ❱ 135 │ raise ConnectionError(CONNECTION_ERROR_MESSAGE) from None │
│ 136 │
│ 137 @overload │
│ 138 def _request( │
╰──────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯
ConnectionError: Failed to connect to Ollama. Please check that Ollama is downloaded, running and accessible.
https://ollama.com/download
/usr/lib/python3.10/multiprocessing/resource_tracker.py:224: UserWarning: resource_tracker: There appear to be 1 leaked shared_memory objects to clean up at shutdown
warnings.warn('resource_tracker: There appear to be %d ' |
Contributor
Author
@spomichter That error is expected. Should I catch the exception and print how to install it? |
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|
Yeah that would be helpful @paul-nechifor |
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I've added a check for ollama: 
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leshy
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@greptile |
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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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Support running local agents Former-commit-id: dd57f15
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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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Support running local agents Former-commit-id: c09862b
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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
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: 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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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
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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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Ollama
Run an ollama model (
qwen3:8b):Ollama uses GGUF models. The above has been tested with tool calls and works.
Huggingface
Run a huggingface model (
Qwen/Qwen2.5-1.5B-Instruct):Huggingface uses
.safetensor. It doesn't seem to call tools. I should probably use a different model, but many in huggingface aren't quantized and use a lot of VRAM.Greptile Overview
Greptile Summary
This PR adds support for running local AI agents using Ollama and HuggingFace models, enabling deployment without relying on cloud-based LLM providers.
Key Changes:
ollama_agent.pywith utilities to check Ollama daemon availability and auto-pull missing modelsAgent.__init__to handle Ollama and HuggingFace provider initialization with custom logicagentic_ollama(qwen3:8b) andagentic_huggingface(Qwen/Qwen2.5-1.5B-Instruct)HumanMessagefor LLMs that require at least one human message in historyIssues Found:
ollamapackage dependency inpyproject.toml- the code importsollamadirectly but onlylangchain-ollamais listedollama_installed()could suppress unexpected errorsConfidence Score: 3/5
ollamapackage dependency will causeModuleNotFoundErrorwhen users try to run Ollama-based agents. The bare except handler is a style issue but not critical. Once the missing dependency is added, this should work as intended.pyproject.toml- the missing ollama dependency will break functionalityImportant Files Changed
File Analysis
Sequence Diagram
sequenceDiagram participant User participant Blueprint as ModuleBlueprintSet participant Agent as Agent.__init__ participant OllamaHelper as ollama_agent participant Ollama as Ollama Daemon participant HF as HuggingFace Pipeline participant LLM as LLM Instance User->>Blueprint: build(agentic_ollama/agentic_huggingface) Blueprint->>Blueprint: _check_requirements() alt Ollama Provider Blueprint->>OllamaHelper: ollama_installed() OllamaHelper->>Ollama: ollama.list() alt Connection Failed Ollama-->>OllamaHelper: Exception OllamaHelper-->>Blueprint: Error message Blueprint->>User: Print error & exit(1) else Success Ollama-->>OllamaHelper: Model list OllamaHelper-->>Blueprint: None (success) end end Blueprint->>Agent: Deploy Agent with config Agent->>Agent: __init__(provider, model) alt Ollama Provider Agent->>OllamaHelper: ensure_ollama_model(model_name) OllamaHelper->>Ollama: ollama.list() Ollama-->>OllamaHelper: Available models alt Model not found OllamaHelper->>Ollama: ollama.pull(model_name) Ollama-->>OllamaHelper: Model downloaded end Agent->>Agent: init_chat_model(ollama, model) Agent->>LLM: Create Ollama LLM instance else HuggingFace Provider Agent->>HF: HuggingFacePipeline.from_model_id() HF-->>Agent: Pipeline instance Agent->>LLM: ChatHuggingFace(llm=pipeline) else Other Provider Agent->>Agent: init_chat_model(provider, model) end LLM-->>Agent: LLM instance ready Agent->>Agent: agent_loop() alt No human messages in history Agent->>Agent: Append initial HumanMessage Note over Agent: "Everything is initialized..." end Agent->>LLM: invoke(messages) LLM-->>Agent: AI response Agent->>User: Agent operational