diff --git a/assets/foxglove_dashboards/unitree.json b/assets/foxglove_dashboards/go2.json similarity index 73% rename from assets/foxglove_dashboards/unitree.json rename to assets/foxglove_dashboards/go2.json index 24a3c3c339..fb9df219c2 100644 --- a/assets/foxglove_dashboards/unitree.json +++ b/assets/foxglove_dashboards/go2.json @@ -2,14 +2,14 @@ "configById": { "3D!3ezwzdr": { "cameraState": { - "perspective": true, - "distance": 11.974738784563408, - "phi": 46.81551198543342, - "thetaOffset": 71.81370622323534, + "perspective": false, + "distance": 10.26684166532264, + "phi": 29.073691502600532, + "thetaOffset": 93.32472375597958, "targetOffset": [ - 0.7911075559165568, - 1.8116053369121197, - 3.4025317970075274e-16 + 3.280168913303102, + -1.418093876569801, + -2.6619087209849424e-16 ], "target": [ 0, @@ -29,7 +29,8 @@ "followMode": "follow-pose", "scene": { "transforms": { - "labelSize": 0.1 + "labelSize": 0.1, + "axisSize": 0.51 } }, "transforms": { @@ -49,10 +50,10 @@ "visible": false }, "frame:map": { - "visible": true + "visible": false }, "frame:world": { - "visible": true + "visible": false } }, "topics": { @@ -63,7 +64,7 @@ "colorMap": "turbo", "pointSize": 2.85, "decayTime": 6, - "pointShape": "cube" + "pointShape": "circle" }, "/detectorDB/scene_update": { "visible": true @@ -86,7 +87,9 @@ "visible": false }, "/camera_info": { - "visible": true + "visible": true, + "distance": 1, + "color": "#c4bcffff" }, "/detectorDB/pointcloud/0": { "visible": true, @@ -121,19 +124,21 @@ "colorField": "z", "colorMode": "colormap", "colorMap": "turbo", - "pointSize": 3.66, - "pointShape": "cube", + "pointSize": 4, + "pointShape": "circle", "explicitAlpha": 1, "cubeSize": 0.05, "cubeOutline": false, - "flatColor": "#ed8080ff" + "flatColor": "#ed8080ff", + "minValue": -0.1, + "decayTime": 0 }, "/global_costmap": { - "visible": false, + "visible": true, "colorMode": "custom", - "unknownColor": "#80808000", - "minColor": "#282975ff", - "maxColor": "#ff0000ff", + "unknownColor": "#ff000000", + "minColor": "#484981ff", + "maxColor": "#000000ff", "frameLocked": false, "drawBehind": false }, @@ -203,6 +208,18 @@ "maxColor": "#ff2222ff", "minColor": "#00006bff", "unknownColor": "#80808000" + }, + "/debug_navigation": { + "visible": false, + "cameraInfoTopic": "/camera_info" + }, + "/path": { + "visible": true, + "lineWidth": 0.03, + "gradient": [ + "#ff6b6bff", + "#ff0000ff" + ] } }, "layers": { @@ -228,6 +245,31 @@ "frameId": "world", "divisions": 25, "lineWidth": 1 + }, + "aac2d29a-9580-442f-8067-104830c336c8": { + "displayMode": "auto", + "fallbackColor": "#ffffff", + "showAxis": false, + "axisScale": 1, + "showOutlines": true, + "opacity": 1, + "visible": true, + "frameLocked": true, + "instanceId": "aac2d29a-9580-442f-8067-104830c336c8", + "label": "URDF", + "layerId": "foxglove.Urdf", + "sourceType": "filePath", + "url": "", + "filePath": "/home/lesh/coding/dimos/dimos/robot/unitree/go2/go2.urdf", + "parameter": "", + "topic": "", + "framePrefix": "", + "order": 2, + "links": { + "base_link": { + "visible": true + } + } } }, "publish": { @@ -240,7 +282,67 @@ "poseEstimateThetaDeviation": 0.26179939 }, "imageMode": {}, - "followTf": "world" + "followTf": "map" + }, + "command-center-extension.command-center!3xr2po0": {}, + "Plot!3cog9zw": { + "paths": [ + { + "timestampMethod": "receiveTime", + "value": "/metrics/_calculate_costmap.data", + "enabled": true, + "color": "#4e98e2", + "id": "a1ff9a80-7a45-48ff-bdb1-232bda7bd492" + }, + { + "timestampMethod": "receiveTime", + "value": "/metrics/get_global_pointcloud.data", + "enabled": true, + "color": "#f5774d", + "id": "5fe70fbd-33f9-4b15-849f-c7c49988af95" + }, + { + "timestampMethod": "receiveTime", + "value": "/metrics/add_frame.data", + "enabled": true, + "color": "#f7df71", + "id": "bb4a56f8-78ae-45cb-850e-48c462dab40f" + } + ], + "showXAxisLabels": true, + "showYAxisLabels": true, + "showLegend": true, + "legendDisplay": "floating", + "showPlotValuesInLegend": false, + "isSynced": true, + "xAxisVal": "timestamp", + "sidebarDimension": 240 + }, + "Plot!47kna9v": { + "paths": [ + { + "timestampMethod": "publishTime", + "value": "/global_map.header.stamp.sec", + "enabled": true, + "color": "#4e98e2", + "id": "19f95865-4d9e-4d38-b9d7-d227319d8ebd" + }, + { + "timestampMethod": "publishTime", + "value": "/global_costmap.header.stamp.sec", + "enabled": true, + "color": "#f5774d", + "id": "86ddc0e2-8e9c-4d52-bd5a-d02cb0357efe" + } + ], + "showXAxisLabels": true, + "showYAxisLabels": true, + "showLegend": true, + "legendDisplay": "floating", + "showPlotValuesInLegend": false, + "isSynced": true, + "xAxisVal": "timestamp", + "sidebarDimension": 240 }, "Image!3mnp456": { "cameraState": { @@ -308,7 +410,7 @@ "visible": false }, "/global_costmap": { - "visible": true, + "visible": false, "minColor": "#ffffff00", "maxColor": "#ff0000ff", "unknownColor": "#80808000" @@ -351,7 +453,8 @@ "colorMode": "colormap", "colorMap": "turbo", "pointShape": "cube", - "pointSize": 5 + "pointSize": 5, + "cubeSize": 0.03 }, "/detected/pointcloud/1": { "visible": false, @@ -480,7 +583,21 @@ "layout": { "direction": "row", "first": "3D!3ezwzdr", - "second": "Image!3mnp456", - "splitPercentage": 70.55232558139535 + "second": { + "first": "command-center-extension.command-center!3xr2po0", + "second": { + "first": { + "first": "Plot!3cog9zw", + "second": "Plot!47kna9v", + "direction": "row" + }, + "second": "Image!3mnp456", + "direction": "column", + "splitPercentage": 38.08411214953271 + }, + "direction": "column", + "splitPercentage": 50.116550116550115 + }, + "splitPercentage": 63.706720977596746 } } diff --git a/data/.lfs/big_office.ply.tar.gz b/data/.lfs/big_office.ply.tar.gz new file mode 100644 index 0000000000..c8524a1862 --- /dev/null +++ b/data/.lfs/big_office.ply.tar.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7eabc682f75e1725a07df51bb009d3950190318d119d54d0ad8c6b7104f175e3 +size 2355227 diff --git a/data/.lfs/big_office_height_cost_occupancy.png.tar.gz b/data/.lfs/big_office_height_cost_occupancy.png.tar.gz new file mode 100644 index 0000000000..75addaf103 --- /dev/null +++ b/data/.lfs/big_office_height_cost_occupancy.png.tar.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d8e7d096f1108d45ebdad760c4655de1e1d50105ca59c5188e79cb1a7c0d4a9 +size 133051 diff --git a/data/.lfs/big_office_simple_occupancy.png.tar.gz b/data/.lfs/big_office_simple_occupancy.png.tar.gz new file mode 100644 index 0000000000..dd667640be --- /dev/null +++ b/data/.lfs/big_office_simple_occupancy.png.tar.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dded2e28694de9ec84a91a686b27654b83c604f44f4d3e336d5cd481e88d3249 +size 28146 diff --git a/data/.lfs/occupancy_simple.png.tar.gz b/data/.lfs/occupancy_simple.png.tar.gz index f6370052d6..4962f13db1 100644 --- a/data/.lfs/occupancy_simple.png.tar.gz +++ b/data/.lfs/occupancy_simple.png.tar.gz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7569eb465fb29b3a2f76ae289b094d0a5579dce99c9a99741c7e9e4e741a00b6 -size 2832 +oid sha256:6c9dac221a594c87d0baa60b8c678c63a0c215325080b34ee60df5cc1e1c331d +size 3311 diff --git a/data/.lfs/unitree_go2_bigoffice_map.pickle.tar.gz b/data/.lfs/unitree_go2_bigoffice_map.pickle.tar.gz new file mode 100644 index 0000000000..89ecb54e87 --- /dev/null +++ b/data/.lfs/unitree_go2_bigoffice_map.pickle.tar.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68adb344ae040c3f94d61dd058beb39cc2811c4ae8328f678bc2ba761c504eb5 +size 2331189 diff --git a/dimos/e2e_tests/conftest.py b/dimos/e2e_tests/conftest.py new file mode 100644 index 0000000000..2c4415bc0b --- /dev/null +++ b/dimos/e2e_tests/conftest.py @@ -0,0 +1,86 @@ +# 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. + +from collections.abc import Callable, Iterator + +import pytest + +from dimos.core.transport import pLCMTransport +from dimos.e2e_tests.dimos_cli_call import DimosCliCall +from dimos.e2e_tests.lcm_spy import LcmSpy +from dimos.msgs.geometry_msgs import PoseStamped, Quaternion +from dimos.msgs.geometry_msgs.Vector3 import make_vector3 +from dimos.msgs.std_msgs.Bool import Bool + + +def _pose(x: float, y: float, theta: float) -> PoseStamped: + return PoseStamped( + position=make_vector3(x, y, 0), + orientation=Quaternion.from_euler(make_vector3(0, 0, theta)), + frame_id="map", + ) + + +@pytest.fixture +def lcm_spy() -> Iterator[LcmSpy]: + lcm_spy = LcmSpy() + lcm_spy.start() + yield lcm_spy + lcm_spy.stop() + + +@pytest.fixture +def follow_points(lcm_spy: LcmSpy): + def fun(*, points: list[tuple[float, float, float]], fail_message: str) -> None: + topic = "/goal_reached#std_msgs.Bool" + lcm_spy.save_topic(topic) + + for x, y, theta in points: + lcm_spy.publish("/goal_request#geometry_msgs.PoseStamped", _pose(x, y, theta)) + lcm_spy.wait_for_message_result( + topic, + Bool, + predicate=lambda v: bool(v), + fail_message=fail_message, + timeout=60.0, + ) + + yield fun + + +@pytest.fixture +def start_blueprint() -> Iterator[Callable[[str], DimosCliCall]]: + dimos_robot_call = DimosCliCall() + + def set_name_and_start(demo_name: str) -> DimosCliCall: + dimos_robot_call.demo_name = demo_name + dimos_robot_call.start() + return dimos_robot_call + + yield set_name_and_start + + dimos_robot_call.stop() + + +@pytest.fixture +def human_input(): + transport = pLCMTransport("/human_input") + transport.lcm.start() + + def send_human_input(message: str) -> None: + transport.publish(message) + + yield send_human_input + + transport.lcm.stop() diff --git a/dimos/e2e_tests/dimos_cli_call.py b/dimos/e2e_tests/dimos_cli_call.py new file mode 100644 index 0000000000..6b97c9d8b1 --- /dev/null +++ b/dimos/e2e_tests/dimos_cli_call.py @@ -0,0 +1,69 @@ +# 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 signal +import subprocess +import time + + +class DimosCliCall: + process: subprocess.Popen[bytes] | None + demo_name: str | None = None + + def __init__(self) -> None: + self.process = None + + def start(self) -> None: + if self.demo_name is None: + raise ValueError("Demo name must be set before starting the process.") + + self.process = subprocess.Popen( + ["dimos", "--simulation", "run", self.demo_name], + ) + + def stop(self) -> None: + if self.process is None: + return + + try: + # Send the kill signal (SIGTERM for graceful shutdown) + self.process.send_signal(signal.SIGTERM) + + # Record the time when we sent the kill signal + shutdown_start = time.time() + + # Wait for the process to terminate with a 30-second timeout + try: + self.process.wait(timeout=30) + shutdown_duration = time.time() - shutdown_start + + # Verify it shut down in time + assert shutdown_duration <= 30, ( + f"Process took {shutdown_duration:.2f} seconds to shut down, " + f"which exceeds the 30-second limit" + ) + except subprocess.TimeoutExpired: + # If we reach here, the process didn't terminate in 30 seconds + self.process.kill() # Force kill + self.process.wait() # Clean up + raise AssertionError( + "Process did not shut down within 30 seconds after receiving SIGTERM" + ) + + except Exception: + # Clean up if something goes wrong + if self.process.poll() is None: # Process still running + self.process.kill() + self.process.wait() + raise diff --git a/dimos/e2e_tests/lcm_spy.py b/dimos/e2e_tests/lcm_spy.py new file mode 100644 index 0000000000..a19682f08e --- /dev/null +++ b/dimos/e2e_tests/lcm_spy.py @@ -0,0 +1,191 @@ +# 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. + +from collections.abc import Callable, Iterator +from contextlib import contextmanager +import math +import pickle +import threading +import time +from typing import Any + +import lcm + +from dimos.msgs.geometry_msgs import PoseStamped +from dimos.protocol.service.lcmservice import LCMMsg, LCMService + + +class LcmSpy(LCMService): + l: lcm.LCM + messages: dict[str, list[bytes]] + _messages_lock: threading.Lock + _saved_topics: set[str] + _saved_topics_lock: threading.Lock + _topic_listeners: dict[str, list[Callable[[bytes], None]]] + _topic_listeners_lock: threading.Lock + + def __init__(self, **kwargs: Any) -> None: + super().__init__(**kwargs) + self.l = lcm.LCM() + self.messages = {} + self._messages_lock = threading.Lock() + self._saved_topics = set() + self._saved_topics_lock = threading.Lock() + self._topic_listeners = {} + self._topic_listeners_lock = threading.Lock() + + def start(self) -> None: + super().start() + if self.l: + self.l.subscribe(".*", self.msg) + + def stop(self) -> None: + super().stop() + + def msg(self, topic: str, data: bytes) -> None: + with self._saved_topics_lock: + if topic in self._saved_topics: + with self._messages_lock: + self.messages.setdefault(topic, []).append(data) + + with self._topic_listeners_lock: + listeners = self._topic_listeners.get(topic) + if listeners: + for listener in listeners: + listener(data) + + def publish(self, topic: str, msg: Any) -> None: + self.l.publish(topic, msg.lcm_encode()) + + def save_topic(self, topic: str) -> None: + with self._saved_topics_lock: + self._saved_topics.add(topic) + + def register_topic_listener(self, topic: str, listener: Callable[[bytes], None]) -> int: + with self._topic_listeners_lock: + listeners = self._topic_listeners.setdefault(topic, []) + listener_index = len(listeners) + listeners.append(listener) + return listener_index + + def unregister_topic_listener(self, topic: str, listener_index: int) -> None: + with self._topic_listeners_lock: + listeners = self._topic_listeners[topic] + listeners.pop(listener_index) + + @contextmanager + def topic_listener(self, topic: str, listener: Callable[[bytes], None]) -> Iterator[None]: + listener_index = self.register_topic_listener(topic, listener) + try: + yield + finally: + self.unregister_topic_listener(topic, listener_index) + + def wait_until( + self, + *, + condition: Callable[[], bool], + timeout: float, + error_message: str, + poll_interval: float = 0.1, + ) -> None: + start_time = time.time() + while time.time() - start_time < timeout: + if condition(): + return + time.sleep(poll_interval) + raise TimeoutError(error_message) + + def wait_for_saved_topic(self, topic: str, timeout: float = 30.0) -> None: + def condition() -> bool: + with self._messages_lock: + return topic in self.messages + + self.wait_until( + condition=condition, + timeout=timeout, + error_message=f"Timeout waiting for topic {topic}", + ) + + def wait_for_saved_topic_content( + self, topic: str, content_contains: bytes, timeout: float = 30.0 + ) -> None: + def condition() -> bool: + with self._messages_lock: + return any(content_contains in msg for msg in self.messages.get(topic, [])) + + self.wait_until( + condition=condition, + timeout=timeout, + error_message=f"Timeout waiting for '{topic}' to contain '{content_contains!r}'", + ) + + def wait_for_message_pickle_result( + self, + topic: str, + predicate: Callable[[Any], bool], + fail_message: str, + timeout: float = 30.0, + ) -> None: + event = threading.Event() + + def listener(msg: bytes) -> None: + data = pickle.loads(msg) + if predicate(data["res"]): + event.set() + + with self.topic_listener(topic, listener): + self.wait_until( + condition=event.is_set, + timeout=timeout, + error_message=fail_message, + ) + + def wait_for_message_result( + self, + topic: str, + type: type[LCMMsg], + predicate: Callable[[Any], bool], + fail_message: str, + timeout: float = 30.0, + ) -> None: + event = threading.Event() + + def listener(msg: bytes) -> None: + data = type.lcm_decode(msg) + if predicate(data): + event.set() + + with self.topic_listener(topic, listener): + self.wait_until( + condition=event.is_set, + timeout=timeout, + error_message=fail_message, + ) + + def wait_until_odom_position( + self, x: float, y: float, threshold: float = 1, timeout: float = 60 + ) -> None: + def predicate(msg: PoseStamped) -> bool: + pos = msg.position + distance = math.sqrt((pos.x - x) ** 2 + (pos.y - y) ** 2) + return distance < threshold + + self.wait_for_message_result( + "/odom#geometry_msgs.PoseStamped", + PoseStamped, + predicate, + f"Failed to get to position x={x}, y={y}", + timeout, + ) diff --git a/dimos/e2e_tests/test_dimos_cli_e2e.py b/dimos/e2e_tests/test_dimos_cli_e2e.py new file mode 100644 index 0000000000..961fc8ba61 --- /dev/null +++ b/dimos/e2e_tests/test_dimos_cli_e2e.py @@ -0,0 +1,40 @@ +# 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 os + +import pytest + + +@pytest.mark.skipif(bool(os.getenv("CI")), reason="LCM spy doesn't work in CI.") +@pytest.mark.skipif(not os.getenv("OPENAI_API_KEY"), reason="OPENAI_API_KEY not set.") +def test_dimos_skills(lcm_spy, start_blueprint, human_input) -> None: + lcm_spy.save_topic("/rpc/DemoCalculatorSkill/set_LlmAgent_register_skills/res") + lcm_spy.save_topic("/rpc/HumanInput/start/res") + lcm_spy.save_topic("/agent") + lcm_spy.save_topic("/rpc/DemoCalculatorSkill/sum_numbers/req") + lcm_spy.save_topic("/rpc/DemoCalculatorSkill/sum_numbers/res") + + start_blueprint("demo-skill") + + lcm_spy.wait_for_saved_topic("/rpc/DemoCalculatorSkill/set_LlmAgent_register_skills/res") + lcm_spy.wait_for_saved_topic("/rpc/HumanInput/start/res") + lcm_spy.wait_for_saved_topic_content("/agent", b"AIMessage") + + human_input("what is 52983 + 587237") + + lcm_spy.wait_for_saved_topic_content("/agent", b"640220") + + assert "/rpc/DemoCalculatorSkill/sum_numbers/req" in lcm_spy.messages + assert "/rpc/DemoCalculatorSkill/sum_numbers/res" in lcm_spy.messages diff --git a/dimos/e2e_tests/test_spatial_memory.py b/dimos/e2e_tests/test_spatial_memory.py new file mode 100644 index 0000000000..4ec3fc74eb --- /dev/null +++ b/dimos/e2e_tests/test_spatial_memory.py @@ -0,0 +1,62 @@ +# 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. + +from collections.abc import Callable +import math +import os +import time + +import pytest + +from dimos.e2e_tests.dimos_cli_call import DimosCliCall +from dimos.e2e_tests.lcm_spy import LcmSpy + + +@pytest.mark.skipif(bool(os.getenv("CI")), reason="LCM spy doesn't work in CI.") +@pytest.mark.skipif(not os.getenv("OPENAI_API_KEY"), reason="OPENAI_API_KEY not set.") +@pytest.mark.e2e +def test_spatial_memory_navigation( + lcm_spy: LcmSpy, + start_blueprint: Callable[[str], DimosCliCall], + human_input: Callable[[str], None], + follow_points: Callable[..., None], +) -> None: + start_blueprint("unitree-go2-agentic") + + lcm_spy.save_topic("/rpc/HumanInput/start/res") + lcm_spy.wait_for_saved_topic("/rpc/HumanInput/start/res", timeout=120.0) + lcm_spy.save_topic("/agent") + lcm_spy.wait_for_saved_topic_content("/agent", b"AIMessage", timeout=120.0) + + time.sleep(5) + + follow_points( + points=[ + # Navigate to the bookcase. + (1, 1, 0), + (4, 1, 0), + (4.2, -1.1, -math.pi / 2), + (4.2, -3, -math.pi / 2), + (4.2, -5, -math.pi / 2), + # Move away, until it's not visible. + (1, 1, math.pi / 2), + ], + fail_message="Failed to get to the bookcase.", + ) + + time.sleep(5) + + human_input("go to the bookcase") + + lcm_spy.wait_until_odom_position(4.2, -5, threshold=2.0) diff --git a/dimos/mapping/costmapper.py b/dimos/mapping/costmapper.py index 98a6d6e66e..666c64fb85 100644 --- a/dimos/mapping/costmapper.py +++ b/dimos/mapping/costmapper.py @@ -22,10 +22,11 @@ OCCUPANCY_ALGOS, HeightCostConfig, OccupancyConfig, + SimpleOccupancyConfig, ) from dimos.msgs.nav_msgs import OccupancyGrid -from dimos.robot.unitree_webrtc.type.lidar import LidarMessage -from dimos.utils.reactive import backpressure +from dimos.msgs.sensor_msgs import PointCloud2 +from dimos.utils.metrics import timed @dataclass @@ -38,7 +39,7 @@ class CostMapper(Module): default_config = Config config: Config - global_map: In[LidarMessage] + global_map: In[PointCloud2] global_costmap: Out[OccupancyGrid] @rpc @@ -46,9 +47,7 @@ def start(self) -> None: super().start() self._disposables.add( - backpressure( - self.global_map.observable() # type: ignore[no-untyped-call] - ) + self.global_map.observable() # type: ignore[no-untyped-call] .pipe(ops.map(self._calculate_costmap)) .subscribe( self.global_costmap.publish, @@ -59,7 +58,8 @@ def start(self) -> None: def stop(self) -> None: super().stop() - def _calculate_costmap(self, msg: LidarMessage) -> OccupancyGrid: + # @timed() # TODO: fix thread leak in timed decorator + def _calculate_costmap(self, msg: PointCloud2) -> OccupancyGrid: fn = OCCUPANCY_ALGOS[self.config.algo] return fn(msg, **asdict(self.config.config)) diff --git a/dimos/mapping/pointclouds/occupancy.py b/dimos/mapping/pointclouds/occupancy.py index 9d9519c702..903339e996 100644 --- a/dimos/mapping/pointclouds/occupancy.py +++ b/dimos/mapping/pointclouds/occupancy.py @@ -17,12 +17,85 @@ from dataclasses import dataclass from typing import TYPE_CHECKING, Any, Protocol, TypeVar +from numba import njit, prange # type: ignore[import-untyped] import numpy as np from scipy import ndimage # type: ignore[import-untyped] from dimos.msgs.geometry_msgs import Pose from dimos.msgs.nav_msgs.OccupancyGrid import OccupancyGrid +if TYPE_CHECKING: + from numpy.typing import NDArray + + +@njit(cache=True) # type: ignore[untyped-decorator] +def _height_map_kernel( + points: NDArray[np.floating[Any]], + min_height_map: NDArray[np.floating[Any]], + max_height_map: NDArray[np.floating[Any]], + min_x: float, + min_y: float, + inv_res: float, + width: int, + height: int, +) -> None: + """Build min/max height maps from points (faster than np.fmax/fmin.at).""" + n = points.shape[0] + for i in range(n): + x = points[i, 0] + y = points[i, 1] + z = points[i, 2] + + gx = int((x - min_x) * inv_res + 0.5) + gy = int((y - min_y) * inv_res + 0.5) + + if 0 <= gx < width and 0 <= gy < height: + cur_min = min_height_map[gy, gx] + cur_max = max_height_map[gy, gx] + # NaN comparisons are always False, so first point sets the value + if z < cur_min or cur_min != cur_min: # cur_min != cur_min checks for NaN + min_height_map[gy, gx] = z + if z > cur_max or cur_max != cur_max: + max_height_map[gy, gx] = z + + +@njit(cache=True, parallel=True) # type: ignore[untyped-decorator] +def _simple_occupancy_kernel( + points: NDArray[np.floating[Any]], + grid: NDArray[np.signedinteger[Any]], + min_x: float, + min_y: float, + inv_res: float, + width: int, + height: int, + min_height: float, + max_height: float, +) -> None: + """Numba-accelerated kernel for simple_occupancy grid population.""" + n = points.shape[0] + # Pass 1: Mark ground as free + for i in prange(n): + x = points[i, 0] + y = points[i, 1] + z = points[i, 2] + if z < min_height: + gx = int((x - min_x) * inv_res + 0.5) + gy = int((y - min_y) * inv_res + 0.5) + if 0 <= gx < width and 0 <= gy < height: + grid[gy, gx] = 0 + + # Pass 2: Mark obstacles (overwrites ground) + for i in prange(n): + x = points[i, 0] + y = points[i, 1] + z = points[i, 2] + if min_height <= z <= max_height: + gx = int((x - min_x) * inv_res + 0.5) + gy = int((y - min_y) * inv_res + 0.5) + if 0 <= gx < width and 0 <= gy < height: + grid[gy, gx] = 100 + + if TYPE_CHECKING: from collections.abc import Callable @@ -83,7 +156,7 @@ def height_cost_occupancy(cloud: PointCloud2, **kwargs: Any) -> OccupancyGrid: OccupancyGrid with costs 0-100 based on terrain slope, -1 for unknown """ cfg = HeightCostConfig(**kwargs) - points = cloud.as_numpy() + points = cloud.as_numpy().astype(np.float64) # Upcast to avoid float32 rounding ts = cloud.ts if hasattr(cloud, "ts") and cloud.ts is not None else 0.0 if len(points) == 0: @@ -123,17 +196,17 @@ def height_cost_occupancy(cloud: PointCloud2, **kwargs: Any) -> OccupancyGrid: min_height_map = np.full((height, width), np.nan, dtype=np.float32) max_height_map = np.full((height, width), np.nan, dtype=np.float32) - # Convert point XY to grid indices - grid_x = np.round((points[:, 0] - min_x) / cfg.resolution).astype(np.int32) - grid_y = np.round((points[:, 1] - min_y) / cfg.resolution).astype(np.int32) - - # Clip to grid bounds - grid_x = np.clip(grid_x, 0, width - 1) - grid_y = np.clip(grid_y, 0, height - 1) - - # Use np.fmax/fmin.at which ignore NaN - np.fmax.at(max_height_map, (grid_y, grid_x), points[:, 2]) - np.fmin.at(min_height_map, (grid_y, grid_x), points[:, 2]) + # Use numba kernel (faster than np.fmax/fmin.at) + _height_map_kernel( + points, + min_height_map, + max_height_map, + min_x, + min_y, + 1.0 / cfg.resolution, + width, + height, + ) # Step 2: Determine effective height for each cell # If gap between min and max > can_pass_under, robot can pass under - use min (ground) @@ -232,7 +305,7 @@ def general_occupancy(cloud: PointCloud2, **kwargs: Any) -> OccupancyGrid: OccupancyGrid with occupied cells where points were projected """ cfg = GeneralOccupancyConfig(**kwargs) - points = cloud.as_numpy() + points = cloud.as_numpy().astype(np.float64) # Upcast to avoid float32 rounding if len(points) == 0: return OccupancyGrid( @@ -343,6 +416,10 @@ class SimpleOccupancyConfig(OccupancyConfig): max_height: float = 2.0 closing_iterations: int = 1 closing_connectivity: int = 2 + can_pass_under: float = 0.6 + can_climb: float = 0.15 + ignore_noise: float = 0.05 + smoothing: float = 1.0 def simple_occupancy(cloud: PointCloud2, **kwargs: Any) -> OccupancyGrid: @@ -357,7 +434,7 @@ def simple_occupancy(cloud: PointCloud2, **kwargs: Any) -> OccupancyGrid: OccupancyGrid with occupied/free cells """ cfg = SimpleOccupancyConfig(**kwargs) - points = cloud.as_numpy() + points = cloud.as_numpy().astype(np.float64) # Upcast to avoid float32 rounding if len(points) == 0: return OccupancyGrid( @@ -367,26 +444,11 @@ def simple_occupancy(cloud: PointCloud2, **kwargs: Any) -> OccupancyGrid: frame_id=cfg.frame_id or cloud.frame_id, ) - # Filter points by height for obstacles - obstacle_mask = (points[:, 2] >= cfg.min_height) & (points[:, 2] <= cfg.max_height) - obstacle_points = points[obstacle_mask] - - # Get points below min_height for marking as free space - ground_mask = points[:, 2] < cfg.min_height - ground_points = points[ground_mask] - - # Find bounds of the point cloud in X-Y plane (use all points) - min_x = np.min(points[:, 0]) - max_x = np.max(points[:, 0]) - min_y = np.min(points[:, 1]) - max_y = np.max(points[:, 1]) - - # Add some padding around the bounds - padding = 1.0 # 1 meter padding - min_x -= padding - max_x += padding - min_y -= padding - max_y += padding + # Find bounds of the point cloud in X-Y plane + min_x = float(np.min(points[:, 0])) - 1.0 + max_x = float(np.max(points[:, 0])) + 1.0 + min_y = float(np.min(points[:, 1])) - 1.0 + max_y = float(np.max(points[:, 1])) + 1.0 # Calculate grid dimensions width = int(np.ceil((max_x - min_x) / cfg.resolution)) @@ -397,49 +459,24 @@ def simple_occupancy(cloud: PointCloud2, **kwargs: Any) -> OccupancyGrid: origin.position.x = min_x origin.position.y = min_y origin.position.z = 0.0 - origin.orientation.w = 1.0 # No rotation + origin.orientation.w = 1.0 # Initialize grid (all unknown) grid = np.full((height, width), -1, dtype=np.int8) - # First, mark ground points as free space - if len(ground_points) > 0: - ground_x = np.round((ground_points[:, 0] - min_x) / cfg.resolution).astype(np.int32) - ground_y = np.round((ground_points[:, 1] - min_y) / cfg.resolution).astype(np.int32) - - # Clip indices to grid bounds - ground_x = np.clip(ground_x, 0, width - 1) - ground_y = np.clip(ground_y, 0, height - 1) - - # Mark ground cells as free - grid[ground_y, ground_x] = 0 # Free space - - # Then mark obstacle points (will override ground if at same location) - if len(obstacle_points) > 0: - obs_x = np.round((obstacle_points[:, 0] - min_x) / cfg.resolution).astype(np.int32) - obs_y = np.round((obstacle_points[:, 1] - min_y) / cfg.resolution).astype(np.int32) - - # Clip indices to grid bounds - obs_x = np.clip(obs_x, 0, width - 1) - obs_y = np.clip(obs_y, 0, height - 1) - - # Mark cells as occupied - grid[obs_y, obs_x] = 100 # Lethal obstacle - - # Fill small gaps in occupied regions using morphological closing - occupied_mask = grid == 100 - if np.any(occupied_mask) and cfg.closing_iterations > 0: - # connectivity=1 gives 4-connectivity, connectivity=2 gives 8-connectivity - structure = ndimage.generate_binary_structure(2, cfg.closing_connectivity) - # Closing = dilation then erosion - fills small holes - closed_mask = ndimage.binary_closing( - occupied_mask, structure=structure, iterations=cfg.closing_iterations - ) - # Fill gaps (both unknown and free space) - grid[closed_mask] = 100 + # Use numba kernel for fast grid population + _simple_occupancy_kernel( + points, + grid, + min_x, + min_y, + 1.0 / cfg.resolution, + width, + height, + cfg.min_height, + cfg.max_height, + ) - # Create and return OccupancyGrid - # Get timestamp from cloud if available ts = cloud.ts if hasattr(cloud, "ts") and cloud.ts is not None else 0.0 return OccupancyGrid( diff --git a/dimos/mapping/pointclouds/test_occupancy.py b/dimos/mapping/pointclouds/test_occupancy.py index 5ab712ec08..8a12eb2338 100644 --- a/dimos/mapping/pointclouds/test_occupancy.py +++ b/dimos/mapping/pointclouds/test_occupancy.py @@ -19,14 +19,15 @@ import pytest from dimos.core import LCMTransport +from dimos.mapping.occupancy.visualizations import visualize_occupancy_grid from dimos.mapping.pointclouds.occupancy import ( - general_occupancy, height_cost_occupancy, simple_occupancy, ) from dimos.mapping.pointclouds.util import read_pointcloud from dimos.msgs.nav_msgs.OccupancyGrid import OccupancyGrid from dimos.msgs.sensor_msgs import PointCloud2 +from dimos.msgs.sensor_msgs.Image import Image from dimos.utils.data import get_data from dimos.utils.testing.moment import OutputMoment from dimos.utils.testing.test_moment import Go2Moment @@ -37,10 +38,14 @@ def apartment() -> PointCloud: return read_pointcloud(get_data("apartment") / "sum.ply") +@pytest.fixture +def big_office() -> PointCloud: + return read_pointcloud(get_data("big_office.ply")) + + @pytest.mark.parametrize( "occupancy_fn,output_name", [ - (general_occupancy, "occupancy_general.png"), (simple_occupancy, "occupancy_simple.png"), ], ) @@ -56,6 +61,24 @@ def test_occupancy(apartment: PointCloud, occupancy_fn, output_name: str) -> Non np.testing.assert_array_equal(computed_image, expected_image) +@pytest.mark.parametrize( + "occupancy_fn,output_name", + [ + (height_cost_occupancy, "big_office_height_cost_occupancy.png"), + (simple_occupancy, "big_office_simple_occupancy.png"), + ], +) +def test_occupancy2(big_office, occupancy_fn, output_name): + expected_image = Image.from_file(get_data(output_name)) + cloud = PointCloud2.from_numpy(np.asarray(big_office.points), frame_id="") + + occupancy_grid = occupancy_fn(cloud) + + actual = visualize_occupancy_grid(occupancy_grid, "rainbow") + actual.ts = expected_image.ts + np.testing.assert_array_equal(actual, expected_image) + + class HeightCostMoment(Go2Moment): costmap: OutputMoment[OccupancyGrid] = OutputMoment(LCMTransport("/costmap", OccupancyGrid)) diff --git a/dimos/mapping/pointclouds/test_occupancy_speed.py b/dimos/mapping/pointclouds/test_occupancy_speed.py new file mode 100644 index 0000000000..0eb3d4248c --- /dev/null +++ b/dimos/mapping/pointclouds/test_occupancy_speed.py @@ -0,0 +1,58 @@ +# 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 pickle +import time + +import pytest + +from dimos.mapping.pointclouds.occupancy import OCCUPANCY_ALGOS +from dimos.mapping.voxels import VoxelGridMapper +from dimos.utils.cli.plot import bar +from dimos.utils.data import _get_data_dir, get_data +from dimos.utils.testing import TimedSensorReplay + + +@pytest.mark.tool +def test_build_map(): + mapper = VoxelGridMapper(publish_interval=-1) + + for ts, frame in TimedSensorReplay("unitree_go2_bigoffice/lidar").iterate_duration(): + print(ts, frame) + mapper.add_frame(frame) + + pickle_file = _get_data_dir() / "unitree_go2_bigoffice_map.pickle" + global_pcd = mapper.get_global_pointcloud2() + + with open(pickle_file, "wb") as f: + pickle.dump(global_pcd, f) + + mapper.stop() + + +def test_costmap_calc(): + path = get_data("unitree_go2_bigoffice_map.pickle") + pointcloud = pickle.loads(path.read_bytes()) + + names = [] + times_ms = [] + for name, algo in OCCUPANCY_ALGOS.items(): + start = time.perf_counter() + result = algo(pointcloud) + elapsed = time.perf_counter() - start + names.append(name) + times_ms.append(elapsed * 1000) + print(f"{name}: {elapsed * 1000:.1f}ms - {result}") + + bar(names, times_ms, title="Occupancy Algorithm Speed", ylabel="ms") diff --git a/dimos/mapping/test_voxels.py b/dimos/mapping/test_voxels.py index 321c2e2ce3..6ae958bc66 100644 --- a/dimos/mapping/test_voxels.py +++ b/dimos/mapping/test_voxels.py @@ -16,14 +16,11 @@ import time import numpy as np -import open3d as o3d # type: ignore[import-untyped] import pytest -from dimos.core import LCMTransport, Transport +from dimos.core import LCMTransport from dimos.mapping.voxels import VoxelGridMapper -from dimos.msgs.nav_msgs.OccupancyGrid import OccupancyGrid from dimos.msgs.sensor_msgs import PointCloud2 -from dimos.robot.unitree_webrtc.type.lidar import LidarMessage from dimos.utils.data import get_data from dimos.utils.testing.moment import OutputMoment from dimos.utils.testing.replay import TimedSensorReplay diff --git a/dimos/mapping/voxels.py b/dimos/mapping/voxels.py index 2e509228cd..5758d1815f 100644 --- a/dimos/mapping/voxels.py +++ b/dimos/mapping/voxels.py @@ -12,9 +12,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -from collections.abc import Callable from dataclasses import dataclass -import functools import time import numpy as np @@ -24,21 +22,18 @@ from reactivex.disposable import Disposable from reactivex.subject import Subject -from dimos.core import DimosCluster, In, LCMTransport, Module, Out, rpc -from dimos.core.global_config import GlobalConfig +from dimos.core import In, Module, Out, rpc from dimos.core.module import ModuleConfig from dimos.msgs.sensor_msgs import PointCloud2 -from dimos.robot.unitree.connection.go2 import Go2ConnectionProtocol from dimos.robot.unitree_webrtc.type.lidar import LidarMessage -from dimos.spec.map import Global3DMap from dimos.utils.decorators import simple_mcache -from dimos.utils.metrics import timed from dimos.utils.reactive import backpressure @dataclass class Config(ModuleConfig): frame_id: str = "world" + # -1 never publishes, 0 publishes on every frame, >0 publishes at interval in seconds publish_interval: float = 0 voxel_size: float = 0.05 block_count: int = 2_000_000 @@ -51,7 +46,7 @@ class VoxelGridMapper(Module): config: Config lidar: In[LidarMessage] - global_map: Out[LidarMessage] + global_map: Out[PointCloud2] def __init__(self, **kwargs: object) -> None: super().__init__(**kwargs) @@ -76,6 +71,7 @@ def __init__(self, **kwargs: object) -> None: self._dev = dev self._voxel_hashmap = self.vbg.hashmap() self._key_dtype = self._voxel_hashmap.key_tensor().dtype + self._latest_frame_ts: float = 0.0 @rpc def start(self) -> None: @@ -106,7 +102,7 @@ def stop(self) -> None: def _on_frame(self, frame: LidarMessage) -> None: self.add_frame(frame) - if self.config.publish_interval <= 0: + if self.config.publish_interval == 0: self._publish_trigger.on_next(None) def publish_global_map(self) -> None: @@ -120,6 +116,10 @@ def __len__(self) -> int: # @timed() # TODO: fix thread leak in timed decorator def add_frame(self, frame: PointCloud2) -> None: + # Track latest frame timestamp for proper latency measurement + if hasattr(frame, "ts") and frame.ts: + self._latest_frame_ts = frame.ts + # we are potentially moving into CUDA here pcd = ensure_tensor_pcd(frame.pointcloud, self._dev) @@ -186,10 +186,11 @@ def get_global_pointcloud2(self) -> PointCloud2: # we are potentially moving out of CUDA here ensure_legacy_pcd(self.get_global_pointcloud()), frame_id=self.frame_id, - ts=time.time(), + ts=self._latest_frame_ts if self._latest_frame_ts else time.time(), ) @simple_mcache + # @timed() def get_global_pointcloud(self) -> o3d.t.geometry.PointCloud: voxel_coords, _ = self.vbg.voxel_coordinates_and_flattened_indices() pts = voxel_coords + (self.config.voxel_size * 0.5) @@ -198,39 +199,6 @@ def get_global_pointcloud(self) -> o3d.t.geometry.PointCloud: return out -# @timed() -def splice_cylinder( - map_pcd: o3d.geometry.PointCloud, - patch_pcd: o3d.geometry.PointCloud, - axis: int = 2, - shrink: float = 0.95, -) -> o3d.geometry.PointCloud: - center = patch_pcd.get_center() - patch_pts = np.asarray(patch_pcd.points) - - # Axes perpendicular to cylinder - axes = [0, 1, 2] - axes.remove(axis) - - planar_dists = np.linalg.norm(patch_pts[:, axes] - center[axes], axis=1) - radius = planar_dists.max() * shrink - - axis_min = (patch_pts[:, axis].min() - center[axis]) * shrink + center[axis] - axis_max = (patch_pts[:, axis].max() - center[axis]) * shrink + center[axis] - - map_pts = np.asarray(map_pcd.points) - planar_dists_map = np.linalg.norm(map_pts[:, axes] - center[axes], axis=1) - - victims = np.nonzero( - (planar_dists_map < radius) - & (map_pts[:, axis] >= axis_min) - & (map_pts[:, axis] <= axis_max) - )[0] - - survivors = map_pcd.select_by_index(victims, invert=True) - return survivors + patch_pcd - - def ensure_tensor_pcd( pcd_any: o3d.t.geometry.PointCloud | o3d.geometry.PointCloud, device: o3c.Device, diff --git a/dimos/msgs/nav_msgs/OccupancyGrid.py b/dimos/msgs/nav_msgs/OccupancyGrid.py index 6f91b2f9f0..a705df1561 100644 --- a/dimos/msgs/nav_msgs/OccupancyGrid.py +++ b/dimos/msgs/nav_msgs/OccupancyGrid.py @@ -406,3 +406,13 @@ def copy(self) -> OccupancyGrid: frame_id=self.frame_id, ts=self.ts, ) + + def cell_value(self, world_position: Vector3) -> int: + grid_position = self.world_to_grid(world_position) + x = int(grid_position.x) + y = int(grid_position.y) + + if not (0 <= x < self.width and 0 <= y < self.height): + return CostValues.UNKNOWN + + return int(self.grid[y, x]) diff --git a/dimos/msgs/sensor_msgs/PointCloud2.py b/dimos/msgs/sensor_msgs/PointCloud2.py index 677c753c0b..286f427fd9 100644 --- a/dimos/msgs/sensor_msgs/PointCloud2.py +++ b/dimos/msgs/sensor_msgs/PointCloud2.py @@ -25,6 +25,7 @@ from dimos_lcm.std_msgs.Header import Header # type: ignore[import-untyped] import numpy as np import open3d as o3d # type: ignore[import-untyped] +import open3d.core as o3c # type: ignore[import-untyped] from dimos.msgs.geometry_msgs import Vector3 @@ -49,14 +50,89 @@ class PointCloud2(Timestamped): def __init__( self, - pointcloud: o3d.geometry.PointCloud = None, + pointcloud: o3d.geometry.PointCloud | o3d.t.geometry.PointCloud | None = None, frame_id: str = "world", ts: float | None = None, ) -> None: self.ts = ts # type: ignore[assignment] - self.pointcloud = pointcloud if pointcloud is not None else o3d.geometry.PointCloud() self.frame_id = frame_id + # Store internally as tensor pointcloud for speed + if pointcloud is None: + self._pcd_tensor: o3d.t.geometry.PointCloud = o3d.t.geometry.PointCloud() + elif isinstance(pointcloud, o3d.t.geometry.PointCloud): + self._pcd_tensor = pointcloud + else: + # Convert legacy to tensor + self._pcd_tensor = o3d.t.geometry.PointCloud.from_legacy(pointcloud) + self._pcd_legacy_cache: o3d.geometry.PointCloud | None = None + + def _ensure_tensor_initialized(self) -> None: + """Ensure _pcd_tensor and _pcd_legacy_cache exist (handles unpickled old objects).""" + # Always ensure _pcd_legacy_cache exists + if not hasattr(self, "_pcd_legacy_cache"): + self._pcd_legacy_cache = None + + # Check for old pickled format: 'pointcloud' directly in __dict__ + # This takes priority even if _pcd_tensor exists (it might be empty) + old_pcd = self.__dict__.get("pointcloud") + if old_pcd is not None and isinstance(old_pcd, o3d.geometry.PointCloud): + self._pcd_tensor = o3d.t.geometry.PointCloud.from_legacy(old_pcd) + self._pcd_legacy_cache = old_pcd # reuse it + del self.__dict__["pointcloud"] + return + + if not hasattr(self, "_pcd_tensor"): + self._pcd_tensor = o3d.t.geometry.PointCloud() + + def __getstate__(self) -> dict[str, object]: + """Serialize to numpy for pickling (tensors don't pickle well).""" + self._ensure_tensor_initialized() + state = self.__dict__.copy() + # Convert tensor to numpy for serialization + if "positions" in self._pcd_tensor.point: + state["_pcd_numpy"] = self._pcd_tensor.point["positions"].numpy() + else: + state["_pcd_numpy"] = np.zeros((0, 3), dtype=np.float32) + # Remove non-picklable objects + del state["_pcd_tensor"] + state["_pcd_legacy_cache"] = None + return state + + def __setstate__(self, state: dict[str, object]) -> None: + """Restore from pickled state.""" + points_obj = state.pop("_pcd_numpy", None) + points: np.ndarray[tuple[int, int], np.dtype[np.float32]] = ( + points_obj if isinstance(points_obj, np.ndarray) else np.zeros((0, 3), dtype=np.float32) + ) # type: ignore[assignment] + self.__dict__.update(state) # type: ignore[arg-type] + # Recreate tensor from numpy + self._pcd_tensor = o3d.t.geometry.PointCloud() + if len(points) > 0: + self._pcd_tensor.point["positions"] = o3c.Tensor(points, dtype=o3c.float32) + + @property + def pointcloud(self) -> o3d.geometry.PointCloud: + """Legacy pointcloud property for backwards compatibility. Cached.""" + self._ensure_tensor_initialized() + if self._pcd_legacy_cache is None: + self._pcd_legacy_cache = self._pcd_tensor.to_legacy() + return self._pcd_legacy_cache + + @pointcloud.setter + def pointcloud(self, value: o3d.geometry.PointCloud | o3d.t.geometry.PointCloud) -> None: + if isinstance(value, o3d.t.geometry.PointCloud): + self._pcd_tensor = value + else: + self._pcd_tensor = o3d.t.geometry.PointCloud.from_legacy(value) + self._pcd_legacy_cache = None + + @property + def pointcloud_tensor(self) -> o3d.t.geometry.PointCloud: + """Direct access to tensor pointcloud (faster, no conversion).""" + self._ensure_tensor_initialized() + return self._pcd_tensor + @classmethod def from_numpy( cls, @@ -74,12 +150,12 @@ def from_numpy( Returns: PointCloud2 instance """ - pcd = o3d.geometry.PointCloud() - pcd.points = o3d.utility.Vector3dVector(points) - return cls(pointcloud=pcd, ts=timestamp, frame_id=frame_id) + pcd_t = o3d.t.geometry.PointCloud() + pcd_t.point["positions"] = o3c.Tensor(points.astype(np.float32), dtype=o3c.float32) + return cls(pointcloud=pcd_t, ts=timestamp, frame_id=frame_id) def __str__(self) -> str: - return f"PointCloud2(frame_id='{self.frame_id}', num_points={len(self.pointcloud.points)})" + return f"PointCloud2(frame_id='{self.frame_id}', num_points={len(self)})" @functools.cached_property def center(self) -> Vector3: @@ -88,7 +164,11 @@ def center(self) -> Vector3: return Vector3(*center) def points(self): # type: ignore[no-untyped-def] - return self.pointcloud.points + """Get points (returns tensor positions, use as_numpy() for numpy array).""" + self._ensure_tensor_initialized() + if "positions" not in self._pcd_tensor.point: + return o3c.Tensor(np.zeros((0, 3), dtype=np.float32)) + return self._pcd_tensor.point["positions"] def __add__(self, other: PointCloud2) -> PointCloud2: """Combine two PointCloud2 instances into one. @@ -111,10 +191,13 @@ def __add__(self, other: PointCloud2) -> PointCloud2: ts=max(self.ts, other.ts), ) - # TODO what's the usual storage here? is it already numpy? def as_numpy(self) -> np.ndarray: # type: ignore[type-arg] - """Get points as numpy array.""" - return np.asarray(self.pointcloud.points) + """Get points as numpy array (fast, no legacy conversion).""" + self._ensure_tensor_initialized() + if "positions" not in self._pcd_tensor.point: + return np.zeros((0, 3), dtype=np.float32) + result: np.ndarray = self._pcd_tensor.point["positions"].numpy() # type: ignore[type-arg] + return result @functools.cache def get_axis_aligned_bounding_box(self) -> o3d.geometry.AxisAlignedBoundingBox: @@ -240,31 +323,42 @@ def lcm_decode(cls, data: bytes) -> PointCloud2: if any(offset is None for offset in [x_offset, y_offset, z_offset]): raise ValueError("PointCloud2 message missing X, Y, or Z msgfields") - # Extract points from binary data + # Extract points from binary data using numpy for bulk conversion num_points = msg.width * msg.height - points = np.zeros((num_points, 3), dtype=np.float32) - data = msg.data point_step = msg.point_step - for i in range(num_points): - base_offset = i * point_step - - # Extract X, Y, Z (assuming float32, little endian) - x_bytes = data[base_offset + x_offset : base_offset + x_offset + 4] - y_bytes = data[base_offset + y_offset : base_offset + y_offset + 4] - z_bytes = data[base_offset + z_offset : base_offset + z_offset + 4] - - points[i, 0] = struct.unpack("= 12: + # Fast path: direct numpy conversion for tightly packed float32 x,y,z + if point_step == 12: + # Perfectly packed x,y,z with no padding + points = np.frombuffer(data, dtype=np.float32).reshape(-1, 3) + else: + # Has additional fields after x,y,z (e.g., intensity), extract with stride + dt = np.dtype( + [("x", " 0 @@ -311,7 +405,10 @@ def _create_xyz_field(self) -> list: # type: ignore[type-arg] def __len__(self) -> int: """Return number of points.""" - return len(self.pointcloud.points) + self._ensure_tensor_initialized() + if "positions" not in self._pcd_tensor.point: + return 0 + return int(self._pcd_tensor.point["positions"].shape[0]) def filter_by_height( self, diff --git a/dimos/navigation/local_planner/local_planner.py b/dimos/navigation/local_planner/local_planner.py index 06b20545d8..71e178f00f 100644 --- a/dimos/navigation/local_planner/local_planner.py +++ b/dimos/navigation/local_planner/local_planner.py @@ -189,7 +189,7 @@ def is_goal_reached(self) -> bool: # Calculate yaw difference and normalize to [-pi, pi] yaw_error = normalize_angle(goal_euler.z - current_euler.z) - return abs(yaw_error) < self.orientation_tolerance + return bool(abs(yaw_error) < self.orientation_tolerance) @rpc def reset(self) -> None: diff --git a/dimos/navigation/replanning_a_star/controllers.py b/dimos/navigation/replanning_a_star/controllers.py new file mode 100644 index 0000000000..27e3e90e34 --- /dev/null +++ b/dimos/navigation/replanning_a_star/controllers.py @@ -0,0 +1,156 @@ +# 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 math +from typing import Protocol + +import numpy as np +from numpy.typing import NDArray + +from dimos.core.global_config import GlobalConfig +from dimos.msgs.geometry_msgs import Twist, Vector3 +from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped +from dimos.utils.trigonometry import angle_diff + + +class Controller(Protocol): + def advance(self, lookahead_point: NDArray[np.float64], current_odom: PoseStamped) -> Twist: ... + + def rotate(self, yaw_error: float) -> Twist: ... + + def reset_errors(self) -> None: ... + + def reset_yaw_error(self, value: float) -> None: ... + + +class PController: + _global_config: GlobalConfig + _speed: float + _control_frequency: float + + _min_linear_velocity: float = 0.2 + _min_angular_velocity: float = 0.2 + _k_angular: float = 0.5 + _max_angular_accel: float = 2.0 + _rotation_threshold: float = 90 * (math.pi / 180) + + def __init__(self, global_config: GlobalConfig, speed: float, control_frequency: float): + self._global_config = global_config + self._speed = speed + self._control_frequency = control_frequency + + def advance(self, lookahead_point: NDArray[np.float64], current_odom: PoseStamped) -> Twist: + current_pos = np.array([current_odom.position.x, current_odom.position.y]) + direction = lookahead_point - current_pos + distance = np.linalg.norm(direction) + + if distance < 1e-6: + # Robot is coincidentally at the lookahead point; skip this cycle. + return Twist() + + robot_yaw = current_odom.orientation.euler[2] + desired_yaw = np.arctan2(direction[1], direction[0]) + yaw_error = angle_diff(desired_yaw, robot_yaw) + + angular_velocity = self._compute_angular_velocity(yaw_error) + + # Rotate-then-drive: if heading error is large, rotate in place first + if abs(yaw_error) > self._rotation_threshold: + return self._angular_twist(angular_velocity) + + # When aligned, drive forward with proportional angular correction + linear_velocity = self._speed * (1.0 - abs(yaw_error) / self._rotation_threshold) + linear_velocity = self._apply_min_velocity(linear_velocity, self._min_linear_velocity) + + return Twist( + linear=Vector3(linear_velocity, 0.0, 0.0), + angular=Vector3(0.0, 0.0, angular_velocity), + ) + + def rotate(self, yaw_error: float) -> Twist: + angular_velocity = self._compute_angular_velocity(yaw_error) + return self._angular_twist(angular_velocity) + + def _compute_angular_velocity(self, yaw_error: float) -> float: + angular_velocity = self._k_angular * yaw_error + angular_velocity = np.clip(angular_velocity, -self._speed, self._speed) + angular_velocity = self._apply_min_velocity(angular_velocity, self._min_angular_velocity) + return float(angular_velocity) + + def reset_errors(self) -> None: + pass + + def reset_yaw_error(self, value: float) -> None: + pass + + def _apply_min_velocity(self, velocity: float, min_velocity: float) -> float: + """Apply minimum velocity threshold, preserving sign. Returns 0 if velocity is 0.""" + if velocity == 0.0: + return 0.0 + if abs(velocity) < min_velocity: + return min_velocity if velocity > 0 else -min_velocity + return velocity + + def _angular_twist(self, angular_velocity: float) -> Twist: + # In simulation, add a small forward velocity to help the locomotion + # policy execute rotation (some policies don't handle pure in-place rotation). + linear_x = 0.18 if self._global_config.simulation else 0.0 + + return Twist( + linear=Vector3(linear_x, 0.0, 0.0), + angular=Vector3(0.0, 0.0, angular_velocity), + ) + + +class PdController(PController): + _k_derivative: float = 0.15 + + _prev_yaw_error: float + _prev_angular_velocity: float + + def __init__(self, global_config: GlobalConfig, speed: float, control_frequency: float): + super().__init__(global_config, speed, control_frequency) + + self._prev_yaw_error = 0.0 + self._prev_angular_velocity = 0.0 + + def reset_errors(self) -> None: + self._prev_yaw_error = 0.0 + self._prev_angular_velocity = 0.0 + + def reset_yaw_error(self, value: float) -> None: + self._prev_yaw_error = value + + def _compute_angular_velocity(self, yaw_error: float) -> float: + dt = 1.0 / self._control_frequency + + # PD control: proportional + derivative damping + yaw_error_derivative = (yaw_error - self._prev_yaw_error) / dt + angular_velocity = self._k_angular * yaw_error - self._k_derivative * yaw_error_derivative + + # Rate limiting: limit angular acceleration to prevent jerky corrections + max_delta = self._max_angular_accel * dt + angular_velocity = np.clip( + angular_velocity, + self._prev_angular_velocity - max_delta, + self._prev_angular_velocity + max_delta, + ) + + angular_velocity = np.clip(angular_velocity, -self._speed, self._speed) + angular_velocity = self._apply_min_velocity(angular_velocity, self._min_angular_velocity) + + self._prev_yaw_error = yaw_error + self._prev_angular_velocity = angular_velocity + + return float(angular_velocity) diff --git a/dimos/navigation/replanning_a_star/global_planner.py b/dimos/navigation/replanning_a_star/global_planner.py index b7d34ebd89..d134c6998f 100644 --- a/dimos/navigation/replanning_a_star/global_planner.py +++ b/dimos/navigation/replanning_a_star/global_planner.py @@ -34,6 +34,7 @@ from dimos.navigation.replanning_a_star.local_planner import LocalPlanner, StopMessage from dimos.navigation.replanning_a_star.navigation_map import NavigationMap from dimos.navigation.replanning_a_star.position_tracker import PositionTracker +from dimos.navigation.replanning_a_star.replan_limiter import ReplanLimiter from dimos.utils.logging_config import setup_logger logger = setup_logger() @@ -52,12 +53,12 @@ class GlobalPlanner(Resource): _navigation_map: NavigationMap _local_planner: LocalPlanner _position_tracker: PositionTracker + _replan_limiter: ReplanLimiter _disposables: CompositeDisposable _stop_planner: Event _replan_event: Event _replan_reason: StopMessage | None _lock: RLock - _replan_attempt: int _safe_goal_tolerance: float = 4.0 _replan_goal_tolerance: float = 0.5 @@ -73,12 +74,12 @@ def __init__(self, global_config: GlobalConfig) -> None: self._navigation_map = NavigationMap(self._global_config) self._local_planner = LocalPlanner(self._global_config, self._navigation_map) self._position_tracker = PositionTracker(self._stuck_time_window) + self._replan_limiter = ReplanLimiter() self._disposables = CompositeDisposable() self._stop_planner = Event() self._replan_event = Event() self._replan_reason = None self._lock = RLock() - self._replan_attempt = 0 def start(self) -> None: self._local_planner.start() @@ -116,7 +117,7 @@ def handle_goal_request(self, goal: PoseStamped) -> None: with self._lock: self._current_goal = goal self._goal_reached = False - self._replan_attempt = 0 + self._replan_limiter.reset() self._plan_path() def cancel_goal(self, *, but_will_try_again: bool = False, arrived: bool = False) -> None: @@ -128,7 +129,7 @@ def cancel_goal(self, *, but_will_try_again: bool = False, arrived: bool = False if not but_will_try_again: self._current_goal = None self._goal_reached = arrived - self._replan_attempt = 0 + self._replan_limiter.reset() self.path.on_next(Path()) self._local_planner.stop_planning() @@ -244,9 +245,8 @@ def _replan_path(self) -> None: with self._lock: current_odom = self._current_odom current_goal = self._current_goal - replan_attempt = self._replan_attempt - logger.info("Replanning.", attempt=replan_attempt) + logger.info("Replanning.", attempt=self._replan_limiter.get_attempt()) assert current_odom is not None assert current_goal is not None @@ -255,12 +255,11 @@ def _replan_path(self) -> None: self.cancel_goal(arrived=True) return - if replan_attempt + 1 > self._max_replan_attempts: + if not self._replan_limiter.can_retry(current_odom.position): self.cancel_goal() return - with self._lock: - self._replan_attempt += 1 + self._replan_limiter.will_retry() self._plan_path() @@ -277,25 +276,11 @@ def _plan_path(self) -> None: logger.warning("Cannot handle goal request: missing odometry.") return - safe_goal = find_safe_goal( - self._navigation_map.binary_costmap, - current_goal.position, - algorithm="bfs_contiguous", - cost_threshold=CostValues.OCCUPIED, - min_clearance=self._global_config.robot_rotation_diameter / 2, - max_search_distance=self._safe_goal_tolerance, - ) + safe_goal = self._find_safe_goal(current_goal.position) - if safe_goal is None: - logger.warning("No safe goal found near requested target.") + if not safe_goal: return - goals_distance = safe_goal.distance(current_goal.position) - if goals_distance > 0.2: - logger.warning(f"Travelling to goal {goals_distance}m away from requested goal.") - - logger.info("Found safe goal.", x=round(safe_goal.x, 2), y=round(safe_goal.y, 2)) - path = self._find_wide_path(safe_goal, current_odom.position) if not path: @@ -322,3 +307,30 @@ def _find_wide_path(self, goal: Vector3, robot_pos: Vector3) -> Path | None: return path return None + + def _find_safe_goal(self, goal: Vector3) -> Vector3 | None: + costmap = self._navigation_map.binary_costmap + + if costmap.cell_value(goal) == CostValues.UNKNOWN: + return goal + + safe_goal = find_safe_goal( + costmap, + goal, + algorithm="bfs_contiguous", + cost_threshold=CostValues.OCCUPIED, + min_clearance=self._global_config.robot_rotation_diameter / 2, + max_search_distance=self._safe_goal_tolerance, + ) + + if safe_goal is None: + logger.warning("No safe goal found near requested target.") + return None + + goals_distance = safe_goal.distance(goal) + if goals_distance > 0.2: + logger.warning(f"Travelling to goal {goals_distance}m away from requested goal.") + + logger.info("Found safe goal.", x=round(safe_goal.x, 2), y=round(safe_goal.y, 2)) + + return safe_goal diff --git a/dimos/navigation/replanning_a_star/local_planner.py b/dimos/navigation/replanning_a_star/local_planner.py index 5f0ae218c0..5a01ef047b 100644 --- a/dimos/navigation/replanning_a_star/local_planner.py +++ b/dimos/navigation/replanning_a_star/local_planner.py @@ -12,7 +12,6 @@ # See the License for the specific language governing permissions and # limitations under the License. -import math import os from threading import Event, RLock, Thread import time @@ -25,16 +24,17 @@ from dimos.core.global_config import GlobalConfig from dimos.core.resource import Resource from dimos.mapping.occupancy.visualize_path import visualize_path -from dimos.msgs.geometry_msgs import Twist, Vector3 +from dimos.msgs.geometry_msgs import Twist from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped from dimos.msgs.nav_msgs import Path from dimos.msgs.sensor_msgs import Image from dimos.navigation.base import NavigationState +from dimos.navigation.replanning_a_star.controllers import Controller, PController, PdController from dimos.navigation.replanning_a_star.navigation_map import NavigationMap from dimos.navigation.replanning_a_star.path_clearance import PathClearance from dimos.navigation.replanning_a_star.path_distancer import PathDistancer from dimos.utils.logging_config import setup_logger -from dimos.utils.transform_utils import normalize_angle, quaternion_to_euler +from dimos.utils.trigonometry import angle_diff PlannerState: TypeAlias = Literal[ "idle", "initial_rotation", "path_following", "final_rotation", "arrived" @@ -62,20 +62,14 @@ class LocalPlanner(Resource): _state_unique_id: int _global_config: GlobalConfig _navigation_map: NavigationMap + _controller: Controller _speed: float = 0.55 - _min_linear_velocity: float = 0.2 - _min_angular_velocity: float = 0.2 - _k_angular: float = 0.5 - _k_derivative: float = 0.15 - _max_angular_accel: float = 2.0 - _goal_tolerance: float = 0.3 + _control_frequency: float = 10 + _goal_tolerance: float = 0.2 _orientation_tolerance: float = 0.35 - _control_frequency: float = 10.0 - _rotation_threshold: float = 90 - - _prev_yaw_error: float - _prev_angular_velocity: float + _debug_navigation_interval: float = 1.0 + _debug_navigation_last: float = 0.0 def __init__(self, global_config: GlobalConfig, navigation_map: NavigationMap) -> None: self.cmd_vel = Subject() @@ -90,8 +84,13 @@ def __init__(self, global_config: GlobalConfig, navigation_map: NavigationMap) - self._global_config = global_config self._navigation_map = navigation_map - self._prev_yaw_error = 0.0 - self._prev_angular_velocity = 0.0 + controller = PController if global_config.simulation else PdController + + self._controller = controller( + self._global_config, + self._speed, + self._control_frequency, + ) def start(self) -> None: pass @@ -171,10 +170,10 @@ def _loop(self) -> None: # Determine initial state: skip initial_rotation if already aligned. new_state: PlannerState = "initial_rotation" if current_odom is not None and len(path.poses) > 0: - first_yaw = quaternion_to_euler(path.poses[0].orientation).z + first_yaw = path.poses[0].orientation.euler[2] robot_yaw = current_odom.orientation.euler[2] - initial_yaw_error = normalize_angle(first_yaw - robot_yaw) - self._prev_yaw_error = initial_yaw_error + initial_yaw_error = angle_diff(first_yaw, robot_yaw) + self._controller.reset_yaw_error(initial_yaw_error) if abs(initial_yaw_error) < self._orientation_tolerance: new_state = "path_following" @@ -188,10 +187,7 @@ def _loop(self) -> None: path_clearance.update_costmap(self._navigation_map.binary_costmap) path_clearance.update_pose_index(self._pose_index) - if "DEBUG_NAVIGATION" in os.environ: - self.debug_navigation.on_next( - self._make_debug_navigation_image(path, path_clearance) - ) + self._send_debug_navigation(path, path_clearance) if path_clearance.is_obstacle_ahead(): logger.info("Obstacle detected ahead, stopping local planner.") @@ -223,41 +219,6 @@ def _loop(self) -> None: if stop_event.is_set(): logger.info("Local planner loop exited due to stop event.") - def _apply_min_velocity(self, velocity: float, min_velocity: float) -> float: - """Apply minimum velocity threshold, preserving sign. Returns 0 if velocity is 0.""" - if velocity == 0.0: - return 0.0 - if abs(velocity) < min_velocity: - return min_velocity if velocity > 0 else -min_velocity - return velocity - - def _compute_angular_velocity(self, yaw_error: float, max_speed: float) -> float: - dt = 1.0 / self._control_frequency - - # PD control: proportional + derivative damping - yaw_error_derivative = (yaw_error - self._prev_yaw_error) / dt - angular_velocity = self._k_angular * yaw_error - self._k_derivative * yaw_error_derivative - - # Rate limiting: limit angular acceleration to prevent jerky corrections - max_delta = self._max_angular_accel * dt - angular_velocity = np.clip( - angular_velocity, - self._prev_angular_velocity - max_delta, - self._prev_angular_velocity + max_delta, - ) - - # Clamp to max speed - angular_velocity = np.clip(angular_velocity, -max_speed, max_speed) - - # Apply minimum velocity threshold - angular_velocity = self._apply_min_velocity(angular_velocity, self._min_angular_velocity) - - # Update state for next iteration - self._prev_yaw_error = yaw_error - self._prev_angular_velocity = angular_velocity - - return float(angular_velocity) - def _compute_initial_rotation(self) -> Twist: with self._lock: path = self._path @@ -267,17 +228,16 @@ def _compute_initial_rotation(self) -> Twist: assert current_odom is not None first_pose = path.poses[0] - first_yaw = quaternion_to_euler(first_pose.orientation).z + first_yaw = first_pose.orientation.euler[2] robot_yaw = current_odom.orientation.euler[2] - yaw_error = normalize_angle(first_yaw - robot_yaw) + yaw_error = angle_diff(first_yaw, robot_yaw) if abs(yaw_error) < self._orientation_tolerance: with self._lock: self._change_state("path_following") return self._compute_path_following() - angular_velocity = self._compute_angular_velocity(yaw_error, self._speed) - return self._angular_twist(angular_velocity) + return self._controller.rotate(yaw_error) def get_distance_to_path(self) -> float | None: with self._lock: @@ -314,35 +274,7 @@ def _compute_path_following(self) -> Twist: lookahead_point = path_distancer.find_lookahead_point(closest_index) - direction = lookahead_point - current_pos - distance = np.linalg.norm(direction) - - if distance < 1e-6: - # Robot is coincidentally at the lookahead point; skip this cycle. - return Twist() - - robot_yaw = current_odom.orientation.euler[2] - desired_yaw = np.arctan2(direction[1], direction[0]) - yaw_error = normalize_angle(desired_yaw - robot_yaw) - - # Rotate-then-drive: if heading error is large, rotate in place first - rotation_threshold = self._rotation_threshold * math.pi / 180 - if abs(yaw_error) > rotation_threshold: - angular_velocity = self._compute_angular_velocity(yaw_error, self._speed) - return Twist( - linear=Vector3(0.0, 0.0, 0.0), - angular=Vector3(0.0, 0.0, angular_velocity), - ) - - # When aligned, drive forward with proportional angular correction - angular_velocity = self._compute_angular_velocity(yaw_error, self._speed) - linear_velocity = self._speed * (1.0 - abs(yaw_error) / rotation_threshold) - linear_velocity = self._apply_min_velocity(linear_velocity, self._min_linear_velocity) - - return Twist( - linear=Vector3(linear_velocity, 0.0, 0.0), - angular=Vector3(0.0, 0.0, angular_velocity), - ) + return self._controller.advance(lookahead_point, current_odom) def _compute_final_rotation(self) -> Twist: with self._lock: @@ -352,9 +284,9 @@ def _compute_final_rotation(self) -> Twist: assert path is not None assert current_odom is not None - goal_yaw = quaternion_to_euler(path.poses[-1].orientation).z + goal_yaw = path.poses[-1].orientation.euler[2] robot_yaw = current_odom.orientation.euler[2] - yaw_error = normalize_angle(goal_yaw - robot_yaw) + yaw_error = angle_diff(goal_yaw, robot_yaw) if abs(yaw_error) < self._orientation_tolerance: logger.info("Final rotation complete, goal reached") @@ -362,8 +294,7 @@ def _compute_final_rotation(self) -> Twist: self._change_state("arrived") return Twist() - angular_velocity = self._compute_angular_velocity(yaw_error, self._speed) - return self._angular_twist(angular_velocity) + return self._controller.rotate(yaw_error) def _reset_state(self) -> None: with self._lock: @@ -372,8 +303,19 @@ def _reset_state(self) -> None: self._path_clearance = None self._path_distancer = None self._pose_index = 0 - self._prev_yaw_error = 0.0 - self._prev_angular_velocity = 0.0 + self._controller.reset_errors() + + def _send_debug_navigation(self, path: Path, path_clearance: PathClearance) -> None: + if "DEBUG_NAVIGATION" not in os.environ: + return + + now = time.time() + if now - self._debug_navigation_last < self._debug_navigation_interval: + return + + self._debug_navigation_last = now + + self.debug_navigation.on_next(self._make_debug_navigation_image(path, path_clearance)) def _make_debug_navigation_image(self, path: Path, path_clearance: PathClearance) -> Image: scale = 8 @@ -411,13 +353,3 @@ def _make_debug_navigation_image(self, path: Path, path_clearance: PathClearance image.data[py, px] = [255, 255, 255] return image - - def _angular_twist(self, angular_velocity: float) -> Twist: - # In simulation, add a small forward velocity to help the locomotion - # policy execute rotation (some policies don't handle pure in-place rotation). - linear_x = self._min_linear_velocity if self._global_config.simulation else 0.0 - - return Twist( - linear=Vector3(linear_x, 0.0, 0.0), - angular=Vector3(0.0, 0.0, angular_velocity), - ) diff --git a/dimos/navigation/replanning_a_star/replan_limiter.py b/dimos/navigation/replanning_a_star/replan_limiter.py new file mode 100644 index 0000000000..df35477c9c --- /dev/null +++ b/dimos/navigation/replanning_a_star/replan_limiter.py @@ -0,0 +1,68 @@ +# 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. + +from threading import RLock + +from dimos.msgs.geometry_msgs.Vector3 import Vector3 +from dimos.utils.logging_config import setup_logger + +logger = setup_logger() + + +class ReplanLimiter: + """ + This class limits replanning too many times in the same area. But if we exit + the area, the number of attempts is reset. + """ + + _max_attempts: int = 6 + _reset_distance: float = 2.0 + _attempt_pos: Vector3 | None = None + _lock: RLock + + _attempt: int + + def __init__(self) -> None: + self._lock = RLock() + self._attempt = 0 + + def can_retry(self, position: Vector3) -> bool: + with self._lock: + if self._attempt == 0: + self._attempt_pos = position + + if self._attempt >= 1 and self._attempt_pos: + distance = self._attempt_pos.distance(position) + if distance >= self._reset_distance: + logger.info( + "Traveled enough to reset attempts", + attempts=self._attempt, + distance=distance, + ) + self._attempt = 0 + self._attempt_pos = position + + return self._attempt + 1 <= self._max_attempts + + def will_retry(self) -> None: + with self._lock: + self._attempt += 1 + + def reset(self) -> None: + with self._lock: + self._attempt = 0 + + def get_attempt(self) -> int: + with self._lock: + return self._attempt diff --git a/dimos/perception/detection/module2D.py b/dimos/perception/detection/module2D.py index 9420954f00..3fe84787d6 100644 --- a/dimos/perception/detection/module2D.py +++ b/dimos/perception/detection/module2D.py @@ -56,7 +56,7 @@ class Detection2DModule(Module): config: Config detector: Detector - image: In[Image] + color_image: In[Image] detections: Out[Detection2DArray] annotations: Out[ImageAnnotations] @@ -82,7 +82,7 @@ def process_image_frame(self, image: Image) -> ImageDetections2D: @simple_mcache def sharp_image_stream(self) -> Observable[Image]: return backpressure( - self.image.pure_observable().pipe( + self.color_image.pure_observable().pipe( sharpness_barrier(self.config.max_freq), ) ) diff --git a/dimos/perception/detection/module3D.py b/dimos/perception/detection/module3D.py index cb2d1fb326..6a2d0fd4dd 100644 --- a/dimos/perception/detection/module3D.py +++ b/dimos/perception/detection/module3D.py @@ -37,7 +37,7 @@ class Detection3DModule(Detection2DModule): - image: In[Image] + color_image: In[Image] pointcloud: In[PointCloud2] detections: Out[Detection2DArray] @@ -113,7 +113,7 @@ def ask_vlm(self, question: str) -> str: from dimos.models.vl.qwen import QwenVlModel model = QwenVlModel() - image = self.image.get_next() + image = self.color_image.get_next() return model.query(image, question) # @skill # type: ignore[arg-type] @@ -130,7 +130,7 @@ def nav_vlm(self, question: str) -> str: from dimos.models.vl.qwen import QwenVlModel model = QwenVlModel() - image = self.image.get_next() + image = self.color_image.get_next() result = model.query_detections(image, question) print("VLM result:", result, "for", image, "and question", question) diff --git a/dimos/perception/detection/moduleDB.py b/dimos/perception/detection/moduleDB.py index b22eff75bc..9161a77dbe 100644 --- a/dimos/perception/detection/moduleDB.py +++ b/dimos/perception/detection/moduleDB.py @@ -143,7 +143,7 @@ class ObjectDBModule(Detection3DModule, TableStr): goto: Callable[[PoseStamped], Any] | None = None - image: In[Image] + color_image: In[Image] pointcloud: In[PointCloud2] detections: Out[Detection2DArray] @@ -308,36 +308,6 @@ def __len__(self) -> int: return len(self.objects.values()) -def deploy( # type: ignore[no-untyped-def] - dimos: DimosCluster, - lidar: spec.Pointcloud, - camera: spec.Camera, - prefix: str = "/detectorDB", - **kwargs, -) -> Detection3DModule: - from dimos.core import LCMTransport - - detector = dimos.deploy(ObjectDBModule, camera_info=camera.camera_info_stream, **kwargs) # type: ignore[attr-defined] - - detector.image.connect(camera.color_image) - detector.pointcloud.connect(lidar.pointcloud) - - detector.annotations.transport = LCMTransport(f"{prefix}/annotations", ImageAnnotations) - detector.detections.transport = LCMTransport(f"{prefix}/detections", Detection2DArray) - detector.scene_update.transport = LCMTransport(f"{prefix}/scene_update", SceneUpdate) - - detector.detected_image_0.transport = LCMTransport(f"{prefix}/image/0", Image) - detector.detected_image_1.transport = LCMTransport(f"{prefix}/image/1", Image) - detector.detected_image_2.transport = LCMTransport(f"{prefix}/image/2", Image) - - detector.detected_pointcloud_0.transport = LCMTransport(f"{prefix}/pointcloud/0", PointCloud2) - detector.detected_pointcloud_1.transport = LCMTransport(f"{prefix}/pointcloud/1", PointCloud2) - detector.detected_pointcloud_2.transport = LCMTransport(f"{prefix}/pointcloud/2", PointCloud2) - - detector.start() - return detector # type: ignore[no-any-return] - - detectionDB_module = ObjectDBModule.blueprint -__all__ = ["ObjectDBModule", "deploy", "detectionDB_module"] +__all__ = ["ObjectDBModule", "detectionDB_module"] diff --git a/dimos/perception/detection/person_tracker.py b/dimos/perception/detection/person_tracker.py index 59fbc360f4..5db5fce3c4 100644 --- a/dimos/perception/detection/person_tracker.py +++ b/dimos/perception/detection/person_tracker.py @@ -29,7 +29,7 @@ class PersonTracker(Module): detections: In[Detection2DArray] - image: In[Image] + color_image: In[Image] target: Out[PoseStamped] camera_info: CameraInfo @@ -76,7 +76,7 @@ def center_to_3d( def detections_stream(self) -> Observable[ImageDetections2D]: return backpressure( align_timestamped( - self.image.pure_observable(), + self.color_image.pure_observable(), self.detections.pure_observable().pipe( ops.filter(lambda d: d.detections_length > 0) # type: ignore[attr-defined] ), diff --git a/dimos/perception/detection/type/detection3d/test_pointcloud.py b/dimos/perception/detection/type/detection3d/test_pointcloud.py index f616fe7f33..4c522c3165 100644 --- a/dimos/perception/detection/type/detection3d/test_pointcloud.py +++ b/dimos/perception/detection/type/detection3d/test_pointcloud.py @@ -57,15 +57,12 @@ def test_detection3dpc(detection3dpc) -> None: # def test_point_cloud_properties(detection3dpc): """Test point cloud data and boundaries.""" - pc_points = detection3dpc.pointcloud.points() - assert len(pc_points) > 60 + points = detection3dpc.pointcloud.as_numpy() + assert len(points) > 60 assert detection3dpc.pointcloud.frame_id == "world", ( f"Expected frame_id 'world', got '{detection3dpc.pointcloud.frame_id}'" ) - # Extract xyz coordinates from points - points = np.array([[pt[0], pt[1], pt[2]] for pt in pc_points]) - min_pt = np.min(points, axis=0) max_pt = np.max(points, axis=0) center = np.mean(points, axis=0) diff --git a/dimos/robot/all_blueprints.py b/dimos/robot/all_blueprints.py index 85f4271083..46fd364293 100644 --- a/dimos/robot/all_blueprints.py +++ b/dimos/robot/all_blueprints.py @@ -17,8 +17,9 @@ # The blueprints are defined as import strings so as not to trigger unnecessary imports. all_blueprints = { "unitree-go2": "dimos.robot.unitree_webrtc.unitree_go2_blueprints:nav", - "unitree-go2-nav": "dimos.robot.unitree_webrtc.unitree_go2_blueprints:nav", "unitree-go2-basic": "dimos.robot.unitree_webrtc.unitree_go2_blueprints:basic", + "unitree-go2-nav": "dimos.robot.unitree_webrtc.unitree_go2_blueprints:nav", + "unitree-go2-detection": "dimos.robot.unitree_webrtc.unitree_go2_blueprints:detection", "unitree-go2-spatial": "dimos.robot.unitree_webrtc.unitree_go2_blueprints:spatial", "unitree-go2-agentic": "dimos.robot.unitree_webrtc.unitree_go2_blueprints:agentic", "unitree-go2-agentic-ollama": "dimos.robot.unitree_webrtc.unitree_go2_blueprints:agentic_ollama", diff --git a/dimos/robot/unitree/connection/go2.py b/dimos/robot/unitree/connection/go2.py index 4760995a12..7fe67fb6a5 100644 --- a/dimos/robot/unitree/connection/go2.py +++ b/dimos/robot/unitree/connection/go2.py @@ -31,7 +31,6 @@ Vector3, ) from dimos.msgs.sensor_msgs import CameraInfo, Image, PointCloud2 -from dimos.msgs.std_msgs import Header from dimos.robot.unitree.connection.connection import UnitreeWebRTCConnection from dimos.robot.unitree_webrtc.type.lidar import LidarMessage from dimos.utils.data import get_data diff --git a/dimos/robot/unitree/go2/go2.urdf b/dimos/robot/unitree/go2/go2.urdf new file mode 100644 index 0000000000..4e67e9ca8e --- /dev/null +++ b/dimos/robot/unitree/go2/go2.urdf @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/dimos/robot/unitree_webrtc/type/odometry.py b/dimos/robot/unitree_webrtc/type/odometry.py index 345631f346..78ce6bf0be 100644 --- a/dimos/robot/unitree_webrtc/type/odometry.py +++ b/dimos/robot/unitree_webrtc/type/odometry.py @@ -11,7 +11,6 @@ # 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 time from typing import Literal, TypedDict from dimos.msgs.geometry_msgs import PoseStamped, Quaternion, Vector3 diff --git a/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py b/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py index d0da2bbdf9..a4bec22b13 100644 --- a/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py +++ b/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py @@ -16,7 +16,10 @@ import platform -from dimos_lcm.sensor_msgs import CameraInfo # type: ignore[import-untyped] +from dimos_lcm.foxglove_msgs.ImageAnnotations import ( # type: ignore[import-untyped] + ImageAnnotations, +) +from lcm_msgs.foxglove_msgs import SceneUpdate # type: ignore[import-not-found] from dimos.agents.agent import llm_agent from dimos.agents.cli.human import human_input @@ -30,26 +33,19 @@ from dimos.core.transport import JpegLcmTransport, JpegShmTransport, LCMTransport, pSHMTransport from dimos.mapping.costmapper import cost_mapper from dimos.mapping.voxels import voxel_mapper -from dimos.msgs.geometry_msgs import PoseStamped -from dimos.msgs.sensor_msgs import Image -from dimos.navigation.bt_navigator.navigator import ( - behavior_tree_navigator, -) +from dimos.msgs.sensor_msgs import Image, PointCloud2 +from dimos.msgs.vision_msgs import Detection2DArray from dimos.navigation.frontier_exploration import ( wavefront_frontier_explorer, ) -from dimos.navigation.global_planner.planner import astar_planner -from dimos.navigation.local_planner.holonomic_local_planner import ( - holonomic_local_planner, -) from dimos.navigation.replanning_a_star.module import ( replanning_a_star_planner, ) -from dimos.perception.object_tracker import object_tracking +from dimos.perception.detection.module3D import Detection3DModule, detection3d_module +from dimos.perception.detection.moduleDB import ObjectDBModule, detectionDB_module from dimos.perception.spatial_perception import spatial_memory from dimos.robot.foxglove_bridge import foxglove_bridge -from dimos.robot.unitree.connection.go2 import go2_connection -from dimos.robot.unitree_webrtc.type.map import mapper +from dimos.robot.unitree.connection.go2 import GO2Connection, go2_connection from dimos.robot.unitree_webrtc.unitree_skill_container import unitree_skills from dimos.utils.monitoring import utilization from dimos.web.websocket_vis.websocket_vis_module import websocket_vis @@ -89,6 +85,47 @@ wavefront_frontier_explorer(), ).global_config(n_dask_workers=6, robot_model="unitree_go2") +detection = ( + autoconnect( + nav, + detectionDB_module( + camera_info=GO2Connection.camera_info_static, + ), + ) + .remappings( + [ + (ObjectDBModule, "pointcloud", "global_map"), + ] + ) + .transports( + { + # Detection 3D module outputs + ("detections", ObjectDBModule): LCMTransport( + "/detector3d/detections", Detection2DArray + ), + ("annotations", ObjectDBModule): LCMTransport( + "/detector3d/annotations", ImageAnnotations + ), + # ("scene_update", ObjectDBModule): LCMTransport( + # "/detector3d/scene_update", SceneUpdate + # ), + ("detected_pointcloud_0", ObjectDBModule): LCMTransport( + "/detector3d/pointcloud/0", PointCloud2 + ), + ("detected_pointcloud_1", ObjectDBModule): LCMTransport( + "/detector3d/pointcloud/1", PointCloud2 + ), + ("detected_pointcloud_2", ObjectDBModule): LCMTransport( + "/detector3d/pointcloud/2", PointCloud2 + ), + ("detected_image_0", ObjectDBModule): LCMTransport("/detector3d/image/0", Image), + ("detected_image_1", ObjectDBModule): LCMTransport("/detector3d/image/1", Image), + ("detected_image_2", ObjectDBModule): LCMTransport("/detector3d/image/2", Image), + } + ) +) + + spatial = autoconnect( nav, spatial_memory(), diff --git a/dimos/utils/metrics.py b/dimos/utils/metrics.py index 733399952b..3f21e704db 100644 --- a/dimos/utils/metrics.py +++ b/dimos/utils/metrics.py @@ -19,7 +19,7 @@ from dimos_lcm.std_msgs import Float32 # type: ignore[import-untyped] -from dimos.core import DimosCluster, In, LCMTransport, Module, Out, Transport, rpc +from dimos.core import LCMTransport, Transport F = TypeVar("F", bound=Callable[..., Any]) diff --git a/dimos/utils/test_trigonometry.py b/dimos/utils/test_trigonometry.py new file mode 100644 index 0000000000..70137edfdc --- /dev/null +++ b/dimos/utils/test_trigonometry.py @@ -0,0 +1,36 @@ +# 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 math + +import pytest + +from dimos.utils.trigonometry import angle_diff + + +def from_rad(x): + return x / (math.pi / 180) + + +def to_rad(x): + return x * (math.pi / 180) + + +def test_angle_diff(): + a = to_rad(1) + b = to_rad(359) + + assert from_rad(angle_diff(a, b)) == pytest.approx(2, abs=0.00000000001) + + assert from_rad(angle_diff(b, a)) == pytest.approx(-2, abs=0.00000000001) diff --git a/dimos/utils/testing/replay.py b/dimos/utils/testing/replay.py index bf6eaaa8be..5f0e5985eb 100644 --- a/dimos/utils/testing/replay.py +++ b/dimos/utils/testing/replay.py @@ -256,6 +256,39 @@ def first_timestamp(self) -> float | None: def iterate(self, loop: bool = False) -> Iterator[T | Any]: return (x[1] for x in super().iterate(loop=loop)) # type: ignore[index] + def iterate_duration(self, **kwargs: Any) -> Iterator[tuple[float, T] | Any]: + """Iterate with timestamps relative to the start of the dataset.""" + first_ts = self.first_timestamp() + if first_ts is None: + return + for ts, data in self.iterate_ts(**kwargs): + yield (ts - first_ts, data) + + def iterate_realtime(self, speed: float = 1.0, **kwargs: Any) -> Iterator[T | Any]: + """Iterate data, sleeping to match original timing. + + Args: + speed: Playback speed multiplier (1.0 = realtime, 2.0 = 2x speed) + **kwargs: Passed to iterate_ts (seek, duration, from_timestamp, loop) + """ + iterator = self.iterate_ts(**kwargs) + + try: + first_ts, first_data = next(iterator) + except StopIteration: + return + + start_time = time.time() + start_ts = first_ts + yield first_data + + for ts, data in iterator: + target_time = start_time + (ts - start_ts) / speed + sleep_duration = target_time - time.time() + if sleep_duration > 0: + time.sleep(sleep_duration) + yield data + def iterate_ts( self, seek: float | None = None, @@ -263,6 +296,7 @@ def iterate_ts( from_timestamp: float | None = None, loop: bool = False, ) -> Iterator[tuple[float, T] | Any]: + """Iterate with absolute timestamps, with optional seek and duration.""" first_ts = None if (seek is not None) or (duration is not None): first_ts = self.first_timestamp() diff --git a/dimos/utils/trigonometry.py b/dimos/utils/trigonometry.py new file mode 100644 index 0000000000..8f44a51be1 --- /dev/null +++ b/dimos/utils/trigonometry.py @@ -0,0 +1,19 @@ +# 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 math + + +def angle_diff(a: float, b: float) -> float: + return (a - b + math.pi) % (2 * math.pi) - math.pi diff --git a/dimos/utils/urdf.py b/dimos/utils/urdf.py new file mode 100644 index 0000000000..f9a700ec3f --- /dev/null +++ b/dimos/utils/urdf.py @@ -0,0 +1,69 @@ +# 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. + +"""URDF generation utilities.""" + +from __future__ import annotations + + +def box_urdf( + width: float, + height: float, + depth: float, + name: str = "box_robot", + mass: float = 1.0, + rgba: tuple[float, float, float, float] = (1.0, 0.0, 0.0, 0.5), +) -> str: + """Generate a simple URDF with a box as the base_link. + + Args: + width: Box size in X direction (meters) + height: Box size in Y direction (meters) + depth: Box size in Z direction (meters) + name: Robot name + mass: Mass of the box (kg) + rgba: Color as (red, green, blue, alpha), default red with 0.5 transparency + + Returns: + URDF XML string + """ + # Simple box inertia (solid cuboid) + ixx = (mass / 12.0) * (height**2 + depth**2) + iyy = (mass / 12.0) * (width**2 + depth**2) + izz = (mass / 12.0) * (width**2 + height**2) + + r, g, b, a = rgba + return f""" + + + + + + + + + + + + + + + + + + + + + +""" diff --git a/pyproject.toml b/pyproject.toml index 2a501ef504..d43a1caa23 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -54,13 +54,13 @@ dependencies = [ "uvicorn>=0.34.0", # Agents - "langchain>=0.3.27,<1", - "langchain-chroma>=0.2.6,<1", - "langchain-core>=0.3.79,<1", - "langchain-openai>=0.3.33,<1", - "langchain-text-splitters>=0.3.11,<1", - "langchain-huggingface>=0.3.1,<1", - "langchain-ollama>=0.3.10,<1", + "langchain>=1,<2", + "langchain-chroma>=1,<2", + "langchain-core>=1,<2", + "langchain-openai>=1,<2", + "langchain-text-splitters>=1,<2", + "langchain-huggingface>=1,<2", + "langchain-ollama>=1,<2", "bitsandbytes>=0.48.2,<1.0; sys_platform == 'linux'", "ollama>=0.6.0", @@ -128,6 +128,9 @@ dependencies = [ # Teleop "pygame>=2.6.1", + + "numba>=0.60.0", # First version supporting Python 3.12 + "llvmlite>=0.42.0", # Required by numba 0.59+ ] [project.scripts] @@ -325,16 +328,10 @@ extra-build-dependencies = { detectron2 = ["torch"], contact-graspnet-pytorch = default-groups = [] -# Override transitive dependencies that don't support Python 3.12 -override-dependencies = [ - "numba>=0.60.0", # First version supporting Python 3.12 - "llvmlite>=0.42.0", # Required by numba 0.59+ -] - - [tool.uv.sources] rxpy-backpressure = { git = "https://github.com/dimensionalOS/rxpy-backpressure.git" } -unitree-webrtc-connect = { git = "https://github.com/legion1581/go2_webrtc_connect.git", rev = "d0aec95ffb2125b7d2111f65a1b7ac718165a6b8" } +# we are waiting for Legion to merge our PR https://github.com/legion1581/unitree_webrtc_connect/pull/46 +unitree-webrtc-connect = { git = "https://github.com/leshy/unitree_webrtc_connect.git", rev = "2cbb6ce657383c788f4a48d9d87ecf4b9b7dba1d" } clip = { git = 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