Sim fix

[paul-nechifor]

No description provided.

[chatgpt-codex-connector]

Codex usage limits have been reached for code reviews. Please check with the admins of this repo to increase the limits by adding credits.
Credits must be used to enable repository wide code reviews.

[greptile-apps]

Greptile Summary

This PR fixes simulation issues by making MuJoCo configuration more flexible and improving robot locomotion behavior.

• Made STEPS_PER_FRAME configurable via mujoco_steps_per_frame (default: 7) to allow tuning simulation performance
• Added default camera position to eliminate null checks and ensure consistent viewer setup
• Fixed rendering issues by ensuring znear/zfar values are set in the visual/map XML element
• Improved locomotion policy execution by adding small forward velocity during rotation in simulation mode (some policies struggle with pure in-place rotation)
• Refactored duplicate angular twist code into reusable _angular_twist() method

Confidence Score: 4/5

• This PR is safe to merge with minimal risk - primarily configuration and simulation improvements
• Changes are well-contained to simulation subsystem with clear improvements. The configurable steps-per-frame and default camera position reduce edge cases. Adding forward velocity during simulation rotation is a practical workaround for locomotion policy limitations. Only minor style issue (missing newline) found.
• No files require special attention

Important Files Changed

Filename	Overview
dimos/core/global_config.py	Added mujoco_steps_per_frame config and default camera position, return type changed from optional to guaranteed tuple
dimos/navigation/replanning_a_star/local_planner.py	Refactored angular velocity logic into _angular_twist method, adds small forward velocity in simulation to help locomotion policies, missing newline at EOF
dimos/simulation/mujoco/mujoco_process.py	Uses configurable mujoco_steps_per_frame instead of constant, removed null check for camera position

Sequence Diagram

sequenceDiagram
    participant Config as GlobalConfig
    participant MujocoProc as MujocoProcess
    participant Planner as LocalPlanner
    participant Model as MujocoModel
    
    Note over Config: New: mujoco_steps_per_frame=7
    Note over Config: Default camera position added
    
    Config->>MujocoProc: mujoco_steps_per_frame
    Config->>MujocoProc: mujoco_camera_position_float
    
    MujocoProc->>Model: load_model()
    Model->>Model: Add znear/zfar to visual/map
    Model-->>MujocoProc: model, data
    
    MujocoProc->>MujocoProc: Set camera from config (no null check)
    
    loop Simulation Step
        MujocoProc->>MujocoProc: Step config.mujoco_steps_per_frame times
        MujocoProc->>MujocoProc: Update odometry, video, lidar
    end
    
    alt In Simulation Mode
        Planner->>Planner: _angular_twist(angular_velocity)
        Note over Planner: Add min forward velocity<br/>for locomotion policy
        Planner->>Planner: linear_x = _min_linear_velocity
    else Real Robot
        Planner->>Planner: _angular_twist(angular_velocity)
        Note over Planner: Pure rotation<br/>no forward velocity
        Planner->>Planner: linear_x = 0.0
    end

Loading

[greptile-apps]

_{5 files reviewed, 1 comment}

_{Edit Code Review Agent Settings | Greptile}

[greptile-apps]

style: missing newline at end of file

Suggested change

	)
	)

_{Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!}