New planner

.gitignore

@@ -55,3 +55,5 @@ yolo11n.pt
 .claude
 
 /logs
+
+*.so

dimos/agents2/skills/google_maps_skill_container.py

@@ -15,8 +15,6 @@
 import json
 from typing import Any
 
-from reactivex.disposable import Disposable
-
 from dimos.core.core import rpc
 from dimos.core.skill_module import SkillModule
 from dimos.core.stream import In

dimos/core/blueprints.py

@@ -29,6 +29,9 @@
 from dimos.core.stream import In, Out
 from dimos.core.transport import LCMTransport, pLCMTransport
 from dimos.utils.generic import short_id
+from dimos.utils.logging_config import setup_logger
+
+logger = setup_logger()
 
 
 @dataclass(frozen=True)
@@ -205,6 +208,15 @@ def _connect_transports(self, module_coordinator: ModuleCoordinator) -> None:
             for module, original_name in connections[(remapped_name, type)]:
                 instance = module_coordinator.get_instance(module)
                 instance.set_transport(original_name, transport)  # type: ignore[union-attr]
+                logger.info(
+                    "Transport",
+                    name=remapped_name,
+                    original_name=original_name,
+                    topic=str(getattr(transport, "topic", None)),
+                    type=f"{type.__module__}.{type.__qualname__}",
+                    module=module.__name__,
+                    transport=transport.__class__.__name__,
+                )
 
     def _connect_rpc_methods(self, module_coordinator: ModuleCoordinator) -> None:
         # Gather all RPC methods.

dimos/core/global_config.py

@@ -13,18 +13,36 @@
 # limitations under the License.
 
 from functools import cached_property
+import re
 
 from pydantic_settings import BaseSettings, SettingsConfigDict
 
+from dimos.mapping.occupancy.path_map import NavigationStrategy
+from dimos.navigation.global_planner.types import AStarAlgorithm
+
+
+def _get_all_numbers(s: str) -> list[float]:
+    return [float(x) for x in re.findall(r"-?\d+\.?\d*", s)]
+
 
 class GlobalConfig(BaseSettings):
     robot_ip: str | None = None
     simulation: bool = False
     replay: bool = False
     n_dask_workers: int = 2
     memory_limit: str = "auto"
+    mujoco_camera_position: str | None = None
     mujoco_room: str | None = None
+    mujoco_room_from_occupancy: str | None = None
+    mujoco_global_costmap_from_occupancy: str | None = None
+    mujoco_global_map_from_pointcloud: str | None = None
+    mujoco_start_pos: str = "-1.0, 1.0"
     robot_model: str | None = None
+    robot_width: float = 0.3
+    robot_rotation_diameter: float = 0.6
+    planner_strategy: NavigationStrategy = "simple"
+    astar_algorithm: AStarAlgorithm = "min_cost"
+    planner_robot_speed: float | None = None
 
     model_config = SettingsConfigDict(
         env_file=".env",
@@ -40,3 +58,14 @@ def unitree_connection_type(self) -> str:
         if self.simulation:
             return "mujoco"
         return "webrtc"
+
+    @cached_property
+    def mujoco_start_pos_float(self) -> tuple[float, float]:
+        x, y = _get_all_numbers(self.mujoco_start_pos)
+        return (x, y)
+
+    @cached_property
+    def mujoco_camera_position_float(self) -> tuple[float, ...] | None:
+        if self.mujoco_camera_position is None:
+            return None
+        return tuple(_get_all_numbers(self.mujoco_camera_position))

dimos/core/transport.py

@@ -149,7 +149,7 @@ def broadcast(self, _, msg) -> None:  # type: ignore[no-untyped-def]
 
         self.shm.publish(self.topic, msg)
 
-    def subscribe(self, callback: Callable[[T], None], selfstream: In[T] = None) -> None:  # type: ignore[assignment, override]
+    def subscribe(self, callback: Callable[[T], None], selfstream: In[T] | None = None) -> None:  # type: ignore[assignment, override]
         if not self._started:
             self.shm.start()
             self._started = True
@@ -174,7 +174,7 @@ def broadcast(self, _, msg) -> None:  # type: ignore[no-untyped-def]
 
         self.shm.publish(self.topic, msg)
 
-    def subscribe(self, callback: Callable[[T], None], selfstream: In[T] = None) -> None:  # type: ignore[assignment, override]
+    def subscribe(self, callback: Callable[[T], None], selfstream: In[T] | None = None) -> None:  # type: ignore[assignment, override]
         if not self._started:
             self.shm.start()
             self._started = True

dimos/mapping/occupancy/conftest.py

@@ -0,0 +1,30 @@
+# Copyright 2025 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import numpy as np
+import pytest
+
+from dimos.mapping.occupancy.gradient import gradient
+from dimos.msgs.nav_msgs.OccupancyGrid import OccupancyGrid
+from dimos.utils.data import get_data
+
+
+@pytest.fixture
+def occupancy() -> OccupancyGrid:
+    return OccupancyGrid(np.load(get_data("occupancy_simple.npy")))
+
+
+@pytest.fixture
+def occupancy_gradient(occupancy) -> OccupancyGrid:
+    return gradient(occupancy, max_distance=1.5)