diff --git a/dimos/core/blueprints.py b/dimos/core/blueprints.py
index 14338d6a38..1560554eed 100644
--- a/dimos/core/blueprints.py
+++ b/dimos/core/blueprints.py
@@ -23,6 +23,9 @@
from types import MappingProxyType
from typing import Any, Literal, get_args, get_origin, get_type_hints
+import rerun as rr
+import rerun.blueprint as rrb
+
from dimos.core.global_config import GlobalConfig
from dimos.core.module import Module
from dimos.core.module_coordinator import ModuleCoordinator
@@ -280,6 +283,50 @@ def _connect_rpc_methods(self, module_coordinator: ModuleCoordinator) -> None:
requested_method_name, rpc_methods_dot[requested_method_name]
)
+ def _init_rerun_blueprint(self, module_coordinator: ModuleCoordinator) -> None:
+ """Compose and send Rerun blueprint from module contributions.
+
+ Collects rerun_views() from all modules and composes them into a unified layout.
+ """
+ # Collect view contributions from all modules
+ side_panels = []
+ for blueprint in self.blueprints:
+ if hasattr(blueprint.module, "rerun_views"):
+ views = blueprint.module.rerun_views()
+ if views:
+ side_panels.extend(views)
+
+ # Always include latency panel if we have any panels
+ if side_panels:
+ side_panels.append(
+ rrb.TimeSeriesView(
+ name="Latency (ms)",
+ origin="/metrics",
+ contents=[
+ "+ /metrics/voxel_map/latency_ms",
+ "+ /metrics/costmap/latency_ms",
+ ],
+ )
+ )
+
+ # Compose final layout
+ if side_panels:
+ composed_blueprint = rrb.Blueprint(
+ rrb.Horizontal(
+ rrb.Spatial3DView(
+ name="3D View",
+ origin="world",
+ background=[0, 0, 0],
+ ),
+ rrb.Vertical(*side_panels, row_shares=[2] + [1] * (len(side_panels) - 1)),
+ column_shares=[3, 1],
+ ),
+ rrb.TimePanel(state="collapsed"),
+ rrb.SelectionPanel(state="collapsed"),
+ rrb.BlueprintPanel(state="collapsed"),
+ )
+ rr.send_blueprint(composed_blueprint)
+
def build(
self,
global_config: GlobalConfig | None = None,
@@ -294,6 +341,17 @@ def build(
self._check_requirements()
self._verify_no_name_conflicts()
+ # Initialize Rerun server before deploying modules (if backend is Rerun)
+ if global_config.rerun_enabled and global_config.viewer_backend.startswith("rerun"):
+ try:
+ from dimos.dashboard.rerun_init import init_rerun_server
+
+ server_addr = init_rerun_server(viewer_mode=global_config.viewer_backend)
+ global_config = global_config.model_copy(update={"rerun_server_addr": server_addr})
+ logger.info("Rerun server initialized", addr=server_addr)
+ except Exception as e:
+ logger.warning(f"Failed to initialize Rerun server: {e}")
+
module_coordinator = ModuleCoordinator(global_config=global_config)
module_coordinator.start()
@@ -303,6 +361,10 @@ def build(
module_coordinator.start_all_modules()
+ # Compose and send Rerun blueprint from module contributions
+ if global_config.viewer_backend.startswith("rerun"):
+ self._init_rerun_blueprint(module_coordinator)
+
return module_coordinator
diff --git a/dimos/core/global_config.py b/dimos/core/global_config.py
index 8d8edc2598..dfa54830ac 100644
--- a/dimos/core/global_config.py
+++ b/dimos/core/global_config.py
@@ -14,12 +14,15 @@
from functools import cached_property
import re
+from typing import Literal, TypeAlias
from pydantic_settings import BaseSettings, SettingsConfigDict
from dimos.mapping.occupancy.path_map import NavigationStrategy
from dimos.navigation.global_planner.types import AStarAlgorithm
+ViewerBackend: TypeAlias = Literal["rerun-web", "rerun-native", "foxglove"]
+
def _get_all_numbers(s: str) -> list[float]:
return [float(x) for x in re.findall(r"-?\d+\.?\d*", s)]
@@ -29,6 +32,9 @@ class GlobalConfig(BaseSettings):
robot_ip: str | None = None
simulation: bool = False
replay: bool = False
+ rerun_enabled: bool = True
+ rerun_server_addr: str | None = None
+ viewer_backend: ViewerBackend = "rerun-native"
n_dask_workers: int = 2
memory_limit: str = "auto"
mujoco_camera_position: str | None = None
diff --git a/dimos/core/stream.py b/dimos/core/stream.py
index 652223d9ab..70384ffc77 100644
--- a/dimos/core/stream.py
+++ b/dimos/core/stream.py
@@ -26,6 +26,7 @@
import reactivex as rx
from reactivex import operators as ops
from reactivex.disposable import Disposable
+import rerun as rr
import dimos.core.colors as colors
from dimos.core.resource import Resource
@@ -137,11 +138,13 @@ def __str__(self) -> str:
)
-class Out(Stream[T]):
+class Out(Stream[T], ObservableMixin[T]):
_transport: Transport # type: ignore[type-arg]
def __init__(self, *argv, **kwargs) -> None: # type: ignore[no-untyped-def]
super().__init__(*argv, **kwargs)
+ self._rerun_config: dict | None = None # type: ignore[type-arg]
+ self._rerun_last_log: float = 0.0
@property
def transport(self) -> Transport[T]:
@@ -149,8 +152,7 @@ def transport(self) -> Transport[T]:
@transport.setter
def transport(self, value: Transport[T]) -> None:
- # just for type checking
- ...
+ self._transport = value
@property
def state(self) -> State:
@@ -173,8 +175,76 @@ def publish(self, msg) -> None: # type: ignore[no-untyped-def]
if not hasattr(self, "_transport") or self._transport is None:
logger.warning(f"Trying to publish on Out {self} without a transport")
return
+
+ # Log to Rerun directly if configured
+ if self._rerun_config is not None:
+ self._log_to_rerun(msg)
+
self._transport.broadcast(self, msg)
+ def subscribe(self, cb) -> Callable[[], None]: # type: ignore[no-untyped-def]
+ """Subscribe to this output stream.
+
+ Args:
+ cb: Callback function to receive messages
+
+ Returns:
+ Unsubscribe function
+ """
+ return self.transport.subscribe(cb, self) # type: ignore[arg-type, func-returns-value, no-any-return]
+
+ def autolog_to_rerun(
+ self,
+ entity_path: str,
+ rate_limit: float | None = None,
+ **rerun_kwargs: Any,
+ ) -> None:
+ """Configure this output to auto-log to Rerun (fire-and-forget).
+
+ Call once in start() - messages auto-logged when published.
+
+ Args:
+ entity_path: Rerun entity path (e.g., "world/map")
+ rate_limit: Max Hz to log (None = unlimited)
+ **rerun_kwargs: Passed to msg.to_rerun() for rendering config
+ (e.g., radii=0.02, colormap="turbo", colors=[255,0,0])
+
+ Example:
+ def start(self):
+ super().start()
+ # Just declare it - fire and forget!
+ self.global_map.autolog_to_rerun("world/map", rate_limit=5.0, radii=0.02)
+ """
+ self._rerun_config = {
+ "entity_path": entity_path,
+ "rate_limit": rate_limit,
+ "rerun_kwargs": rerun_kwargs,
+ }
+ self._rerun_last_log = 0.0
+
+ def _log_to_rerun(self, msg: T) -> None:
+ """Log message to Rerun with rate limiting."""
+ if not hasattr(msg, "to_rerun"):
+ return
+
+ if self._rerun_config is None:
+ return
+
+ import time
+
+ config = self._rerun_config
+
+ # Rate limiting
+ if config["rate_limit"] is not None:
+ now = time.monotonic()
+ min_interval = 1.0 / config["rate_limit"]
+ if now - self._rerun_last_log < min_interval:
+ return # Skip - too soon
+ self._rerun_last_log = now
+
+ rerun_data = msg.to_rerun(**config["rerun_kwargs"])
+ rr.log(config["entity_path"], rerun_data)
+
class RemoteStream(Stream[T]):
@property
diff --git a/dimos/dashboard/__init__.py b/dimos/dashboard/__init__.py
new file mode 100644
index 0000000000..fc97805936
--- /dev/null
+++ b/dimos/dashboard/__init__.py
@@ -0,0 +1,34 @@
+# 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.
+
+"""Dashboard module for visualization and monitoring.
+
+Rerun Initialization:
+ Main process (e.g., blueprints.build) starts Rerun server automatically.
+ Worker modules connect to the server via connect_rerun().
+
+Usage in modules:
+ import rerun as rr
+ from dimos.dashboard.rerun_init import connect_rerun
+
+ class MyModule(Module):
+ def start(self):
+ super().start()
+ connect_rerun() # Connect to Rerun server
+ rr.log("my/entity", my_data.to_rerun())
+"""
+
+from dimos.dashboard.rerun_init import connect_rerun, init_rerun_server, shutdown_rerun
+
+__all__ = ["connect_rerun", "init_rerun_server", "shutdown_rerun"]
diff --git a/dimos/dashboard/dimos.rbl b/dimos/dashboard/dimos.rbl
new file mode 100644
index 0000000000..160180e27a
Binary files /dev/null and b/dimos/dashboard/dimos.rbl differ
diff --git a/dimos/dashboard/rerun_init.py b/dimos/dashboard/rerun_init.py
new file mode 100644
index 0000000000..81beb40d6a
--- /dev/null
+++ b/dimos/dashboard/rerun_init.py
@@ -0,0 +1,165 @@
+# Copyright 2025-2026 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.
+
+"""Rerun initialization with multi-process support.
+
+Architecture:
+ - Main process calls init_rerun_server() to start gRPC server + viewer
+ - Worker processes call connect_rerun() to connect to the server
+ - All processes share the same Rerun recording stream
+
+Viewer modes (set via VIEWER_BACKEND config or environment variable):
+ - "rerun-web" (default): Web viewer on port 9090
+ - "rerun-native": Native Rerun viewer (requires display)
+ - "foxglove": Use Foxglove instead of Rerun
+
+Usage:
+ # Set via environment:
+ VIEWER_BACKEND=rerun-web # or rerun-native or foxglove
+
+ # Or via .env file:
+ viewer_backend=rerun-native
+
+ # In main process (blueprints.py handles this automatically):
+ from dimos.dashboard.rerun_init import init_rerun_server
+ server_addr = init_rerun_server(viewer_mode="rerun-web")
+
+ # In worker modules:
+ from dimos.dashboard.rerun_init import connect_rerun
+ connect_rerun()
+
+ # On shutdown:
+ from dimos.dashboard.rerun_init import shutdown_rerun
+ shutdown_rerun()
+"""
+
+import atexit
+import threading
+
+import rerun as rr
+
+from dimos.core.global_config import GlobalConfig
+from dimos.utils.logging_config import setup_logger
+
+logger = setup_logger()
+
+RERUN_GRPC_PORT = 9876
+RERUN_WEB_PORT = 9090
+RERUN_GRPC_ADDR = f"rerun+http://127.0.0.1:{RERUN_GRPC_PORT}/proxy"
+
+# Track initialization state
+_server_started = False
+_connected = False
+_rerun_init_lock = threading.Lock()
+
+
+def init_rerun_server(viewer_mode: str = "rerun-web") -> str:
+ """Initialize Rerun server in the main process.
+
+ Starts the gRPC server and optionally the web/native viewer.
+ Should only be called once from the main process.
+
+ Args:
+ viewer_mode: One of "rerun-web", "rerun-native", or "rerun-grpc-only"
+
+ Returns:
+ Server address for workers to connect to.
+
+ Raises:
+ RuntimeError: If server initialization fails.
+ """
+ global _server_started
+
+ if _server_started:
+ logger.debug("Rerun server already started")
+ return RERUN_GRPC_ADDR
+
+ rr.init("dimos")
+
+ if viewer_mode == "rerun-native":
+ # Spawn native viewer (requires display)
+ rr.spawn(port=RERUN_GRPC_PORT, connect=True)
+ logger.info("Rerun: spawned native viewer", port=RERUN_GRPC_PORT)
+ elif viewer_mode == "rerun-web":
+ # Start gRPC + web viewer (headless friendly)
+ server_uri = rr.serve_grpc(grpc_port=RERUN_GRPC_PORT)
+ rr.serve_web_viewer(web_port=RERUN_WEB_PORT, open_browser=False, connect_to=server_uri)
+ logger.info(
+ "Rerun: web viewer started",
+ web_port=RERUN_WEB_PORT,
+ url=f"http://localhost:{RERUN_WEB_PORT}",
+ )
+ else:
+ # Just gRPC server, no viewer (connect externally)
+ rr.serve_grpc(grpc_port=RERUN_GRPC_PORT)
+ logger.info(
+ "Rerun: gRPC server only",
+ port=RERUN_GRPC_PORT,
+ connect_command=f"rerun --connect {RERUN_GRPC_ADDR}",
+ )
+
+ _server_started = True
+
+ # Register shutdown handler
+ atexit.register(shutdown_rerun)
+
+ return RERUN_GRPC_ADDR
+
+
+def connect_rerun(
+ global_config: GlobalConfig | None = None,
+ server_addr: str | None = None,
+) -> None:
+ """Connect to Rerun server from a worker process.
+
+ Modules should check global_config.viewer_backend before calling this.
+
+ Args:
+ global_config: Global configuration (checks viewer_backend)
+ server_addr: Server address to connect to. Defaults to RERUN_GRPC_ADDR.
+ """
+ global _connected
+
+ with _rerun_init_lock:
+ if _connected:
+ logger.debug("Already connected to Rerun server")
+ return
+
+ # Skip if foxglove backend selected
+ if global_config and not global_config.viewer_backend.startswith("rerun"):
+ logger.debug("Rerun connection skipped", viewer_backend=global_config.viewer_backend)
+ return
+
+ addr = server_addr or RERUN_GRPC_ADDR
+
+ rr.init("dimos")
+ rr.connect_grpc(addr)
+ logger.info("Rerun: connected to server", addr=addr)
+
+ _connected = True
+
+
+def shutdown_rerun() -> None:
+ """Disconnect from Rerun and cleanup resources."""
+ global _server_started, _connected
+
+ if _server_started or _connected:
+ try:
+ rr.disconnect()
+ logger.info("Rerun: disconnected")
+ except Exception as e:
+ logger.warning("Rerun: error during disconnect", error=str(e))
+
+ _server_started = False
+ _connected = False
diff --git a/dimos/mapping/costmapper.py b/dimos/mapping/costmapper.py
index 022751e0cf..e637126a04 100644
--- a/dimos/mapping/costmapper.py
+++ b/dimos/mapping/costmapper.py
@@ -13,18 +13,28 @@
# limitations under the License.
from dataclasses import asdict, dataclass, field
+import queue
+import threading
+import time
from reactivex import operators as ops
+import rerun as rr
+import rerun.blueprint as rrb
from dimos.core import In, Module, Out, rpc
+from dimos.core.global_config import GlobalConfig
from dimos.core.module import ModuleConfig
+from dimos.dashboard.rerun_init import connect_rerun
from dimos.mapping.pointclouds.occupancy import (
OCCUPANCY_ALGOS,
HeightCostConfig,
OccupancyConfig,
)
from dimos.msgs.nav_msgs import OccupancyGrid
-from dimos.robot.unitree_webrtc.type.lidar import LidarMessage
+from dimos.msgs.sensor_msgs import PointCloud2
+from dimos.utils.logging_config import setup_logger
+
+logger = setup_logger()
@dataclass
@@ -37,27 +47,118 @@ class CostMapper(Module):
default_config = Config
config: Config
- global_map: In[LidarMessage]
+ global_map: In[PointCloud2]
global_costmap: Out[OccupancyGrid]
+ # Background Rerun logging (decouples viz from data pipeline)
+ _rerun_queue: queue.Queue[tuple[OccupancyGrid, float, float] | None]
+ _rerun_thread: threading.Thread | None = None
+
+ @classmethod
+ def rerun_views(cls): # type: ignore[no-untyped-def]
+ """Return Rerun view blueprints for costmap visualization."""
+ return [
+ rrb.TimeSeriesView(
+ name="Costmap (ms)",
+ origin="/metrics/costmap",
+ contents=["+ /metrics/costmap/calc_ms"],
+ ),
+ ]
+
+ def __init__(self, global_config: GlobalConfig | None = None, **kwargs: object) -> None:
+ super().__init__(**kwargs)
+ self._global_config = global_config or GlobalConfig()
+ self._rerun_queue = queue.Queue(maxsize=2)
+
+ def _rerun_worker(self) -> None:
+ """Background thread: pull from queue and log to Rerun (non-blocking)."""
+ while True:
+ try:
+ item = self._rerun_queue.get(timeout=1.0)
+ if item is None: # Shutdown signal
+ break
+
+ grid, calc_time_ms, rx_monotonic = item
+
+ # Generate mesh + log to Rerun (blocks in background, not on data path)
+ try:
+ # 2D image panel
+ rr.log(
+ "world/nav/costmap/image",
+ grid.to_rerun(
+ mode="image",
+ colormap="RdBu_r",
+ ),
+ )
+ # 3D floor overlay (expensive mesh generation)
+ rr.log(
+ "world/nav/costmap/floor",
+ grid.to_rerun(
+ mode="mesh",
+ colormap=None, # Grayscale: free=white, occupied=black
+ z_offset=0.02,
+ ),
+ )
+
+ # Log timing metrics
+ rr.log("metrics/costmap/calc_ms", rr.Scalars(calc_time_ms))
+ latency_ms = (time.monotonic() - rx_monotonic) * 1000
+ rr.log("metrics/costmap/latency_ms", rr.Scalars(latency_ms))
+ except Exception as e:
+ logger.warning(f"Rerun logging error: {e}")
+ except queue.Empty:
+ continue
+
@rpc
def start(self) -> None:
super().start()
+ # Only start Rerun logging if Rerun backend is selected
+ if self._global_config.viewer_backend.startswith("rerun"):
+ connect_rerun(global_config=self._global_config)
+
+ # Start background Rerun logging thread
+ self._rerun_thread = threading.Thread(target=self._rerun_worker, daemon=True)
+ self._rerun_thread.start()
+ logger.info("CostMapper: started async Rerun logging thread")
+
+ def _publish_costmap(grid: OccupancyGrid, calc_time_ms: float, rx_monotonic: float) -> None:
+ # Publish to downstream FIRST (fast, not blocked by Rerun)
+ self.global_costmap.publish(grid)
+
+ # Queue for async Rerun logging (non-blocking, drops if queue full)
+ if self._rerun_thread and self._rerun_thread.is_alive():
+ try:
+ self._rerun_queue.put_nowait((grid, calc_time_ms, rx_monotonic))
+ except queue.Full:
+ pass # Drop viz frame, data pipeline continues
+
+ def _calculate_and_time(
+ msg: PointCloud2,
+ ) -> tuple[OccupancyGrid, float, float]:
+ rx_monotonic = time.monotonic() # Capture receipt time
+ start = time.perf_counter()
+ grid = self._calculate_costmap(msg)
+ elapsed_ms = (time.perf_counter() - start) * 1000
+ return grid, elapsed_ms, rx_monotonic
+
self._disposables.add(
self.global_map.observable() # type: ignore[no-untyped-call]
- .pipe(ops.map(self._calculate_costmap))
- .subscribe(
- self.global_costmap.publish,
- )
+ .pipe(ops.map(_calculate_and_time))
+ .subscribe(lambda result: _publish_costmap(result[0], result[1], result[2]))
)
@rpc
def stop(self) -> None:
+ # Shutdown background Rerun thread
+ if self._rerun_thread and self._rerun_thread.is_alive():
+ self._rerun_queue.put(None) # Shutdown signal
+ self._rerun_thread.join(timeout=2.0)
+
super().stop()
# @timed() # TODO: fix thread leak in timed decorator
- def _calculate_costmap(self, msg: LidarMessage) -> OccupancyGrid:
+ 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/voxels.py b/dimos/mapping/voxels.py
index 6b122213c3..a36dc9bc17 100644
--- a/dimos/mapping/voxels.py
+++ b/dimos/mapping/voxels.py
@@ -13,6 +13,8 @@
# limitations under the License.
from dataclasses import dataclass
+import queue
+import threading
import time
import numpy as np
@@ -21,14 +23,21 @@
from reactivex import interval, operators as ops
from reactivex.disposable import Disposable
from reactivex.subject import Subject
+import rerun as rr
+import rerun.blueprint as rrb
from dimos.core import In, Module, Out, rpc
+from dimos.core.global_config import GlobalConfig
from dimos.core.module import ModuleConfig
+from dimos.dashboard.rerun_init import connect_rerun
from dimos.msgs.sensor_msgs import PointCloud2
from dimos.robot.unitree_webrtc.type.lidar import LidarMessage
from dimos.utils.decorators import simple_mcache
+from dimos.utils.logging_config import setup_logger
from dimos.utils.reactive import backpressure
+logger = setup_logger()
+
@dataclass
class Config(ModuleConfig):
@@ -46,10 +55,32 @@ class VoxelGridMapper(Module):
config: Config
lidar: In[LidarMessage]
- global_map: Out[LidarMessage]
-
- def __init__(self, **kwargs: object) -> None:
+ global_map: Out[PointCloud2]
+
+ @classmethod
+ def rerun_views(cls): # type: ignore[no-untyped-def]
+ """Return Rerun view blueprints for voxel map visualization."""
+ return [
+ rrb.TimeSeriesView(
+ name="Voxel Pipeline (ms)",
+ origin="/metrics/voxel_map",
+ contents=[
+ "+ /metrics/voxel_map/extract_ms",
+ "+ /metrics/voxel_map/transport_ms",
+ "+ /metrics/voxel_map/publish_ms",
+ ],
+ ),
+ rrb.TimeSeriesView(
+ name="Voxel Count",
+ origin="/metrics/voxel_map",
+ contents=["+ /metrics/voxel_map/voxel_count"],
+ ),
+ ]
+
+ def __init__(self, global_config: GlobalConfig | None = None, **kwargs: object) -> None:
super().__init__(**kwargs)
+ self._global_config = global_config or GlobalConfig()
+
dev = (
o3c.Device(self.config.device)
if (self.config.device.startswith("CUDA") and o3c.cuda.is_available())
@@ -72,11 +103,49 @@ def __init__(self, **kwargs: object) -> None:
self._voxel_hashmap = self.vbg.hashmap()
self._key_dtype = self._voxel_hashmap.key_tensor().dtype
self._latest_frame_ts: float = 0.0
+ # Monotonic timestamp of last received frame (for accurate latency in replay)
+ self._latest_frame_rx_monotonic: float | None = None
+
+ # Background Rerun logging (decouples viz from data pipeline)
+ self._rerun_queue: queue.Queue[PointCloud2 | None] = queue.Queue(maxsize=2)
+ self._rerun_thread: threading.Thread | None = None
+
+ def _rerun_worker(self) -> None:
+ """Background thread: pull from queue and log to Rerun (non-blocking)."""
+ while True:
+ try:
+ pc = self._rerun_queue.get(timeout=1.0)
+ if pc is None: # Shutdown signal
+ break
+
+ # Log to Rerun (blocks in background, doesn't affect data pipeline)
+ try:
+ rr.log(
+ "world/map",
+ pc.to_rerun(
+ mode="boxes",
+ size=self.config.voxel_size,
+ colormap="turbo",
+ ),
+ )
+ except Exception as e:
+ logger.warning(f"Rerun logging error: {e}")
+ except queue.Empty:
+ continue
@rpc
def start(self) -> None:
super().start()
+ # Only start Rerun logging if Rerun backend is selected
+ if self._global_config.viewer_backend.startswith("rerun"):
+ connect_rerun(global_config=self._global_config)
+
+ # Start background Rerun logging thread (decouples viz from data pipeline)
+ self._rerun_thread = threading.Thread(target=self._rerun_worker, daemon=True)
+ self._rerun_thread.start()
+ logger.info("VoxelGridMapper: started async Rerun logging thread")
+
# Subject to trigger publishing, with backpressure to drop if busy
self._publish_trigger: Subject[None] = Subject()
self._disposables.add(
@@ -98,15 +167,53 @@ def start(self) -> None:
@rpc
def stop(self) -> None:
+ # Shutdown background Rerun thread
+ if self._rerun_thread and self._rerun_thread.is_alive():
+ self._rerun_queue.put(None) # Shutdown signal
+ self._rerun_thread.join(timeout=2.0)
+
super().stop()
def _on_frame(self, frame: LidarMessage) -> None:
+ # Track receipt time with monotonic clock (works correctly in replay)
+ self._latest_frame_rx_monotonic = time.monotonic()
self.add_frame(frame)
if self.config.publish_interval == 0:
self._publish_trigger.on_next(None)
def publish_global_map(self) -> None:
- self.global_map.publish(self.get_global_pointcloud2())
+ # Snapshot monotonic timestamp once (won't be overwritten during slow publish)
+ rx_monotonic = self._latest_frame_rx_monotonic
+
+ start_total = time.perf_counter()
+
+ # 1. Extract pointcloud from GPU hashmap
+ t1 = time.perf_counter()
+ pc = self.get_global_pointcloud2()
+ extract_ms = (time.perf_counter() - t1) * 1000
+
+ # 2. Publish to downstream (NO auto-logging - fast!)
+ t2 = time.perf_counter()
+ self.global_map.publish(pc)
+ publish_ms = (time.perf_counter() - t2) * 1000
+
+ # 3. Queue for async Rerun logging (non-blocking, drops if queue full)
+ try:
+ self._rerun_queue.put_nowait(pc)
+ except queue.Full:
+ pass # Drop viz frame, data pipeline continues
+
+ # Log detailed timing breakdown to Rerun
+ total_ms = (time.perf_counter() - start_total) * 1000
+ rr.log("metrics/voxel_map/publish_ms", rr.Scalars(total_ms))
+ rr.log("metrics/voxel_map/extract_ms", rr.Scalars(extract_ms))
+ rr.log("metrics/voxel_map/transport_ms", rr.Scalars(publish_ms))
+ rr.log("metrics/voxel_map/voxel_count", rr.Scalars(float(len(pc))))
+
+ # Log pipeline latency (time from frame receipt to publish complete)
+ if rx_monotonic is not None:
+ latency_ms = (time.monotonic() - rx_monotonic) * 1000
+ rr.log("metrics/voxel_map/latency_ms", rr.Scalars(latency_ms))
def size(self) -> int:
return self._voxel_hashmap.size() # type: ignore[no-any-return]
diff --git a/dimos/msgs/geometry_msgs/PoseStamped.py b/dimos/msgs/geometry_msgs/PoseStamped.py
index 0d53c22dd5..406c5d7ac7 100644
--- a/dimos/msgs/geometry_msgs/PoseStamped.py
+++ b/dimos/msgs/geometry_msgs/PoseStamped.py
@@ -26,8 +26,8 @@
)
except ImportError:
ROSPoseStamped = None # type: ignore[assignment, misc]
-
from plum import dispatch
+import rerun as rr
from dimos.msgs.geometry_msgs.Pose import Pose
from dimos.msgs.geometry_msgs.Quaternion import Quaternion, QuaternionConvertable
@@ -87,6 +87,31 @@ def __str__(self) -> str:
f"euler=[{math.degrees(self.roll):.1f}, {math.degrees(self.pitch):.1f}, {math.degrees(self.yaw):.1f}])"
)
+ def to_rerun(self): # type: ignore[no-untyped-def]
+ """Convert to rerun Transform3D format.
+
+ Returns a Transform3D that can be logged to Rerun to position
+ child entities in the transform hierarchy.
+ """
+ return rr.Transform3D(
+ translation=[self.x, self.y, self.z],
+ rotation=rr.Quaternion(
+ xyzw=[
+ self.orientation.x,
+ self.orientation.y,
+ self.orientation.z,
+ self.orientation.w,
+ ]
+ ),
+ )
+
+ def to_rerun_arrow(self, length: float = 0.5): # type: ignore[no-untyped-def]
+ """Convert to rerun Arrows3D format for visualization."""
+ origin = [[self.x, self.y, self.z]]
+ forward = self.orientation.rotate_vector(Vector3(length, 0, 0))
+ vector = [[forward.x, forward.y, forward.z]]
+ return rr.Arrows3D(origins=origin, vectors=vector)
+
def new_transform_to(self, name: str) -> Transform:
return self.find_transform(
PoseStamped(
diff --git a/dimos/msgs/geometry_msgs/Transform.py b/dimos/msgs/geometry_msgs/Transform.py
index e1a6f7d424..cb112ee5c9 100644
--- a/dimos/msgs/geometry_msgs/Transform.py
+++ b/dimos/msgs/geometry_msgs/Transform.py
@@ -34,6 +34,7 @@
ROSTransform = None # type: ignore[assignment, misc]
ROSVector3 = None # type: ignore[assignment, misc]
ROSQuaternion = None # type: ignore[assignment, misc]
+import rerun as rr
from dimos.msgs.geometry_msgs.Quaternion import Quaternion
from dimos.msgs.geometry_msgs.Vector3 import Vector3
@@ -359,3 +360,18 @@ def lcm_decode(cls, data: bytes | BinaryIO) -> Transform:
child_frame_id=lcm_transform_stamped.child_frame_id,
ts=ts,
)
+
+ def to_rerun(self): # type: ignore[no-untyped-def]
+ """Convert to rerun Transform3D format with frame IDs.
+
+ Returns:
+ rr.Transform3D archetype for logging to rerun with parent/child frames
+ """
+ return rr.Transform3D(
+ translation=[self.translation.x, self.translation.y, self.translation.z],
+ rotation=rr.Quaternion(
+ xyzw=[self.rotation.x, self.rotation.y, self.rotation.z, self.rotation.w]
+ ),
+ parent_frame=self.frame_id, # type: ignore[call-arg]
+ child_frame=self.child_frame_id, # type: ignore[call-arg]
+ )
diff --git a/dimos/msgs/nav_msgs/OccupancyGrid.py b/dimos/msgs/nav_msgs/OccupancyGrid.py
index 193abff756..62ee9aa072 100644
--- a/dimos/msgs/nav_msgs/OccupancyGrid.py
+++ b/dimos/msgs/nav_msgs/OccupancyGrid.py
@@ -15,20 +15,30 @@
from __future__ import annotations
from enum import IntEnum
+from functools import lru_cache
import time
-from typing import TYPE_CHECKING, BinaryIO
+from typing import TYPE_CHECKING, Any, BinaryIO
from dimos_lcm.nav_msgs import (
MapMetaData,
OccupancyGrid as LCMOccupancyGrid,
)
-from dimos_lcm.std_msgs import Time as LCMTime
+from dimos_lcm.std_msgs import Time as LCMTime # type: ignore[import-untyped]
+import matplotlib.pyplot as plt
import numpy as np
from PIL import Image
+import rerun as rr
from dimos.msgs.geometry_msgs import Pose, Vector3, VectorLike
from dimos.types.timestamped import Timestamped
+
+@lru_cache(maxsize=16)
+def _get_matplotlib_cmap(name: str): # type: ignore[no-untyped-def]
+ """Get a matplotlib colormap by name (cached for performance)."""
+ return plt.get_cmap(name)
+
+
if TYPE_CHECKING:
from pathlib import Path
@@ -416,3 +426,245 @@ def cell_value(self, world_position: Vector3) -> int:
return CostValues.UNKNOWN
return int(self.grid[y, x])
+
+ def to_rerun( # type: ignore[no-untyped-def]
+ self,
+ colormap: str | None = None,
+ mode: str = "image",
+ z_offset: float = 0.01,
+ **kwargs: Any,
+ ): # type: ignore[no-untyped-def]
+ """Convert to Rerun visualization format.
+
+ Args:
+ colormap: Optional colormap name (e.g., "RdBu_r" for blue=free, red=occupied).
+ If None, uses grayscale for image mode or default colors for 3D modes.
+ mode: Visualization mode:
+ - "image": 2D grayscale/colored image (default)
+ - "mesh": 3D textured plane overlay on floor
+ - "points": 3D points for occupied cells only
+ z_offset: Height offset for 3D modes (default 0.01m above floor)
+ **kwargs: Additional args (ignored for compatibility)
+
+ Returns:
+ Rerun archetype for logging (rr.Image, rr.Mesh3D, or rr.Points3D)
+
+ The visualization uses:
+ - Free space (value 0): white/blue
+ - Unknown space (value -1): gray/transparent
+ - Occupied space (value > 0): black/red with gradient
+ """
+ if self.grid.size == 0:
+ if mode == "image":
+ return rr.Image(np.zeros((1, 1), dtype=np.uint8), color_model="L")
+ elif mode == "mesh":
+ return rr.Mesh3D(vertex_positions=[])
+ else:
+ return rr.Points3D([])
+
+ if mode == "points":
+ return self._to_rerun_points(colormap, z_offset)
+ elif mode == "mesh":
+ return self._to_rerun_mesh(colormap, z_offset)
+ else:
+ return self._to_rerun_image(colormap)
+
+ def _to_rerun_image(self, colormap: str | None = None): # type: ignore[no-untyped-def]
+ """Convert to 2D image visualization."""
+ # Use existing cached visualization functions for supported palettes
+ if colormap in ("turbo", "rainbow"):
+ from dimos.mapping.occupancy.visualizations import rainbow_image, turbo_image
+
+ if colormap == "turbo":
+ bgr_image = turbo_image(self.grid)
+ else:
+ bgr_image = rainbow_image(self.grid)
+
+ # Convert BGR to RGB and flip for world coordinates
+ rgb_image = np.flipud(bgr_image[:, :, ::-1])
+ return rr.Image(rgb_image, color_model="RGB")
+
+ if colormap is not None:
+ # Use matplotlib colormap (cached for performance)
+ cmap = _get_matplotlib_cmap(colormap)
+
+ grid_float = self.grid.astype(np.float32)
+
+ # Create RGBA image
+ vis = np.zeros((self.height, self.width, 4), dtype=np.uint8)
+
+ # Free space: low cost (blue in RdBu_r)
+ free_mask = self.grid == 0
+ # Occupied: high cost (red in RdBu_r)
+ occupied_mask = self.grid > 0
+ # Unknown: transparent gray
+ unknown_mask = self.grid == -1
+
+ # Map free to 0, costs to normalized value
+ if np.any(free_mask):
+ colors_free = (cmap(0.0)[:3] * np.array([255, 255, 255])).astype(np.uint8)
+ vis[free_mask, :3] = colors_free
+ vis[free_mask, 3] = 255
+
+ if np.any(occupied_mask):
+ # Normalize costs 1-100 to 0.5-1.0 range
+ costs = grid_float[occupied_mask]
+ cost_norm = 0.5 + (costs / 100) * 0.5
+ colors_occ = (cmap(cost_norm)[:, :3] * 255).astype(np.uint8)
+ vis[occupied_mask, :3] = colors_occ
+ vis[occupied_mask, 3] = 255
+
+ if np.any(unknown_mask):
+ vis[unknown_mask] = [128, 128, 128, 100] # Semi-transparent gray
+
+ # Flip vertically to match world coordinates (y=0 at bottom)
+ return rr.Image(np.flipud(vis), color_model="RGBA")
+
+ # Grayscale visualization (no colormap)
+ vis_gray = np.zeros((self.height, self.width), dtype=np.uint8)
+
+ # Free space = white
+ vis_gray[self.grid == 0] = 255
+
+ # Unknown = gray
+ vis_gray[self.grid == -1] = 128
+
+ # Occupied (100) = black, costs (1-99) = gradient
+ occupied_mask = self.grid > 0
+ if np.any(occupied_mask):
+ # Map 1-100 to 127-0 (darker = more occupied)
+ costs = self.grid[occupied_mask].astype(np.float32)
+ vis_gray[occupied_mask] = (127 * (1 - costs / 100)).astype(np.uint8)
+
+ # Flip vertically to match world coordinates (y=0 at bottom)
+ return rr.Image(np.flipud(vis_gray), color_model="L")
+
+ def _to_rerun_points(self, colormap: str | None = None, z_offset: float = 0.01): # type: ignore[no-untyped-def]
+ """Convert to 3D points for occupied cells."""
+ # Find occupied cells (cost > 0)
+ occupied_mask = self.grid > 0
+ if not np.any(occupied_mask):
+ return rr.Points3D([])
+
+ # Get grid coordinates of occupied cells
+ gy, gx = np.where(occupied_mask)
+ costs = self.grid[occupied_mask].astype(np.float32)
+
+ # Convert to world coordinates
+ ox = self.origin.position.x
+ oy = self.origin.position.y
+ wx = ox + (gx + 0.5) * self.resolution
+ wy = oy + (gy + 0.5) * self.resolution
+ wz = np.full_like(wx, z_offset)
+
+ points = np.column_stack([wx, wy, wz])
+
+ # Determine colors
+ if colormap is not None:
+ # Normalize costs to 0-1 range
+ cost_norm = costs / 100.0
+ cmap = _get_matplotlib_cmap(colormap)
+ point_colors = (cmap(cost_norm)[:, :3] * 255).astype(np.uint8)
+ else:
+ # Default: red gradient based on cost
+ intensity = (costs / 100.0 * 255).astype(np.uint8)
+ point_colors = np.column_stack(
+ [intensity, np.zeros_like(intensity), np.zeros_like(intensity)]
+ )
+
+ return rr.Points3D(
+ positions=points,
+ radii=self.resolution / 2,
+ colors=point_colors,
+ )
+
+ def _to_rerun_mesh(self, colormap: str | None = None, z_offset: float = 0.01): # type: ignore[no-untyped-def]
+ """Convert to 3D mesh overlay on floor plane.
+
+ Only renders known cells (free or occupied), skipping unknown cells.
+ Uses per-vertex colors for proper alpha blending.
+ Fully vectorized for performance (~100x faster than loop version).
+ """
+ # Only render known cells (not unknown = -1)
+ known_mask = self.grid != -1
+ if not np.any(known_mask):
+ return rr.Mesh3D(vertex_positions=[])
+
+ # Get grid coordinates of known cells
+ gy, gx = np.where(known_mask)
+ n_cells = len(gy)
+
+ ox = self.origin.position.x
+ oy = self.origin.position.y
+ r = self.resolution
+
+ # === VECTORIZED VERTEX GENERATION ===
+ # World positions of cell corners (bottom-left of each cell)
+ wx = ox + gx.astype(np.float32) * r
+ wy = oy + gy.astype(np.float32) * r
+
+ # Each cell has 4 vertices: (wx,wy), (wx+r,wy), (wx+r,wy+r), (wx,wy+r)
+ # Shape: (n_cells, 4, 3)
+ vertices = np.zeros((n_cells, 4, 3), dtype=np.float32)
+ vertices[:, 0, 0] = wx
+ vertices[:, 0, 1] = wy
+ vertices[:, 0, 2] = z_offset
+ vertices[:, 1, 0] = wx + r
+ vertices[:, 1, 1] = wy
+ vertices[:, 1, 2] = z_offset
+ vertices[:, 2, 0] = wx + r
+ vertices[:, 2, 1] = wy + r
+ vertices[:, 2, 2] = z_offset
+ vertices[:, 3, 0] = wx
+ vertices[:, 3, 1] = wy + r
+ vertices[:, 3, 2] = z_offset
+ # Flatten to (n_cells*4, 3)
+ flat_vertices = vertices.reshape(-1, 3)
+
+ # === VECTORIZED INDEX GENERATION ===
+ # Base vertex indices for each cell: [0, 4, 8, 12, ...]
+ base_v = np.arange(n_cells, dtype=np.uint32) * 4
+ # Two triangles per cell: (0,1,2) and (0,2,3) relative to base
+ indices = np.zeros((n_cells, 2, 3), dtype=np.uint32)
+ indices[:, 0, 0] = base_v
+ indices[:, 0, 1] = base_v + 1
+ indices[:, 0, 2] = base_v + 2
+ indices[:, 1, 0] = base_v
+ indices[:, 1, 1] = base_v + 2
+ indices[:, 1, 2] = base_v + 3
+ # Flatten to (n_cells*2, 3)
+ flat_indices = indices.reshape(-1, 3)
+
+ # === VECTORIZED COLOR GENERATION ===
+ cell_values = self.grid[gy, gx] # Get all cell values at once
+
+ if colormap:
+ cmap = _get_matplotlib_cmap(colormap)
+ # Normalize costs: free(0) -> 0.0, cost(1-100) -> 0.5-1.0
+ cost_norm = np.where(cell_values == 0, 0.0, 0.5 + (cell_values / 100) * 0.5)
+ # Sample colormap for all cells at once (returns Nx4 RGBA float)
+ rgba_float = cmap(cost_norm)[:, :3] # Drop alpha, we set our own
+ rgb = (rgba_float * 255).astype(np.uint8)
+ # Alpha: 180 for free, 220 for occupied
+ alpha = np.where(cell_values == 0, 180, 220).astype(np.uint8)
+ else:
+ # Default coloring: dark grey for free, black for occupied
+ rgb = np.zeros((n_cells, 3), dtype=np.uint8)
+ is_free = cell_values == 0
+ # Free space: dark grey
+ rgb[is_free] = [40, 40, 40]
+ # Occupied: black to dark grey gradient (darker = more occupied)
+ intensity = (40 * (1 - cell_values / 100)).astype(np.uint8)
+ rgb[~is_free] = np.column_stack([intensity[~is_free]] * 3)
+ alpha = np.where(is_free, 150, 200).astype(np.uint8)
+
+ # Combine RGB and alpha into RGBA
+ colors_per_cell = np.column_stack([rgb, alpha]) # (n_cells, 4)
+ # Repeat each color 4 times (one per vertex)
+ colors = np.repeat(colors_per_cell, 4, axis=0) # (n_cells*4, 4)
+
+ return rr.Mesh3D(
+ vertex_positions=flat_vertices,
+ triangle_indices=flat_indices,
+ vertex_colors=colors,
+ )
diff --git a/dimos/msgs/nav_msgs/Path.py b/dimos/msgs/nav_msgs/Path.py
index deecbb52e1..ff30b88fa6 100644
--- a/dimos/msgs/nav_msgs/Path.py
+++ b/dimos/msgs/nav_msgs/Path.py
@@ -30,6 +30,7 @@
from nav_msgs.msg import Path as ROSPath # type: ignore[attr-defined]
except ImportError:
ROSPath = None # type: ignore[assignment, misc]
+import rerun as rr
from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
from dimos.types.timestamped import Timestamped
@@ -231,3 +232,18 @@ def to_ros_msg(self) -> ROSPath:
ros_msg.poses.append(pose.to_ros_msg())
return ros_msg
+
+ def to_rerun(self, color: tuple[int, int, int] = (0, 255, 128)): # type: ignore[no-untyped-def]
+ """Convert to rerun LineStrips3D format.
+
+ Args:
+ color: RGB color tuple for the path line
+
+ Returns:
+ rr.LineStrips3D archetype for logging to rerun
+ """
+ if not self.poses:
+ return rr.LineStrips3D([])
+
+ points = [[p.x, p.y, p.z] for p in self.poses]
+ return rr.LineStrips3D([points], colors=[color])
diff --git a/dimos/msgs/sensor_msgs/CameraInfo.py b/dimos/msgs/sensor_msgs/CameraInfo.py
index 482ec44b48..c54b6565fa 100644
--- a/dimos/msgs/sensor_msgs/CameraInfo.py
+++ b/dimos/msgs/sensor_msgs/CameraInfo.py
@@ -20,6 +20,7 @@
from dimos_lcm.sensor_msgs import CameraInfo as LCMCameraInfo
from dimos_lcm.std_msgs.Header import Header
import numpy as np
+import rerun as rr
# Import ROS types
try:
@@ -372,6 +373,28 @@ def __eq__(self, other) -> bool: # type: ignore[no-untyped-def]
and self.frame_id == other.frame_id
)
+ def to_rerun(self, image_plane_distance: float = 0.5): # type: ignore[no-untyped-def]
+ """Convert to Rerun Pinhole archetype for camera frustum visualization.
+
+ Args:
+ image_plane_distance: Distance to draw the image plane in the frustum
+
+ Returns:
+ rr.Pinhole archetype for logging to Rerun
+ """
+ # Extract intrinsics from K matrix
+ # K = [fx, 0, cx, 0, fy, cy, 0, 0, 1]
+ fx, fy = self.K[0], self.K[4]
+ cx, cy = self.K[2], self.K[5]
+
+ return rr.Pinhole(
+ focal_length=[fx, fy],
+ principal_point=[cx, cy],
+ width=self.width,
+ height=self.height,
+ image_plane_distance=image_plane_distance,
+ )
+
class CalibrationProvider:
"""Provides lazy-loaded access to camera calibration YAML files in a directory."""
diff --git a/dimos/msgs/sensor_msgs/Image.py b/dimos/msgs/sensor_msgs/Image.py
index 4e07544444..cab6526f3b 100644
--- a/dimos/msgs/sensor_msgs/Image.py
+++ b/dimos/msgs/sensor_msgs/Image.py
@@ -16,7 +16,7 @@
import base64
import time
-from typing import TYPE_CHECKING, Literal, TypedDict
+from typing import TYPE_CHECKING, Any, Literal, TypedDict
import cv2
from dimos_lcm.sensor_msgs.Image import Image as LCMImage
@@ -319,6 +319,10 @@ def to_bgr(self) -> Image:
def to_grayscale(self) -> Image:
return Image(self._impl.to_grayscale())
+ def to_rerun(self) -> Any:
+ """Convert to rerun Image format."""
+ return self._impl.to_rerun()
+
def resize(self, width: int, height: int, interpolation: int = cv2.INTER_LINEAR) -> Image:
return Image(self._impl.resize(width, height, interpolation))
diff --git a/dimos/msgs/sensor_msgs/PointCloud2.py b/dimos/msgs/sensor_msgs/PointCloud2.py
index 78e979b998..1e842a0b49 100644
--- a/dimos/msgs/sensor_msgs/PointCloud2.py
+++ b/dimos/msgs/sensor_msgs/PointCloud2.py
@@ -21,11 +21,13 @@
from dimos_lcm.sensor_msgs.PointCloud2 import (
PointCloud2 as LCMPointCloud2,
)
-from dimos_lcm.sensor_msgs.PointField import PointField
-from dimos_lcm.std_msgs.Header import Header
+from dimos_lcm.sensor_msgs.PointField import PointField # type: ignore[import-untyped]
+from dimos_lcm.std_msgs.Header import Header # type: ignore[import-untyped]
+import matplotlib.pyplot as plt
import numpy as np
import open3d as o3d # type: ignore[import-untyped]
import open3d.core as o3c # type: ignore[import-untyped]
+import rerun as rr
from dimos.msgs.geometry_msgs import Vector3
@@ -44,6 +46,12 @@
from dimos.types.timestamped import Timestamped
+@functools.lru_cache(maxsize=16)
+def _get_matplotlib_cmap(name: str): # type: ignore[no-untyped-def]
+ """Get a matplotlib colormap by name (cached for performance)."""
+ return plt.get_cmap(name)
+
+
# TODO: encode/decode need to be updated to work with full spectrum of pointcloud2 fields
class PointCloud2(Timestamped):
msg_name = "sensor_msgs.PointCloud2"
@@ -410,6 +418,62 @@ def __len__(self) -> int:
return 0
return int(self._pcd_tensor.point["positions"].shape[0])
+ def to_rerun( # type: ignore[no-untyped-def]
+ self,
+ radii: float = 0.02,
+ colormap: str | None = None,
+ colors: list[int] | None = None,
+ mode: str = "boxes",
+ size: float | None = None,
+ fill_mode: str = "solid",
+ **kwargs, # type: ignore[no-untyped-def]
+ ): # type: ignore[no-untyped-def]
+ """Convert to Rerun Points3D or Boxes3D archetype.
+
+ Args:
+ radii: Point radius for visualization (only for mode="points")
+ colormap: Optional colormap name (e.g., "turbo", "viridis") to color by height
+ colors: Optional RGB color [r, g, b] for all points (0-255)
+ mode: Visualization mode - "points" for spheres, "boxes" for cubes (default)
+ size: Box size for mode="boxes" (e.g., voxel_size). Defaults to radii*2.
+ fill_mode: Fill mode for boxes - "solid", "majorwireframe", or "densewireframe"
+ **kwargs: Additional args (ignored for compatibility)
+
+ Returns:
+ rr.Points3D or rr.Boxes3D archetype for logging to Rerun
+ """
+ points = self.as_numpy()
+ if len(points) == 0:
+ return rr.Points3D([]) if mode == "points" else rr.Boxes3D(centers=[])
+
+ # Determine colors
+ point_colors = None
+ if colormap is not None:
+ # Color by height (z-coordinate)
+ z = points[:, 2]
+ z_norm = (z - z.min()) / (z.max() - z.min() + 1e-8)
+ cmap = _get_matplotlib_cmap(colormap)
+ point_colors = (cmap(z_norm)[:, :3] * 255).astype(np.uint8)
+ elif colors is not None:
+ point_colors = colors
+
+ if mode == "boxes":
+ # Use boxes for voxel visualization
+ box_size = size if size is not None else radii * 2
+ half = box_size / 2
+ return rr.Boxes3D(
+ centers=points,
+ half_sizes=[half, half, half],
+ colors=point_colors,
+ fill_mode=fill_mode, # type: ignore[arg-type]
+ )
+ else:
+ return rr.Points3D(
+ positions=points,
+ radii=radii,
+ colors=point_colors,
+ )
+
def filter_by_height(
self,
min_height: float | None = None,
diff --git a/dimos/msgs/sensor_msgs/image_impls/AbstractImage.py b/dimos/msgs/sensor_msgs/image_impls/AbstractImage.py
index 8de01f9a9d..f5d92a3bc6 100644
--- a/dimos/msgs/sensor_msgs/image_impls/AbstractImage.py
+++ b/dimos/msgs/sensor_msgs/image_impls/AbstractImage.py
@@ -22,6 +22,7 @@
import cv2
import numpy as np
+import rerun as rr
try:
import cupy as cp # type: ignore[import-not-found]
@@ -108,6 +109,37 @@ def _encode_nvimgcodec_cuda(bgr_cu, quality: int = 80) -> bytes: # type: ignore
return bytes(bs0)
+def format_to_rerun(data, fmt: ImageFormat): # type: ignore[no-untyped-def]
+ """Convert image data to Rerun archetype based on format.
+
+ Args:
+ data: Image data (numpy array or cupy array on CPU)
+ fmt: ImageFormat enum value
+
+ Returns:
+ Rerun archetype (rr.Image or rr.DepthImage)
+ """
+ match fmt:
+ case ImageFormat.RGB:
+ return rr.Image(data, color_model="RGB")
+ case ImageFormat.RGBA:
+ return rr.Image(data, color_model="RGBA")
+ case ImageFormat.BGR:
+ return rr.Image(data, color_model="BGR")
+ case ImageFormat.BGRA:
+ return rr.Image(data, color_model="BGRA")
+ case ImageFormat.GRAY:
+ return rr.Image(data, color_model="L")
+ case ImageFormat.GRAY16:
+ return rr.Image(data, color_model="L")
+ case ImageFormat.DEPTH:
+ return rr.DepthImage(data)
+ case ImageFormat.DEPTH16:
+ return rr.DepthImage(data)
+ case _:
+ raise ValueError(f"Unsupported format for Rerun: {fmt}")
+
+
class AbstractImage(ABC):
data: Any
format: ImageFormat
@@ -165,6 +197,10 @@ def resize(
) -> AbstractImage: # pragma: no cover - abstract
...
+ @abstractmethod
+ def to_rerun(self) -> Any: # pragma: no cover - abstract
+ ...
+
@abstractmethod
def sharpness(self) -> float: # pragma: no cover - abstract
...
diff --git a/dimos/msgs/sensor_msgs/image_impls/CudaImage.py b/dimos/msgs/sensor_msgs/image_impls/CudaImage.py
index 027719ffc6..8230daae29 100644
--- a/dimos/msgs/sensor_msgs/image_impls/CudaImage.py
+++ b/dimos/msgs/sensor_msgs/image_impls/CudaImage.py
@@ -647,6 +647,20 @@ def resize(self, width: int, height: int, interpolation: int = cv2.INTER_LINEAR)
_resize_bilinear_hwc_cuda(self.data, height, width), self.format, self.frame_id, self.ts
)
+ def to_rerun(self): # type: ignore[no-untyped-def]
+ """Convert to rerun Image format.
+
+ Transfers data from GPU to CPU and converts to appropriate format.
+
+ Returns:
+ rr.Image or rr.DepthImage archetype for logging to rerun
+ """
+ from dimos.msgs.sensor_msgs.image_impls.AbstractImage import format_to_rerun
+
+ # Transfer to CPU
+ cpu_data = cp.asnumpy(self.data)
+ return format_to_rerun(cpu_data, self.format)
+
def crop(self, x: int, y: int, width: int, height: int) -> CudaImage:
"""Crop the image to the specified region.
diff --git a/dimos/msgs/sensor_msgs/image_impls/NumpyImage.py b/dimos/msgs/sensor_msgs/image_impls/NumpyImage.py
index ff6272e30c..250b951371 100644
--- a/dimos/msgs/sensor_msgs/image_impls/NumpyImage.py
+++ b/dimos/msgs/sensor_msgs/image_impls/NumpyImage.py
@@ -126,6 +126,12 @@ def to_grayscale(self) -> NumpyImage:
)
raise ValueError(f"Unsupported format: {self.format}")
+ def to_rerun(self): # type: ignore[no-untyped-def]
+ """Convert to rerun Image format."""
+ from dimos.msgs.sensor_msgs.image_impls.AbstractImage import format_to_rerun
+
+ return format_to_rerun(self.data, self.format)
+
def resize(self, width: int, height: int, interpolation: int = cv2.INTER_LINEAR) -> NumpyImage:
return NumpyImage(
cv2.resize(self.data, (width, height), interpolation=interpolation),
diff --git a/dimos/msgs/tf2_msgs/TFMessage.py b/dimos/msgs/tf2_msgs/TFMessage.py
index 225580b83e..29e890de47 100644
--- a/dimos/msgs/tf2_msgs/TFMessage.py
+++ b/dimos/msgs/tf2_msgs/TFMessage.py
@@ -159,3 +159,22 @@ def to_ros_msg(self) -> ROSTFMessage:
ros_msg.transforms.append(transform.to_ros_transform_stamped())
return ros_msg
+
+ def to_rerun(self): # type: ignore[no-untyped-def]
+ """Convert to a list of rerun Transform3D archetypes.
+
+ Returns a list of tuples (entity_path, Transform3D) for each transform
+ in the message. The entity_path is derived from the child_frame_id.
+
+ Returns:
+ List of (entity_path, rr.Transform3D) tuples
+
+ Example:
+ for path, transform in tf_msg.to_rerun():
+ rr.log(path, transform)
+ """
+ results = []
+ for transform in self.transforms:
+ entity_path = f"world/{transform.child_frame_id}"
+ results.append((entity_path, transform.to_rerun())) # type: ignore[no-untyped-call]
+ return results
diff --git a/dimos/navigation/replanning_a_star/module.py b/dimos/navigation/replanning_a_star/module.py
index 9c43c9037c..d8b582be83 100644
--- a/dimos/navigation/replanning_a_star/module.py
+++ b/dimos/navigation/replanning_a_star/module.py
@@ -19,6 +19,7 @@
from dimos.core import In, Module, Out, rpc
from dimos.core.global_config import GlobalConfig
+from dimos.dashboard.rerun_init import connect_rerun
from dimos.msgs.geometry_msgs import PoseStamped, Twist
from dimos.msgs.nav_msgs import OccupancyGrid, Path
from dimos.msgs.sensor_msgs import Image
@@ -49,6 +50,10 @@ def __init__(self, global_config: GlobalConfig | None = None) -> None:
@rpc
def start(self) -> None:
super().start()
+ connect_rerun(global_config=self._global_config)
+
+ # Auto-log path to Rerun
+ self.path.autolog_to_rerun("world/nav/path")
unsub = self.odom.subscribe(self._planner.handle_odom)
self._disposables.add(Disposable(unsub))
diff --git a/dimos/perception/detection/module2D.py b/dimos/perception/detection/module2D.py
index fdf276bcae..cfca3b2192 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),
)
)
@@ -166,7 +166,7 @@ def deploy( # type: ignore[no-untyped-def]
from dimos.core import LCMTransport
detector = Detection2DModule(**kwargs)
- detector.image.connect(camera.color_image)
+ detector.color_image.connect(camera.color_image)
detector.annotations.transport = LCMTransport(f"{prefix}/annotations", ImageAnnotations)
detector.detections.transport = LCMTransport(f"{prefix}/detections", Detection2DArray)
diff --git a/dimos/perception/detection/module3D.py b/dimos/perception/detection/module3D.py
index eddba06e3e..037376f995 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
@@ -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 e9dc1d9518..c37dff8dea 100644
--- a/dimos/perception/detection/moduleDB.py
+++ b/dimos/perception/detection/moduleDB.py
@@ -23,8 +23,7 @@
from lcm_msgs.foxglove_msgs import SceneUpdate # type: ignore[import-not-found]
from reactivex.observable import Observable
-from dimos import spec
-from dimos.core import DimosCluster, In, Out, rpc
+from dimos.core import In, Out, rpc
from dimos.msgs.geometry_msgs import PoseStamped, Quaternion, Transform, Vector3
from dimos.msgs.sensor_msgs import Image, PointCloud2
from dimos.msgs.vision_msgs import Detection2DArray
@@ -143,7 +142,7 @@ 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 +307,6 @@ 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 4d4fa149dc..6212080858 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/robot/all_blueprints.py b/dimos/robot/all_blueprints.py
index df975d87df..e30d42dc32 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/foxglove_bridge.py b/dimos/robot/foxglove_bridge.py
index 4a208dd78e..ed14a06495 100644
--- a/dimos/robot/foxglove_bridge.py
+++ b/dimos/robot/foxglove_bridge.py
@@ -15,6 +15,7 @@
import asyncio
import logging
import threading
+from typing import TYPE_CHECKING, Any
# this is missing, I'm just trying to import lcm_foxglove_bridge.py from dimos_lcm
from dimos_lcm.foxglove_bridge import (
@@ -22,24 +23,46 @@
)
from dimos.core import DimosCluster, Module, rpc
+from dimos.utils.logging_config import setup_logger
+
+if TYPE_CHECKING:
+ from dimos.core.global_config import GlobalConfig
logging.getLogger("lcm_foxglove_bridge").setLevel(logging.ERROR)
logging.getLogger("FoxgloveServer").setLevel(logging.ERROR)
+logger = setup_logger()
+
class FoxgloveBridge(Module):
_thread: threading.Thread
_loop: asyncio.AbstractEventLoop
-
- def __init__(self, *args, shm_channels=None, jpeg_shm_channels=None, **kwargs) -> None: # type: ignore[no-untyped-def]
+ _global_config: "GlobalConfig | None" = None
+
+ def __init__(
+ self,
+ *args: Any,
+ shm_channels: list[str] | None = None,
+ jpeg_shm_channels: list[str] | None = None,
+ global_config: "GlobalConfig | None" = None,
+ **kwargs: Any,
+ ) -> None:
super().__init__(*args, **kwargs)
self.shm_channels = shm_channels or []
self.jpeg_shm_channels = jpeg_shm_channels or []
+ self._global_config = global_config
@rpc
def start(self) -> None:
super().start()
+ # Skip if Rerun is the selected viewer backend
+ if self._global_config and self._global_config.viewer_backend.startswith("rerun"):
+ logger.info(
+ "Foxglove bridge skipped", viewer_backend=self._global_config.viewer_backend
+ )
+ return
+
def run_bridge() -> None:
self._loop = asyncio.new_event_loop()
asyncio.set_event_loop(self._loop)
diff --git a/dimos/robot/unitree/connection/go2.py b/dimos/robot/unitree/connection/go2.py
index 0e9037f25d..03d7677f48 100644
--- a/dimos/robot/unitree/connection/go2.py
+++ b/dimos/robot/unitree/connection/go2.py
@@ -13,16 +13,20 @@
# limitations under the License.
import logging
+from pathlib import Path
from threading import Thread
import time
from typing import Any, Protocol
from reactivex.disposable import Disposable
from reactivex.observable import Observable
+import rerun as rr
+import rerun.blueprint as rrb
from dimos import spec
from dimos.core import DimosCluster, In, LCMTransport, Module, Out, pSHMTransport, rpc
from dimos.core.global_config import GlobalConfig
+from dimos.dashboard.rerun_init import connect_rerun
from dimos.msgs.geometry_msgs import (
PoseStamped,
Quaternion,
@@ -40,6 +44,9 @@
logger = setup_logger(level=logging.INFO)
+# URDF path for Go2 robot
+_GO2_URDF = Path(__file__).parent.parent / "go2" / "go2.urdf"
+
class Go2ConnectionProtocol(Protocol):
"""Protocol defining the interface for Go2 robot connections."""
@@ -137,6 +144,16 @@ class GO2Connection(Module, spec.Camera, spec.Pointcloud):
_global_config: GlobalConfig
_camera_info_thread: Thread | None = None
+ @classmethod
+ def rerun_views(cls): # type: ignore[no-untyped-def]
+ """Return Rerun view blueprints for GO2 camera visualization."""
+ return [
+ rrb.Spatial2DView(
+ name="Camera",
+ origin="world/robot/camera/rgb",
+ ),
+ ]
+
def __init__( # type: ignore[no-untyped-def]
self,
ip: str | None = None,
@@ -179,9 +196,17 @@ def start(self) -> None:
self.connection.start()
+ # Initialize Rerun world frame and load URDF (only if Rerun backend)
+ if self._global_config.viewer_backend.startswith("rerun"):
+ self._init_rerun_world()
+
+ def onimage(image: Image) -> None:
+ self.color_image.publish(image)
+ rr.log("world/robot/camera/rgb", image.to_rerun())
+
self._disposables.add(self.connection.lidar_stream().subscribe(self.lidar.publish))
self._disposables.add(self.connection.odom_stream().subscribe(self._publish_tf))
- self._disposables.add(self.connection.video_stream().subscribe(self.color_image.publish))
+ self._disposables.add(self.connection.video_stream().subscribe(onimage))
self._disposables.add(Disposable(self.cmd_vel.subscribe(self.move)))
self._camera_info_thread = Thread(
@@ -193,6 +218,45 @@ def start(self) -> None:
self.standup()
# self.record("go2_bigoffice")
+ def _init_rerun_world(self) -> None:
+ """Set up Rerun world frame, load URDF, and static assets.
+
+ Does NOT compose blueprint - that's handled by ModuleBlueprintSet.build().
+ """
+ connect_rerun(global_config=self._global_config)
+
+ # Set up world coordinate system AND register it as a named frame
+ # This is KEY - it connects entity paths to the named frame system
+ rr.log(
+ "world",
+ rr.ViewCoordinates.RIGHT_HAND_Z_UP,
+ rr.CoordinateFrame("world"), # type: ignore[attr-defined]
+ static=True,
+ )
+
+ # Bridge the named frame "world" to the implicit frame hierarchy "tf#/world"
+ # This connects TF named frames to entity path hierarchy
+ rr.log(
+ "world",
+ rr.Transform3D(
+ parent_frame="world", # type: ignore[call-arg]
+ child_frame="tf#/world", # type: ignore[call-arg]
+ ),
+ static=True,
+ )
+
+ # Load robot URDF
+ if _GO2_URDF.exists():
+ rr.log_file_from_path(
+ str(_GO2_URDF),
+ entity_path_prefix="world/robot",
+ static=True,
+ )
+ logger.info(f"Loaded URDF from {_GO2_URDF}")
+
+ # Log static camera pinhole (for frustum)
+ rr.log("world/robot/camera", _camera_info_static().to_rerun(), static=True)
+
@rpc
def stop(self) -> None:
self.liedown()
@@ -248,10 +312,47 @@ def _odom_to_tf(cls, odom: PoseStamped) -> list[Transform]:
]
def _publish_tf(self, msg: PoseStamped) -> None:
- self.tf.publish(*self._odom_to_tf(msg))
+ transforms = self._odom_to_tf(msg)
+ self.tf.publish(*transforms)
if self.odom.transport:
self.odom.publish(msg)
+ # Log to Rerun: robot pose (relative to parent entity "world")
+ rr.log(
+ "world/robot",
+ rr.Transform3D(
+ translation=[msg.x, msg.y, msg.z],
+ rotation=rr.Quaternion(
+ xyzw=[
+ msg.orientation.x,
+ msg.orientation.y,
+ msg.orientation.z,
+ msg.orientation.w,
+ ]
+ ),
+ ),
+ )
+ # Log axes as a child entity for visualization
+ rr.log("world/robot/axes", rr.TransformAxes3D(0.5)) # type: ignore[attr-defined]
+
+ # Log camera transform (compose base_link -> camera_link -> camera_optical)
+ # transforms[1] is camera_link, transforms[2] is camera_optical
+ cam_tf = transforms[1] + transforms[2] # compose transforms
+ rr.log(
+ "world/robot/camera",
+ rr.Transform3D(
+ translation=[cam_tf.translation.x, cam_tf.translation.y, cam_tf.translation.z],
+ rotation=rr.Quaternion(
+ xyzw=[
+ cam_tf.rotation.x,
+ cam_tf.rotation.y,
+ cam_tf.rotation.z,
+ cam_tf.rotation.w,
+ ]
+ ),
+ ),
+ )
+
def publish_camera_info(self) -> None:
while True:
self.camera_info.publish(_camera_info_static())
diff --git a/dimos/robot/unitree/g1/g1detector.py b/dimos/robot/unitree/g1/g1detector.py
index ca549025af..55986eb087 100644
--- a/dimos/robot/unitree/g1/g1detector.py
+++ b/dimos/robot/unitree/g1/g1detector.py
@@ -31,7 +31,7 @@ def deploy(dimos: DimosCluster, ip: str): # type: ignore[no-untyped-def]
detector=YoloPersonDetector,
)
- detector3d = moduleDB.deploy(
+ detector3d = moduleDB.deploy( # type: ignore[attr-defined]
dimos,
camera=camera,
lidar=nav,
diff --git a/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py b/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py
index bf65447e25..8173f27527 100644
--- a/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py
+++ b/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py
@@ -16,6 +16,10 @@
import platform
+from dimos_lcm.foxglove_msgs.ImageAnnotations import ( # type: ignore[import-untyped]
+ ImageAnnotations,
+)
+
from dimos.agents.agent import llm_agent
from dimos.agents.cli.human import human_input
from dimos.agents.cli.web import web_input
@@ -25,19 +29,21 @@
from dimos.agents.spec import Provider
from dimos.constants import DEFAULT_CAPACITY_COLOR_IMAGE
from dimos.core.blueprints import autoconnect
-from dimos.core.transport import JpegLcmTransport, JpegShmTransport, pSHMTransport
+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.sensor_msgs import Image
+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.replanning_a_star.module import (
replanning_a_star_planner,
)
+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.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
@@ -71,12 +77,53 @@
nav = autoconnect(
basic,
- voxel_mapper(voxel_size=0.05),
+ voxel_mapper(voxel_size=0.1),
cost_mapper(),
replanning_a_star_planner(),
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/web/command-center-extension/.gitignore b/dimos/web/command-center-extension/.gitignore
index 3f7224ed26..1cb79e0e3c 100644
--- a/dimos/web/command-center-extension/.gitignore
+++ b/dimos/web/command-center-extension/.gitignore
@@ -1,5 +1,6 @@
*.foxe
/dist
+/dist-standalone
/node_modules
!/package.json
!/package-lock.json
diff --git a/dimos/web/command-center-extension/index.html b/dimos/web/command-center-extension/index.html
new file mode 100644
index 0000000000..e1e9ce85ad
--- /dev/null
+++ b/dimos/web/command-center-extension/index.html
@@ -0,0 +1,18 @@
+
+
+
+
+
+ Command Center
+
+
+
+
+
+
+
diff --git a/dimos/web/command-center-extension/package-lock.json b/dimos/web/command-center-extension/package-lock.json
index 6446666ebc..09f9be88b4 100644
--- a/dimos/web/command-center-extension/package-lock.json
+++ b/dimos/web/command-center-extension/package-lock.json
@@ -1,12 +1,12 @@
{
"name": "command-center-extension",
- "version": "0.0.0",
+ "version": "0.0.1",
"lockfileVersion": 3,
"requires": true,
"packages": {
"": {
"name": "command-center-extension",
- "version": "0.0.0",
+ "version": "0.0.1",
"license": "UNLICENSED",
"dependencies": {
"@types/pako": "^2.0.4",
@@ -23,12 +23,732 @@
"@types/leaflet": "^1.9.21",
"@types/react": "18.3.24",
"@types/react-dom": "18.3.7",
+ "@vitejs/plugin-react": "^4.3.4",
"create-foxglove-extension": "1.0.6",
"eslint": "9.34.0",
"prettier": "3.6.2",
"react": "18.3.1",
"react-dom": "^18.3.1",
- "typescript": "5.9.2"
+ "typescript": "5.9.2",
+ "vite": "^6.0.0"
+ }
+ },
+ "node_modules/@babel/code-frame": {
+ "version": "7.27.1",
+ "resolved": "https://registry.npmjs.org/@babel/code-frame/-/code-frame-7.27.1.tgz",
+ "integrity": "sha512-cjQ7ZlQ0Mv3b47hABuTevyTuYN4i+loJKGeV9flcCgIK37cCXRh+L1bd3iBHlynerhQ7BhCkn2BPbQUL+rGqFg==",
+ "dev": true,
+ "dependencies": {
+ "@babel/helper-validator-identifier": "^7.27.1",
+ "js-tokens": "^4.0.0",
+ "picocolors": "^1.1.1"
+ },
+ "engines": {
+ "node": ">=6.9.0"
+ }
+ },
+ "node_modules/@babel/compat-data": {
+ "version": "7.28.5",
+ "resolved": "https://registry.npmjs.org/@babel/compat-data/-/compat-data-7.28.5.tgz",
+ "integrity": "sha512-6uFXyCayocRbqhZOB+6XcuZbkMNimwfVGFji8CTZnCzOHVGvDqzvitu1re2AU5LROliz7eQPhB8CpAMvnx9EjA==",
+ "dev": true,
+ "engines": {
+ "node": ">=6.9.0"
+ }
+ },
+ "node_modules/@babel/core": {
+ "version": "7.28.5",
+ "resolved": "https://registry.npmjs.org/@babel/core/-/core-7.28.5.tgz",
+ "integrity": "sha512-e7jT4DxYvIDLk1ZHmU/m/mB19rex9sv0c2ftBtjSBv+kVM/902eh0fINUzD7UwLLNR+jU585GxUJ8/EBfAM5fw==",
+ "dev": true,
+ "dependencies": {
+ "@babel/code-frame": "^7.27.1",
+ "@babel/generator": "^7.28.5",
+ "@babel/helper-compilation-targets": "^7.27.2",
+ "@babel/helper-module-transforms": "^7.28.3",
+ "@babel/helpers": "^7.28.4",
+ "@babel/parser": "^7.28.5",
+ "@babel/template": "^7.27.2",
+ "@babel/traverse": "^7.28.5",
+ "@babel/types": "^7.28.5",
+ "@jridgewell/remapping": "^2.3.5",
+ "convert-source-map": "^2.0.0",
+ "debug": "^4.1.0",
+ "gensync": "^1.0.0-beta.2",
+ "json5": "^2.2.3",
+ "semver": "^6.3.1"
+ },
+ "engines": {
+ "node": ">=6.9.0"
+ },
+ "funding": {
+ "type": "opencollective",
+ "url": "https://opencollective.com/babel"
+ }
+ },
+ "node_modules/@babel/core/node_modules/json5": {
+ "version": "2.2.3",
+ "resolved": "https://registry.npmjs.org/json5/-/json5-2.2.3.tgz",
+ "integrity": "sha512-XmOWe7eyHYH14cLdVPoyg+GOH3rYX++KpzrylJwSW98t3Nk+U8XOl8FWKOgwtzdb8lXGf6zYwDUzeHMWfxasyg==",
+ "dev": true,
+ "bin": {
+ "json5": "lib/cli.js"
+ },
+ "engines": {
+ "node": ">=6"
+ }
+ },
+ "node_modules/@babel/core/node_modules/semver": {
+ "version": "6.3.1",
+ "resolved": "https://registry.npmjs.org/semver/-/semver-6.3.1.tgz",
+ "integrity": "sha512-BR7VvDCVHO+q2xBEWskxS6DJE1qRnb7DxzUrogb71CWoSficBxYsiAGd+Kl0mmq/MprG9yArRkyrQxTO6XjMzA==",
+ "dev": true,
+ "bin": {
+ "semver": "bin/semver.js"
+ }
+ },
+ "node_modules/@babel/generator": {
+ "version": "7.28.5",
+ "resolved": "https://registry.npmjs.org/@babel/generator/-/generator-7.28.5.tgz",
+ "integrity": "sha512-3EwLFhZ38J4VyIP6WNtt2kUdW9dokXA9Cr4IVIFHuCpZ3H8/YFOl5JjZHisrn1fATPBmKKqXzDFvh9fUwHz6CQ==",
+ "dev": true,
+ "dependencies": {
+ "@babel/parser": "^7.28.5",
+ "@babel/types": "^7.28.5",
+ "@jridgewell/gen-mapping": "^0.3.12",
+ "@jridgewell/trace-mapping": "^0.3.28",
+ "jsesc": "^3.0.2"
+ },
+ "engines": {
+ "node": ">=6.9.0"
+ }
+ },
+ "node_modules/@babel/helper-compilation-targets": {
+ "version": "7.27.2",
+ "resolved": "https://registry.npmjs.org/@babel/helper-compilation-targets/-/helper-compilation-targets-7.27.2.tgz",
+ "integrity": "sha512-2+1thGUUWWjLTYTHZWK1n8Yga0ijBz1XAhUXcKy81rd5g6yh7hGqMp45v7cadSbEHc9G3OTv45SyneRN3ps4DQ==",
+ "dev": true,
+ "dependencies": {
+ "@babel/compat-data": "^7.27.2",
+ "@babel/helper-validator-option": "^7.27.1",
+ "browserslist": "^4.24.0",
+ "lru-cache": "^5.1.1",
+ "semver": "^6.3.1"
+ },
+ "engines": {
+ "node": ">=6.9.0"
+ }
+ },
+ "node_modules/@babel/helper-compilation-targets/node_modules/lru-cache": {
+ "version": "5.1.1",
+ "resolved": "https://registry.npmjs.org/lru-cache/-/lru-cache-5.1.1.tgz",
+ "integrity": "sha512-KpNARQA3Iwv+jTA0utUVVbrh+Jlrr1Fv0e56GGzAFOXN7dk/FviaDW8LHmK52DlcH4WP2n6gI8vN1aesBFgo9w==",
+ "dev": true,
+ "dependencies": {
+ "yallist": "^3.0.2"
+ }
+ },
+ "node_modules/@babel/helper-compilation-targets/node_modules/semver": {
+ "version": "6.3.1",
+ "resolved": "https://registry.npmjs.org/semver/-/semver-6.3.1.tgz",
+ "integrity": "sha512-BR7VvDCVHO+q2xBEWskxS6DJE1qRnb7DxzUrogb71CWoSficBxYsiAGd+Kl0mmq/MprG9yArRkyrQxTO6XjMzA==",
+ "dev": true,
+ "bin": {
+ "semver": "bin/semver.js"
+ }
+ },
+ "node_modules/@babel/helper-globals": {
+ "version": "7.28.0",
+ "resolved": "https://registry.npmjs.org/@babel/helper-globals/-/helper-globals-7.28.0.tgz",
+ "integrity": "sha512-+W6cISkXFa1jXsDEdYA8HeevQT/FULhxzR99pxphltZcVaugps53THCeiWA8SguxxpSp3gKPiuYfSWopkLQ4hw==",
+ "dev": true,
+ "engines": {
+ "node": ">=6.9.0"
+ }
+ },
+ "node_modules/@babel/helper-module-imports": {
+ "version": "7.27.1",
+ "resolved": "https://registry.npmjs.org/@babel/helper-module-imports/-/helper-module-imports-7.27.1.tgz",
+ "integrity": "sha512-0gSFWUPNXNopqtIPQvlD5WgXYI5GY2kP2cCvoT8kczjbfcfuIljTbcWrulD1CIPIX2gt1wghbDy08yE1p+/r3w==",
+ "dev": true,
+ "dependencies": {
+ "@babel/traverse": "^7.27.1",
+ "@babel/types": "^7.27.1"
+ },
+ "engines": {
+ "node": ">=6.9.0"
+ }
+ },
+ "node_modules/@babel/helper-module-transforms": {
+ "version": "7.28.3",
+ "resolved": "https://registry.npmjs.org/@babel/helper-module-transforms/-/helper-module-transforms-7.28.3.tgz",
+ "integrity": "sha512-gytXUbs8k2sXS9PnQptz5o0QnpLL51SwASIORY6XaBKF88nsOT0Zw9szLqlSGQDP/4TljBAD5y98p2U1fqkdsw==",
+ "dev": true,
+ "dependencies": {
+ "@babel/helper-module-imports": "^7.27.1",
+ "@babel/helper-validator-identifier": "^7.27.1",
+ "@babel/traverse": "^7.28.3"
+ },
+ "engines": {
+ "node": ">=6.9.0"
+ },
+ "peerDependencies": {
+ "@babel/core": "^7.0.0"
+ }
+ },
+ "node_modules/@babel/helper-plugin-utils": {
+ "version": "7.27.1",
+ "resolved": "https://registry.npmjs.org/@babel/helper-plugin-utils/-/helper-plugin-utils-7.27.1.tgz",
+ "integrity": "sha512-1gn1Up5YXka3YYAHGKpbideQ5Yjf1tDa9qYcgysz+cNCXukyLl6DjPXhD3VRwSb8c0J9tA4b2+rHEZtc6R0tlw==",
+ "dev": true,
+ "engines": {
+ "node": ">=6.9.0"
+ }
+ },
+ "node_modules/@babel/helper-string-parser": {
+ "version": "7.27.1",
+ "resolved": "https://registry.npmjs.org/@babel/helper-string-parser/-/helper-string-parser-7.27.1.tgz",
+ "integrity": "sha512-qMlSxKbpRlAridDExk92nSobyDdpPijUq2DW6oDnUqd0iOGxmQjyqhMIihI9+zv4LPyZdRje2cavWPbCbWm3eA==",
+ "dev": true,
+ "engines": {
+ "node": ">=6.9.0"
+ }
+ },
+ "node_modules/@babel/helper-validator-identifier": {
+ "version": "7.28.5",
+ "resolved": "https://registry.npmjs.org/@babel/helper-validator-identifier/-/helper-validator-identifier-7.28.5.tgz",
+ "integrity": "sha512-qSs4ifwzKJSV39ucNjsvc6WVHs6b7S03sOh2OcHF9UHfVPqWWALUsNUVzhSBiItjRZoLHx7nIarVjqKVusUZ1Q==",
+ "dev": true,
+ "engines": {
+ "node": ">=6.9.0"
+ }
+ },
+ "node_modules/@babel/helper-validator-option": {
+ "version": "7.27.1",
+ "resolved": "https://registry.npmjs.org/@babel/helper-validator-option/-/helper-validator-option-7.27.1.tgz",
+ "integrity": "sha512-YvjJow9FxbhFFKDSuFnVCe2WxXk1zWc22fFePVNEaWJEu8IrZVlda6N0uHwzZrUM1il7NC9Mlp4MaJYbYd9JSg==",
+ "dev": true,
+ "engines": {
+ "node": ">=6.9.0"
+ }
+ },
+ "node_modules/@babel/helpers": {
+ "version": "7.28.4",
+ "resolved": "https://registry.npmjs.org/@babel/helpers/-/helpers-7.28.4.tgz",
+ "integrity": "sha512-HFN59MmQXGHVyYadKLVumYsA9dBFun/ldYxipEjzA4196jpLZd8UjEEBLkbEkvfYreDqJhZxYAWFPtrfhNpj4w==",
+ "dev": true,
+ "dependencies": {
+ "@babel/template": "^7.27.2",
+ "@babel/types": "^7.28.4"
+ },
+ "engines": {
+ "node": ">=6.9.0"
+ }
+ },
+ "node_modules/@babel/parser": {
+ "version": "7.28.5",
+ "resolved": "https://registry.npmjs.org/@babel/parser/-/parser-7.28.5.tgz",
+ "integrity": "sha512-KKBU1VGYR7ORr3At5HAtUQ+TV3SzRCXmA/8OdDZiLDBIZxVyzXuztPjfLd3BV1PRAQGCMWWSHYhL0F8d5uHBDQ==",
+ "dev": true,
+ "dependencies": {
+ "@babel/types": "^7.28.5"
+ },
+ "bin": {
+ "parser": "bin/babel-parser.js"
+ },
+ "engines": {
+ "node": ">=6.0.0"
+ }
+ },
+ "node_modules/@babel/plugin-transform-react-jsx-self": {
+ "version": "7.27.1",
+ "resolved": "https://registry.npmjs.org/@babel/plugin-transform-react-jsx-self/-/plugin-transform-react-jsx-self-7.27.1.tgz",
+ "integrity": "sha512-6UzkCs+ejGdZ5mFFC/OCUrv028ab2fp1znZmCZjAOBKiBK2jXD1O+BPSfX8X2qjJ75fZBMSnQn3Rq2mrBJK2mw==",
+ "dev": true,
+ "dependencies": {
+ "@babel/helper-plugin-utils": "^7.27.1"
+ },
+ "engines": {
+ "node": ">=6.9.0"
+ },
+ "peerDependencies": {
+ "@babel/core": "^7.0.0-0"
+ }
+ },
+ "node_modules/@babel/plugin-transform-react-jsx-source": {
+ "version": "7.27.1",
+ "resolved": "https://registry.npmjs.org/@babel/plugin-transform-react-jsx-source/-/plugin-transform-react-jsx-source-7.27.1.tgz",
+ "integrity": "sha512-zbwoTsBruTeKB9hSq73ha66iFeJHuaFkUbwvqElnygoNbj/jHRsSeokowZFN3CZ64IvEqcmmkVe89OPXc7ldAw==",
+ "dev": true,
+ "dependencies": {
+ "@babel/helper-plugin-utils": "^7.27.1"
+ },
+ "engines": {
+ "node": ">=6.9.0"
+ },
+ "peerDependencies": {
+ "@babel/core": "^7.0.0-0"
+ }
+ },
+ "node_modules/@babel/template": {
+ "version": "7.27.2",
+ "resolved": "https://registry.npmjs.org/@babel/template/-/template-7.27.2.tgz",
+ "integrity": "sha512-LPDZ85aEJyYSd18/DkjNh4/y1ntkE5KwUHWTiqgRxruuZL2F1yuHligVHLvcHY2vMHXttKFpJn6LwfI7cw7ODw==",
+ "dev": true,
+ "dependencies": {
+ "@babel/code-frame": "^7.27.1",
+ "@babel/parser": "^7.27.2",
+ "@babel/types": "^7.27.1"
+ },
+ "engines": {
+ "node": ">=6.9.0"
+ }
+ },
+ "node_modules/@babel/traverse": {
+ "version": "7.28.5",
+ "resolved": "https://registry.npmjs.org/@babel/traverse/-/traverse-7.28.5.tgz",
+ "integrity": "sha512-TCCj4t55U90khlYkVV/0TfkJkAkUg3jZFA3Neb7unZT8CPok7iiRfaX0F+WnqWqt7OxhOn0uBKXCw4lbL8W0aQ==",
+ "dev": true,
+ "dependencies": {
+ "@babel/code-frame": "^7.27.1",
+ "@babel/generator": "^7.28.5",
+ "@babel/helper-globals": "^7.28.0",
+ "@babel/parser": "^7.28.5",
+ "@babel/template": "^7.27.2",
+ "@babel/types": "^7.28.5",
+ "debug": "^4.3.1"
+ },
+ "engines": {
+ "node": ">=6.9.0"
+ }
+ },
+ "node_modules/@babel/types": {
+ "version": "7.28.5",
+ "resolved": "https://registry.npmjs.org/@babel/types/-/types-7.28.5.tgz",
+ "integrity": "sha512-qQ5m48eI/MFLQ5PxQj4PFaprjyCTLI37ElWMmNs0K8Lk3dVeOdNpB3ks8jc7yM5CDmVC73eMVk/trk3fgmrUpA==",
+ "dev": true,
+ "dependencies": {
+ "@babel/helper-string-parser": "^7.27.1",
+ "@babel/helper-validator-identifier": "^7.28.5"
+ },
+ "engines": {
+ "node": ">=6.9.0"
+ }
+ },
+ "node_modules/@esbuild/aix-ppc64": {
+ "version": "0.25.12",
+ "resolved": "https://registry.npmjs.org/@esbuild/aix-ppc64/-/aix-ppc64-0.25.12.tgz",
+ "integrity": "sha512-Hhmwd6CInZ3dwpuGTF8fJG6yoWmsToE+vYgD4nytZVxcu1ulHpUQRAB1UJ8+N1Am3Mz4+xOByoQoSZf4D+CpkA==",
+ "cpu": [
+ "ppc64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "aix"
+ ],
+ "engines": {
+ "node": ">=18"
+ }
+ },
+ "node_modules/@esbuild/android-arm": {
+ "version": "0.25.12",
+ "resolved": "https://registry.npmjs.org/@esbuild/android-arm/-/android-arm-0.25.12.tgz",
+ "integrity": "sha512-VJ+sKvNA/GE7Ccacc9Cha7bpS8nyzVv0jdVgwNDaR4gDMC/2TTRc33Ip8qrNYUcpkOHUT5OZ0bUcNNVZQ9RLlg==",
+ "cpu": [
+ "arm"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "android"
+ ],
+ "engines": {
+ "node": ">=18"
+ }
+ },
+ "node_modules/@esbuild/android-arm64": {
+ "version": "0.25.12",
+ "resolved": "https://registry.npmjs.org/@esbuild/android-arm64/-/android-arm64-0.25.12.tgz",
+ "integrity": "sha512-6AAmLG7zwD1Z159jCKPvAxZd4y/VTO0VkprYy+3N2FtJ8+BQWFXU+OxARIwA46c5tdD9SsKGZ/1ocqBS/gAKHg==",
+ "cpu": [
+ "arm64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "android"
+ ],
+ "engines": {
+ "node": ">=18"
+ }
+ },
+ "node_modules/@esbuild/android-x64": {
+ "version": "0.25.12",
+ "resolved": "https://registry.npmjs.org/@esbuild/android-x64/-/android-x64-0.25.12.tgz",
+ "integrity": "sha512-5jbb+2hhDHx5phYR2By8GTWEzn6I9UqR11Kwf22iKbNpYrsmRB18aX/9ivc5cabcUiAT/wM+YIZ6SG9QO6a8kg==",
+ "cpu": [
+ "x64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "android"
+ ],
+ "engines": {
+ "node": ">=18"
+ }
+ },
+ "node_modules/@esbuild/darwin-arm64": {
+ "version": "0.25.12",
+ "resolved": "https://registry.npmjs.org/@esbuild/darwin-arm64/-/darwin-arm64-0.25.12.tgz",
+ "integrity": "sha512-N3zl+lxHCifgIlcMUP5016ESkeQjLj/959RxxNYIthIg+CQHInujFuXeWbWMgnTo4cp5XVHqFPmpyu9J65C1Yg==",
+ "cpu": [
+ "arm64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "darwin"
+ ],
+ "engines": {
+ "node": ">=18"
+ }
+ },
+ "node_modules/@esbuild/darwin-x64": {
+ "version": "0.25.12",
+ "resolved": "https://registry.npmjs.org/@esbuild/darwin-x64/-/darwin-x64-0.25.12.tgz",
+ "integrity": "sha512-HQ9ka4Kx21qHXwtlTUVbKJOAnmG1ipXhdWTmNXiPzPfWKpXqASVcWdnf2bnL73wgjNrFXAa3yYvBSd9pzfEIpA==",
+ "cpu": [
+ "x64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "darwin"
+ ],
+ "engines": {
+ "node": ">=18"
+ }
+ },
+ "node_modules/@esbuild/freebsd-arm64": {
+ "version": "0.25.12",
+ "resolved": "https://registry.npmjs.org/@esbuild/freebsd-arm64/-/freebsd-arm64-0.25.12.tgz",
+ "integrity": "sha512-gA0Bx759+7Jve03K1S0vkOu5Lg/85dou3EseOGUes8flVOGxbhDDh/iZaoek11Y8mtyKPGF3vP8XhnkDEAmzeg==",
+ "cpu": [
+ "arm64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "freebsd"
+ ],
+ "engines": {
+ "node": ">=18"
+ }
+ },
+ "node_modules/@esbuild/freebsd-x64": {
+ "version": "0.25.12",
+ "resolved": "https://registry.npmjs.org/@esbuild/freebsd-x64/-/freebsd-x64-0.25.12.tgz",
+ "integrity": "sha512-TGbO26Yw2xsHzxtbVFGEXBFH0FRAP7gtcPE7P5yP7wGy7cXK2oO7RyOhL5NLiqTlBh47XhmIUXuGciXEqYFfBQ==",
+ "cpu": [
+ "x64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "freebsd"
+ ],
+ "engines": {
+ "node": ">=18"
+ }
+ },
+ "node_modules/@esbuild/linux-arm": {
+ "version": "0.25.12",
+ "resolved": "https://registry.npmjs.org/@esbuild/linux-arm/-/linux-arm-0.25.12.tgz",
+ "integrity": "sha512-lPDGyC1JPDou8kGcywY0YILzWlhhnRjdof3UlcoqYmS9El818LLfJJc3PXXgZHrHCAKs/Z2SeZtDJr5MrkxtOw==",
+ "cpu": [
+ "arm"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "linux"
+ ],
+ "engines": {
+ "node": ">=18"
+ }
+ },
+ "node_modules/@esbuild/linux-arm64": {
+ "version": "0.25.12",
+ "resolved": "https://registry.npmjs.org/@esbuild/linux-arm64/-/linux-arm64-0.25.12.tgz",
+ "integrity": "sha512-8bwX7a8FghIgrupcxb4aUmYDLp8pX06rGh5HqDT7bB+8Rdells6mHvrFHHW2JAOPZUbnjUpKTLg6ECyzvas2AQ==",
+ "cpu": [
+ "arm64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "linux"
+ ],
+ "engines": {
+ "node": ">=18"
+ }
+ },
+ "node_modules/@esbuild/linux-ia32": {
+ "version": "0.25.12",
+ "resolved": "https://registry.npmjs.org/@esbuild/linux-ia32/-/linux-ia32-0.25.12.tgz",
+ "integrity": "sha512-0y9KrdVnbMM2/vG8KfU0byhUN+EFCny9+8g202gYqSSVMonbsCfLjUO+rCci7pM0WBEtz+oK/PIwHkzxkyharA==",
+ "cpu": [
+ "ia32"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "linux"
+ ],
+ "engines": {
+ "node": ">=18"
+ }
+ },
+ "node_modules/@esbuild/linux-loong64": {
+ "version": "0.25.12",
+ "resolved": "https://registry.npmjs.org/@esbuild/linux-loong64/-/linux-loong64-0.25.12.tgz",
+ "integrity": "sha512-h///Lr5a9rib/v1GGqXVGzjL4TMvVTv+s1DPoxQdz7l/AYv6LDSxdIwzxkrPW438oUXiDtwM10o9PmwS/6Z0Ng==",
+ "cpu": [
+ "loong64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "linux"
+ ],
+ "engines": {
+ "node": ">=18"
+ }
+ },
+ "node_modules/@esbuild/linux-mips64el": {
+ "version": "0.25.12",
+ "resolved": "https://registry.npmjs.org/@esbuild/linux-mips64el/-/linux-mips64el-0.25.12.tgz",
+ "integrity": "sha512-iyRrM1Pzy9GFMDLsXn1iHUm18nhKnNMWscjmp4+hpafcZjrr2WbT//d20xaGljXDBYHqRcl8HnxbX6uaA/eGVw==",
+ "cpu": [
+ "mips64el"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "linux"
+ ],
+ "engines": {
+ "node": ">=18"
+ }
+ },
+ "node_modules/@esbuild/linux-ppc64": {
+ "version": "0.25.12",
+ "resolved": "https://registry.npmjs.org/@esbuild/linux-ppc64/-/linux-ppc64-0.25.12.tgz",
+ "integrity": "sha512-9meM/lRXxMi5PSUqEXRCtVjEZBGwB7P/D4yT8UG/mwIdze2aV4Vo6U5gD3+RsoHXKkHCfSxZKzmDssVlRj1QQA==",
+ "cpu": [
+ "ppc64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "linux"
+ ],
+ "engines": {
+ "node": ">=18"
+ }
+ },
+ "node_modules/@esbuild/linux-riscv64": {
+ "version": "0.25.12",
+ "resolved": "https://registry.npmjs.org/@esbuild/linux-riscv64/-/linux-riscv64-0.25.12.tgz",
+ "integrity": "sha512-Zr7KR4hgKUpWAwb1f3o5ygT04MzqVrGEGXGLnj15YQDJErYu/BGg+wmFlIDOdJp0PmB0lLvxFIOXZgFRrdjR0w==",
+ "cpu": [
+ "riscv64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "linux"
+ ],
+ "engines": {
+ "node": ">=18"
+ }
+ },
+ "node_modules/@esbuild/linux-s390x": {
+ "version": "0.25.12",
+ "resolved": "https://registry.npmjs.org/@esbuild/linux-s390x/-/linux-s390x-0.25.12.tgz",
+ "integrity": "sha512-MsKncOcgTNvdtiISc/jZs/Zf8d0cl/t3gYWX8J9ubBnVOwlk65UIEEvgBORTiljloIWnBzLs4qhzPkJcitIzIg==",
+ "cpu": [
+ "s390x"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "linux"
+ ],
+ "engines": {
+ "node": ">=18"
+ }
+ },
+ "node_modules/@esbuild/linux-x64": {
+ "version": "0.25.12",
+ "resolved": "https://registry.npmjs.org/@esbuild/linux-x64/-/linux-x64-0.25.12.tgz",
+ "integrity": "sha512-uqZMTLr/zR/ed4jIGnwSLkaHmPjOjJvnm6TVVitAa08SLS9Z0VM8wIRx7gWbJB5/J54YuIMInDquWyYvQLZkgw==",
+ "cpu": [
+ "x64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "linux"
+ ],
+ "engines": {
+ "node": ">=18"
+ }
+ },
+ "node_modules/@esbuild/netbsd-arm64": {
+ "version": "0.25.12",
+ "resolved": "https://registry.npmjs.org/@esbuild/netbsd-arm64/-/netbsd-arm64-0.25.12.tgz",
+ "integrity": "sha512-xXwcTq4GhRM7J9A8Gv5boanHhRa/Q9KLVmcyXHCTaM4wKfIpWkdXiMog/KsnxzJ0A1+nD+zoecuzqPmCRyBGjg==",
+ "cpu": [
+ "arm64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "netbsd"
+ ],
+ "engines": {
+ "node": ">=18"
+ }
+ },
+ "node_modules/@esbuild/netbsd-x64": {
+ "version": "0.25.12",
+ "resolved": "https://registry.npmjs.org/@esbuild/netbsd-x64/-/netbsd-x64-0.25.12.tgz",
+ "integrity": "sha512-Ld5pTlzPy3YwGec4OuHh1aCVCRvOXdH8DgRjfDy/oumVovmuSzWfnSJg+VtakB9Cm0gxNO9BzWkj6mtO1FMXkQ==",
+ "cpu": [
+ "x64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "netbsd"
+ ],
+ "engines": {
+ "node": ">=18"
+ }
+ },
+ "node_modules/@esbuild/openbsd-arm64": {
+ "version": "0.25.12",
+ "resolved": "https://registry.npmjs.org/@esbuild/openbsd-arm64/-/openbsd-arm64-0.25.12.tgz",
+ "integrity": "sha512-fF96T6KsBo/pkQI950FARU9apGNTSlZGsv1jZBAlcLL1MLjLNIWPBkj5NlSz8aAzYKg+eNqknrUJ24QBybeR5A==",
+ "cpu": [
+ "arm64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "openbsd"
+ ],
+ "engines": {
+ "node": ">=18"
+ }
+ },
+ "node_modules/@esbuild/openbsd-x64": {
+ "version": "0.25.12",
+ "resolved": "https://registry.npmjs.org/@esbuild/openbsd-x64/-/openbsd-x64-0.25.12.tgz",
+ "integrity": "sha512-MZyXUkZHjQxUvzK7rN8DJ3SRmrVrke8ZyRusHlP+kuwqTcfWLyqMOE3sScPPyeIXN/mDJIfGXvcMqCgYKekoQw==",
+ "cpu": [
+ "x64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "openbsd"
+ ],
+ "engines": {
+ "node": ">=18"
+ }
+ },
+ "node_modules/@esbuild/openharmony-arm64": {
+ "version": "0.25.12",
+ "resolved": "https://registry.npmjs.org/@esbuild/openharmony-arm64/-/openharmony-arm64-0.25.12.tgz",
+ "integrity": "sha512-rm0YWsqUSRrjncSXGA7Zv78Nbnw4XL6/dzr20cyrQf7ZmRcsovpcRBdhD43Nuk3y7XIoW2OxMVvwuRvk9XdASg==",
+ "cpu": [
+ "arm64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "openharmony"
+ ],
+ "engines": {
+ "node": ">=18"
+ }
+ },
+ "node_modules/@esbuild/sunos-x64": {
+ "version": "0.25.12",
+ "resolved": "https://registry.npmjs.org/@esbuild/sunos-x64/-/sunos-x64-0.25.12.tgz",
+ "integrity": "sha512-3wGSCDyuTHQUzt0nV7bocDy72r2lI33QL3gkDNGkod22EsYl04sMf0qLb8luNKTOmgF/eDEDP5BFNwoBKH441w==",
+ "cpu": [
+ "x64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "sunos"
+ ],
+ "engines": {
+ "node": ">=18"
+ }
+ },
+ "node_modules/@esbuild/win32-arm64": {
+ "version": "0.25.12",
+ "resolved": "https://registry.npmjs.org/@esbuild/win32-arm64/-/win32-arm64-0.25.12.tgz",
+ "integrity": "sha512-rMmLrur64A7+DKlnSuwqUdRKyd3UE7oPJZmnljqEptesKM8wx9J8gx5u0+9Pq0fQQW8vqeKebwNXdfOyP+8Bsg==",
+ "cpu": [
+ "arm64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "win32"
+ ],
+ "engines": {
+ "node": ">=18"
+ }
+ },
+ "node_modules/@esbuild/win32-ia32": {
+ "version": "0.25.12",
+ "resolved": "https://registry.npmjs.org/@esbuild/win32-ia32/-/win32-ia32-0.25.12.tgz",
+ "integrity": "sha512-HkqnmmBoCbCwxUKKNPBixiWDGCpQGVsrQfJoVGYLPT41XWF8lHuE5N6WhVia2n4o5QK5M4tYr21827fNhi4byQ==",
+ "cpu": [
+ "ia32"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "win32"
+ ],
+ "engines": {
+ "node": ">=18"
+ }
+ },
+ "node_modules/@esbuild/win32-x64": {
+ "version": "0.25.12",
+ "resolved": "https://registry.npmjs.org/@esbuild/win32-x64/-/win32-x64-0.25.12.tgz",
+ "integrity": "sha512-alJC0uCZpTFrSL0CCDjcgleBXPnCrEAhTBILpeAp7M/OFgoqtAetfBzX0xM00MUsVVPpVjlPuMbREqnZCXaTnA==",
+ "cpu": [
+ "x64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "win32"
+ ],
+ "engines": {
+ "node": ">=18"
}
},
"node_modules/@eslint-community/eslint-utils": {
@@ -375,6 +1095,16 @@
"@jridgewell/trace-mapping": "^0.3.24"
}
},
+ "node_modules/@jridgewell/remapping": {
+ "version": "2.3.5",
+ "resolved": "https://registry.npmjs.org/@jridgewell/remapping/-/remapping-2.3.5.tgz",
+ "integrity": "sha512-LI9u/+laYG4Ds1TDKSJW2YPrIlcVYOwi2fUC6xB43lueCjgxV4lffOCZCtYFiH6TNOX+tQKXx97T4IKHbhyHEQ==",
+ "dev": true,
+ "dependencies": {
+ "@jridgewell/gen-mapping": "^0.3.5",
+ "@jridgewell/trace-mapping": "^0.3.24"
+ }
+ },
"node_modules/@jridgewell/resolve-uri": {
"version": "3.1.2",
"resolved": "https://registry.npmjs.org/@jridgewell/resolve-uri/-/resolve-uri-3.1.2.tgz",
@@ -476,6 +1206,298 @@
"react-dom": "^18.0.0"
}
},
+ "node_modules/@rolldown/pluginutils": {
+ "version": "1.0.0-beta.27",
+ "resolved": "https://registry.npmjs.org/@rolldown/pluginutils/-/pluginutils-1.0.0-beta.27.tgz",
+ "integrity": "sha512-+d0F4MKMCbeVUJwG96uQ4SgAznZNSq93I3V+9NHA4OpvqG8mRCpGdKmK8l/dl02h2CCDHwW2FqilnTyDcAnqjA==",
+ "dev": true
+ },
+ "node_modules/@rollup/rollup-android-arm-eabi": {
+ "version": "4.54.0",
+ "resolved": "https://registry.npmjs.org/@rollup/rollup-android-arm-eabi/-/rollup-android-arm-eabi-4.54.0.tgz",
+ "integrity": "sha512-OywsdRHrFvCdvsewAInDKCNyR3laPA2mc9bRYJ6LBp5IyvF3fvXbbNR0bSzHlZVFtn6E0xw2oZlyjg4rKCVcng==",
+ "cpu": [
+ "arm"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "android"
+ ]
+ },
+ "node_modules/@rollup/rollup-android-arm64": {
+ "version": "4.54.0",
+ "resolved": "https://registry.npmjs.org/@rollup/rollup-android-arm64/-/rollup-android-arm64-4.54.0.tgz",
+ "integrity": "sha512-Skx39Uv+u7H224Af+bDgNinitlmHyQX1K/atIA32JP3JQw6hVODX5tkbi2zof/E69M1qH2UoN3Xdxgs90mmNYw==",
+ "cpu": [
+ "arm64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "android"
+ ]
+ },
+ "node_modules/@rollup/rollup-darwin-arm64": {
+ "version": "4.54.0",
+ "resolved": "https://registry.npmjs.org/@rollup/rollup-darwin-arm64/-/rollup-darwin-arm64-4.54.0.tgz",
+ "integrity": "sha512-k43D4qta/+6Fq+nCDhhv9yP2HdeKeP56QrUUTW7E6PhZP1US6NDqpJj4MY0jBHlJivVJD5P8NxrjuobZBJTCRw==",
+ "cpu": [
+ "arm64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "darwin"
+ ]
+ },
+ "node_modules/@rollup/rollup-darwin-x64": {
+ "version": "4.54.0",
+ "resolved": "https://registry.npmjs.org/@rollup/rollup-darwin-x64/-/rollup-darwin-x64-4.54.0.tgz",
+ "integrity": "sha512-cOo7biqwkpawslEfox5Vs8/qj83M/aZCSSNIWpVzfU2CYHa2G3P1UN5WF01RdTHSgCkri7XOlTdtk17BezlV3A==",
+ "cpu": [
+ "x64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "darwin"
+ ]
+ },
+ "node_modules/@rollup/rollup-freebsd-arm64": {
+ "version": "4.54.0",
+ "resolved": "https://registry.npmjs.org/@rollup/rollup-freebsd-arm64/-/rollup-freebsd-arm64-4.54.0.tgz",
+ "integrity": "sha512-miSvuFkmvFbgJ1BevMa4CPCFt5MPGw094knM64W9I0giUIMMmRYcGW/JWZDriaw/k1kOBtsWh1z6nIFV1vPNtA==",
+ "cpu": [
+ "arm64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "freebsd"
+ ]
+ },
+ "node_modules/@rollup/rollup-freebsd-x64": {
+ "version": "4.54.0",
+ "resolved": "https://registry.npmjs.org/@rollup/rollup-freebsd-x64/-/rollup-freebsd-x64-4.54.0.tgz",
+ "integrity": "sha512-KGXIs55+b/ZfZsq9aR026tmr/+7tq6VG6MsnrvF4H8VhwflTIuYh+LFUlIsRdQSgrgmtM3fVATzEAj4hBQlaqQ==",
+ "cpu": [
+ "x64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "freebsd"
+ ]
+ },
+ "node_modules/@rollup/rollup-linux-arm-gnueabihf": {
+ "version": "4.54.0",
+ "resolved": "https://registry.npmjs.org/@rollup/rollup-linux-arm-gnueabihf/-/rollup-linux-arm-gnueabihf-4.54.0.tgz",
+ "integrity": "sha512-EHMUcDwhtdRGlXZsGSIuXSYwD5kOT9NVnx9sqzYiwAc91wfYOE1g1djOEDseZJKKqtHAHGwnGPQu3kytmfaXLQ==",
+ "cpu": [
+ "arm"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "linux"
+ ]
+ },
+ "node_modules/@rollup/rollup-linux-arm-musleabihf": {
+ "version": "4.54.0",
+ "resolved": "https://registry.npmjs.org/@rollup/rollup-linux-arm-musleabihf/-/rollup-linux-arm-musleabihf-4.54.0.tgz",
+ "integrity": "sha512-+pBrqEjaakN2ySv5RVrj/qLytYhPKEUwk+e3SFU5jTLHIcAtqh2rLrd/OkbNuHJpsBgxsD8ccJt5ga/SeG0JmA==",
+ "cpu": [
+ "arm"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "linux"
+ ]
+ },
+ "node_modules/@rollup/rollup-linux-arm64-gnu": {
+ "version": "4.54.0",
+ "resolved": "https://registry.npmjs.org/@rollup/rollup-linux-arm64-gnu/-/rollup-linux-arm64-gnu-4.54.0.tgz",
+ "integrity": "sha512-NSqc7rE9wuUaRBsBp5ckQ5CVz5aIRKCwsoa6WMF7G01sX3/qHUw/z4pv+D+ahL1EIKy6Enpcnz1RY8pf7bjwng==",
+ "cpu": [
+ "arm64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "linux"
+ ]
+ },
+ "node_modules/@rollup/rollup-linux-arm64-musl": {
+ "version": "4.54.0",
+ "resolved": "https://registry.npmjs.org/@rollup/rollup-linux-arm64-musl/-/rollup-linux-arm64-musl-4.54.0.tgz",
+ "integrity": "sha512-gr5vDbg3Bakga5kbdpqx81m2n9IX8M6gIMlQQIXiLTNeQW6CucvuInJ91EuCJ/JYvc+rcLLsDFcfAD1K7fMofg==",
+ "cpu": [
+ "arm64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "linux"
+ ]
+ },
+ "node_modules/@rollup/rollup-linux-loong64-gnu": {
+ "version": "4.54.0",
+ "resolved": "https://registry.npmjs.org/@rollup/rollup-linux-loong64-gnu/-/rollup-linux-loong64-gnu-4.54.0.tgz",
+ "integrity": "sha512-gsrtB1NA3ZYj2vq0Rzkylo9ylCtW/PhpLEivlgWe0bpgtX5+9j9EZa0wtZiCjgu6zmSeZWyI/e2YRX1URozpIw==",
+ "cpu": [
+ "loong64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "linux"
+ ]
+ },
+ "node_modules/@rollup/rollup-linux-ppc64-gnu": {
+ "version": "4.54.0",
+ "resolved": "https://registry.npmjs.org/@rollup/rollup-linux-ppc64-gnu/-/rollup-linux-ppc64-gnu-4.54.0.tgz",
+ "integrity": "sha512-y3qNOfTBStmFNq+t4s7Tmc9hW2ENtPg8FeUD/VShI7rKxNW7O4fFeaYbMsd3tpFlIg1Q8IapFgy7Q9i2BqeBvA==",
+ "cpu": [
+ "ppc64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "linux"
+ ]
+ },
+ "node_modules/@rollup/rollup-linux-riscv64-gnu": {
+ "version": "4.54.0",
+ "resolved": "https://registry.npmjs.org/@rollup/rollup-linux-riscv64-gnu/-/rollup-linux-riscv64-gnu-4.54.0.tgz",
+ "integrity": "sha512-89sepv7h2lIVPsFma8iwmccN7Yjjtgz0Rj/Ou6fEqg3HDhpCa+Et+YSufy27i6b0Wav69Qv4WBNl3Rs6pwhebQ==",
+ "cpu": [
+ "riscv64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "linux"
+ ]
+ },
+ "node_modules/@rollup/rollup-linux-riscv64-musl": {
+ "version": "4.54.0",
+ "resolved": "https://registry.npmjs.org/@rollup/rollup-linux-riscv64-musl/-/rollup-linux-riscv64-musl-4.54.0.tgz",
+ "integrity": "sha512-ZcU77ieh0M2Q8Ur7D5X7KvK+UxbXeDHwiOt/CPSBTI1fBmeDMivW0dPkdqkT4rOgDjrDDBUed9x4EgraIKoR2A==",
+ "cpu": [
+ "riscv64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "linux"
+ ]
+ },
+ "node_modules/@rollup/rollup-linux-s390x-gnu": {
+ "version": "4.54.0",
+ "resolved": "https://registry.npmjs.org/@rollup/rollup-linux-s390x-gnu/-/rollup-linux-s390x-gnu-4.54.0.tgz",
+ "integrity": "sha512-2AdWy5RdDF5+4YfG/YesGDDtbyJlC9LHmL6rZw6FurBJ5n4vFGupsOBGfwMRjBYH7qRQowT8D/U4LoSvVwOhSQ==",
+ "cpu": [
+ "s390x"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "linux"
+ ]
+ },
+ "node_modules/@rollup/rollup-linux-x64-gnu": {
+ "version": "4.54.0",
+ "resolved": "https://registry.npmjs.org/@rollup/rollup-linux-x64-gnu/-/rollup-linux-x64-gnu-4.54.0.tgz",
+ "integrity": "sha512-WGt5J8Ij/rvyqpFexxk3ffKqqbLf9AqrTBbWDk7ApGUzaIs6V+s2s84kAxklFwmMF/vBNGrVdYgbblCOFFezMQ==",
+ "cpu": [
+ "x64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "linux"
+ ]
+ },
+ "node_modules/@rollup/rollup-linux-x64-musl": {
+ "version": "4.54.0",
+ "resolved": "https://registry.npmjs.org/@rollup/rollup-linux-x64-musl/-/rollup-linux-x64-musl-4.54.0.tgz",
+ "integrity": "sha512-JzQmb38ATzHjxlPHuTH6tE7ojnMKM2kYNzt44LO/jJi8BpceEC8QuXYA908n8r3CNuG/B3BV8VR3Hi1rYtmPiw==",
+ "cpu": [
+ "x64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "linux"
+ ]
+ },
+ "node_modules/@rollup/rollup-openharmony-arm64": {
+ "version": "4.54.0",
+ "resolved": "https://registry.npmjs.org/@rollup/rollup-openharmony-arm64/-/rollup-openharmony-arm64-4.54.0.tgz",
+ "integrity": "sha512-huT3fd0iC7jigGh7n3q/+lfPcXxBi+om/Rs3yiFxjvSxbSB6aohDFXbWvlspaqjeOh+hx7DDHS+5Es5qRkWkZg==",
+ "cpu": [
+ "arm64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "openharmony"
+ ]
+ },
+ "node_modules/@rollup/rollup-win32-arm64-msvc": {
+ "version": "4.54.0",
+ "resolved": "https://registry.npmjs.org/@rollup/rollup-win32-arm64-msvc/-/rollup-win32-arm64-msvc-4.54.0.tgz",
+ "integrity": "sha512-c2V0W1bsKIKfbLMBu/WGBz6Yci8nJ/ZJdheE0EwB73N3MvHYKiKGs3mVilX4Gs70eGeDaMqEob25Tw2Gb9Nqyw==",
+ "cpu": [
+ "arm64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "win32"
+ ]
+ },
+ "node_modules/@rollup/rollup-win32-ia32-msvc": {
+ "version": "4.54.0",
+ "resolved": "https://registry.npmjs.org/@rollup/rollup-win32-ia32-msvc/-/rollup-win32-ia32-msvc-4.54.0.tgz",
+ "integrity": "sha512-woEHgqQqDCkAzrDhvDipnSirm5vxUXtSKDYTVpZG3nUdW/VVB5VdCYA2iReSj/u3yCZzXID4kuKG7OynPnB3WQ==",
+ "cpu": [
+ "ia32"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "win32"
+ ]
+ },
+ "node_modules/@rollup/rollup-win32-x64-gnu": {
+ "version": "4.54.0",
+ "resolved": "https://registry.npmjs.org/@rollup/rollup-win32-x64-gnu/-/rollup-win32-x64-gnu-4.54.0.tgz",
+ "integrity": "sha512-dzAc53LOuFvHwbCEOS0rPbXp6SIhAf2txMP5p6mGyOXXw5mWY8NGGbPMPrs4P1WItkfApDathBj/NzMLUZ9rtQ==",
+ "cpu": [
+ "x64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "win32"
+ ]
+ },
+ "node_modules/@rollup/rollup-win32-x64-msvc": {
+ "version": "4.54.0",
+ "resolved": "https://registry.npmjs.org/@rollup/rollup-win32-x64-msvc/-/rollup-win32-x64-msvc-4.54.0.tgz",
+ "integrity": "sha512-hYT5d3YNdSh3mbCU1gwQyPgQd3T2ne0A3KG8KSBdav5TiBg6eInVmV+TeR5uHufiIgSFg0XsOWGW5/RhNcSvPg==",
+ "cpu": [
+ "x64"
+ ],
+ "dev": true,
+ "optional": true,
+ "os": [
+ "win32"
+ ]
+ },
"node_modules/@rtsao/scc": {
"version": "1.1.0",
"resolved": "https://registry.npmjs.org/@rtsao/scc/-/scc-1.1.0.tgz",
@@ -489,6 +1511,47 @@
"integrity": "sha512-9BCxFwvbGg/RsZK9tjXd8s4UcwR0MWeFQ1XEKIQVVvAGJyINdrqKMcTRyLoK8Rse1GjzLV9cwjWV1olXRWEXVA==",
"license": "MIT"
},
+ "node_modules/@types/babel__core": {
+ "version": "7.20.5",
+ "resolved": "https://registry.npmjs.org/@types/babel__core/-/babel__core-7.20.5.tgz",
+ "integrity": "sha512-qoQprZvz5wQFJwMDqeseRXWv3rqMvhgpbXFfVyWhbx9X47POIA6i/+dXefEmZKoAgOaTdaIgNSMqMIU61yRyzA==",
+ "dev": true,
+ "dependencies": {
+ "@babel/parser": "^7.20.7",
+ "@babel/types": "^7.20.7",
+ "@types/babel__generator": "*",
+ "@types/babel__template": "*",
+ "@types/babel__traverse": "*"
+ }
+ },
+ "node_modules/@types/babel__generator": {
+ "version": "7.27.0",
+ "resolved": "https://registry.npmjs.org/@types/babel__generator/-/babel__generator-7.27.0.tgz",
+ "integrity": "sha512-ufFd2Xi92OAVPYsy+P4n7/U7e68fex0+Ee8gSG9KX7eo084CWiQ4sdxktvdl0bOPupXtVJPY19zk6EwWqUQ8lg==",
+ "dev": true,
+ "dependencies": {
+ "@babel/types": "^7.0.0"
+ }
+ },
+ "node_modules/@types/babel__template": {
+ "version": "7.4.4",
+ "resolved": "https://registry.npmjs.org/@types/babel__template/-/babel__template-7.4.4.tgz",
+ "integrity": "sha512-h/NUaSyG5EyxBIp8YRxo4RMe2/qQgvyowRwVMzhYhBCONbW8PUsg4lkFMrhgZhUe5z3L3MiLDuvyJ/CaPa2A8A==",
+ "dev": true,
+ "dependencies": {
+ "@babel/parser": "^7.1.0",
+ "@babel/types": "^7.0.0"
+ }
+ },
+ "node_modules/@types/babel__traverse": {
+ "version": "7.28.0",
+ "resolved": "https://registry.npmjs.org/@types/babel__traverse/-/babel__traverse-7.28.0.tgz",
+ "integrity": "sha512-8PvcXf70gTDZBgt9ptxJ8elBeBjcLOAcOtoO/mPJjtji1+CdGbHgm77om1GrsPxsiE+uXIpNSK64UYaIwQXd4Q==",
+ "dev": true,
+ "dependencies": {
+ "@babel/types": "^7.28.2"
+ }
+ },
"node_modules/@types/d3": {
"version": "7.4.3",
"resolved": "https://registry.npmjs.org/@types/d3/-/d3-7.4.3.tgz",
@@ -1139,6 +2202,26 @@
"url": "https://opencollective.com/eslint"
}
},
+ "node_modules/@vitejs/plugin-react": {
+ "version": "4.7.0",
+ "resolved": "https://registry.npmjs.org/@vitejs/plugin-react/-/plugin-react-4.7.0.tgz",
+ "integrity": "sha512-gUu9hwfWvvEDBBmgtAowQCojwZmJ5mcLn3aufeCsitijs3+f2NsrPtlAWIR6OPiqljl96GVCUbLe0HyqIpVaoA==",
+ "dev": true,
+ "dependencies": {
+ "@babel/core": "^7.28.0",
+ "@babel/plugin-transform-react-jsx-self": "^7.27.1",
+ "@babel/plugin-transform-react-jsx-source": "^7.27.1",
+ "@rolldown/pluginutils": "1.0.0-beta.27",
+ "@types/babel__core": "^7.20.5",
+ "react-refresh": "^0.17.0"
+ },
+ "engines": {
+ "node": "^14.18.0 || >=16.0.0"
+ },
+ "peerDependencies": {
+ "vite": "^4.2.0 || ^5.0.0 || ^6.0.0 || ^7.0.0"
+ }
+ },
"node_modules/@webassemblyjs/ast": {
"version": "1.14.1",
"resolved": "https://registry.npmjs.org/@webassemblyjs/ast/-/ast-1.14.1.tgz",
@@ -1882,6 +2965,12 @@
"dev": true,
"license": "MIT"
},
+ "node_modules/convert-source-map": {
+ "version": "2.0.0",
+ "resolved": "https://registry.npmjs.org/convert-source-map/-/convert-source-map-2.0.0.tgz",
+ "integrity": "sha512-Kvp459HrV2FEJ1CAsi1Ku+MY3kasH19TFykTz2xWmMeq6bk2NU3XXvfJ+Q61m0xktWwt+1HSYf3JZsTms3aRJg==",
+ "dev": true
+ },
"node_modules/core-util-is": {
"version": "1.0.3",
"resolved": "https://registry.npmjs.org/core-util-is/-/core-util-is-1.0.3.tgz",
@@ -2791,6 +3880,47 @@
"url": "https://github.com/sponsors/ljharb"
}
},
+ "node_modules/esbuild": {
+ "version": "0.25.12",
+ "resolved": "https://registry.npmjs.org/esbuild/-/esbuild-0.25.12.tgz",
+ "integrity": "sha512-bbPBYYrtZbkt6Os6FiTLCTFxvq4tt3JKall1vRwshA3fdVztsLAatFaZobhkBC8/BrPetoa0oksYoKXoG4ryJg==",
+ "dev": true,
+ "hasInstallScript": true,
+ "bin": {
+ "esbuild": "bin/esbuild"
+ },
+ "engines": {
+ "node": ">=18"
+ },
+ "optionalDependencies": {
+ "@esbuild/aix-ppc64": "0.25.12",
+ "@esbuild/android-arm": "0.25.12",
+ "@esbuild/android-arm64": "0.25.12",
+ "@esbuild/android-x64": "0.25.12",
+ "@esbuild/darwin-arm64": "0.25.12",
+ "@esbuild/darwin-x64": "0.25.12",
+ "@esbuild/freebsd-arm64": "0.25.12",
+ "@esbuild/freebsd-x64": "0.25.12",
+ "@esbuild/linux-arm": "0.25.12",
+ "@esbuild/linux-arm64": "0.25.12",
+ "@esbuild/linux-ia32": "0.25.12",
+ "@esbuild/linux-loong64": "0.25.12",
+ "@esbuild/linux-mips64el": "0.25.12",
+ "@esbuild/linux-ppc64": "0.25.12",
+ "@esbuild/linux-riscv64": "0.25.12",
+ "@esbuild/linux-s390x": "0.25.12",
+ "@esbuild/linux-x64": "0.25.12",
+ "@esbuild/netbsd-arm64": "0.25.12",
+ "@esbuild/netbsd-x64": "0.25.12",
+ "@esbuild/openbsd-arm64": "0.25.12",
+ "@esbuild/openbsd-x64": "0.25.12",
+ "@esbuild/openharmony-arm64": "0.25.12",
+ "@esbuild/sunos-x64": "0.25.12",
+ "@esbuild/win32-arm64": "0.25.12",
+ "@esbuild/win32-ia32": "0.25.12",
+ "@esbuild/win32-x64": "0.25.12"
+ }
+ },
"node_modules/escalade": {
"version": "3.2.0",
"resolved": "https://registry.npmjs.org/escalade/-/escalade-3.2.0.tgz",
@@ -3576,6 +4706,20 @@
"dev": true,
"license": "ISC"
},
+ "node_modules/fsevents": {
+ "version": "2.3.3",
+ "resolved": "https://registry.npmjs.org/fsevents/-/fsevents-2.3.3.tgz",
+ "integrity": "sha512-5xoDfX+fL7faATnagmWPpbFtwh/R77WmMMqqHGS65C3vvB0YHrgF+B1YmZ3441tMj5n63k0212XNoJwzlhffQw==",
+ "dev": true,
+ "hasInstallScript": true,
+ "optional": true,
+ "os": [
+ "darwin"
+ ],
+ "engines": {
+ "node": "^8.16.0 || ^10.6.0 || >=11.0.0"
+ }
+ },
"node_modules/function-bind": {
"version": "1.1.2",
"resolved": "https://registry.npmjs.org/function-bind/-/function-bind-1.1.2.tgz",
@@ -3617,6 +4761,15 @@
"url": "https://github.com/sponsors/ljharb"
}
},
+ "node_modules/gensync": {
+ "version": "1.0.0-beta.2",
+ "resolved": "https://registry.npmjs.org/gensync/-/gensync-1.0.0-beta.2.tgz",
+ "integrity": "sha512-3hN7NaskYvMDLQY55gnW3NQ+mesEAepTqlg+VEbj7zzqEMBVNhzcGYYeqFo/TlYz6eQiFcp1HcsCZO+nGgS8zg==",
+ "dev": true,
+ "engines": {
+ "node": ">=6.9.0"
+ }
+ },
"node_modules/get-intrinsic": {
"version": "1.3.0",
"resolved": "https://registry.npmjs.org/get-intrinsic/-/get-intrinsic-1.3.0.tgz",
@@ -4552,6 +5705,18 @@
"js-yaml": "bin/js-yaml.js"
}
},
+ "node_modules/jsesc": {
+ "version": "3.1.0",
+ "resolved": "https://registry.npmjs.org/jsesc/-/jsesc-3.1.0.tgz",
+ "integrity": "sha512-/sM3dO2FOzXjKQhJuo0Q173wf2KOo8t4I8vHy6lF9poUp7bKT0/NHE8fPX23PwfhnykfqnC2xRxOnVw5XuGIaA==",
+ "dev": true,
+ "bin": {
+ "jsesc": "bin/jsesc"
+ },
+ "engines": {
+ "node": ">=6"
+ }
+ },
"node_modules/json-buffer": {
"version": "3.0.1",
"resolved": "https://registry.npmjs.org/json-buffer/-/json-buffer-3.0.1.tgz",
@@ -4873,6 +6038,24 @@
"integrity": "sha512-6FlzubTLZG3J2a/NVCAleEhjzq5oxgHyaCU9yYXvcLsvoVaHJq/s5xXI6/XXP6tz7R9xAOtHnSO/tXtF3WRTlA==",
"license": "MIT"
},
+ "node_modules/nanoid": {
+ "version": "3.3.11",
+ "resolved": "https://registry.npmjs.org/nanoid/-/nanoid-3.3.11.tgz",
+ "integrity": "sha512-N8SpfPUnUp1bK+PMYW8qSWdl9U+wwNWI4QKxOYDy9JAro3WMX7p2OeVRF9v+347pnakNevPmiHhNmZ2HbFA76w==",
+ "dev": true,
+ "funding": [
+ {
+ "type": "github",
+ "url": "https://github.com/sponsors/ai"
+ }
+ ],
+ "bin": {
+ "nanoid": "bin/nanoid.cjs"
+ },
+ "engines": {
+ "node": "^10 || ^12 || ^13.7 || ^14 || >=15.0.1"
+ }
+ },
"node_modules/natural-compare": {
"version": "1.4.0",
"resolved": "https://registry.npmjs.org/natural-compare/-/natural-compare-1.4.0.tgz",
@@ -5293,6 +6476,34 @@
"node": ">= 0.4"
}
},
+ "node_modules/postcss": {
+ "version": "8.5.6",
+ "resolved": "https://registry.npmjs.org/postcss/-/postcss-8.5.6.tgz",
+ "integrity": "sha512-3Ybi1tAuwAP9s0r1UQ2J4n5Y0G05bJkpUIO0/bI9MhwmD70S5aTWbXGBwxHrelT+XM1k6dM0pk+SwNkpTRN7Pg==",
+ "dev": true,
+ "funding": [
+ {
+ "type": "opencollective",
+ "url": "https://opencollective.com/postcss/"
+ },
+ {
+ "type": "tidelift",
+ "url": "https://tidelift.com/funding/github/npm/postcss"
+ },
+ {
+ "type": "github",
+ "url": "https://github.com/sponsors/ai"
+ }
+ ],
+ "dependencies": {
+ "nanoid": "^3.3.11",
+ "picocolors": "^1.1.1",
+ "source-map-js": "^1.2.1"
+ },
+ "engines": {
+ "node": "^10 || ^12 || >=14"
+ }
+ },
"node_modules/prelude-ls": {
"version": "1.2.1",
"resolved": "https://registry.npmjs.org/prelude-ls/-/prelude-ls-1.2.1.tgz",
@@ -5437,6 +6648,15 @@
"react-dom": "^18.0.0"
}
},
+ "node_modules/react-refresh": {
+ "version": "0.17.0",
+ "resolved": "https://registry.npmjs.org/react-refresh/-/react-refresh-0.17.0.tgz",
+ "integrity": "sha512-z6F7K9bV85EfseRCp2bzrpyQ0Gkw1uLoCel9XBVWPg/TjRj94SkJzUTGfOa4bs7iJvBWtQG0Wq7wnI0syw3EBQ==",
+ "dev": true,
+ "engines": {
+ "node": ">=0.10.0"
+ }
+ },
"node_modules/readable-stream": {
"version": "2.3.8",
"resolved": "https://registry.npmjs.org/readable-stream/-/readable-stream-2.3.8.tgz",
@@ -5628,6 +6848,47 @@
"integrity": "sha512-IXgzBWvWQwE6PrDI05OvmXUIruQTcoMDzRsOd5CDvHCVLcLHMTSYvOK5Cm46kWqlV3yAbuSpBZdJ5oP5OUoStg==",
"license": "Unlicense"
},
+ "node_modules/rollup": {
+ "version": "4.54.0",
+ "resolved": "https://registry.npmjs.org/rollup/-/rollup-4.54.0.tgz",
+ "integrity": "sha512-3nk8Y3a9Ea8szgKhinMlGMhGMw89mqule3KWczxhIzqudyHdCIOHw8WJlj/r329fACjKLEh13ZSk7oE22kyeIw==",
+ "dev": true,
+ "dependencies": {
+ "@types/estree": "1.0.8"
+ },
+ "bin": {
+ "rollup": "dist/bin/rollup"
+ },
+ "engines": {
+ "node": ">=18.0.0",
+ "npm": ">=8.0.0"
+ },
+ "optionalDependencies": {
+ "@rollup/rollup-android-arm-eabi": "4.54.0",
+ "@rollup/rollup-android-arm64": "4.54.0",
+ "@rollup/rollup-darwin-arm64": "4.54.0",
+ "@rollup/rollup-darwin-x64": "4.54.0",
+ "@rollup/rollup-freebsd-arm64": "4.54.0",
+ "@rollup/rollup-freebsd-x64": "4.54.0",
+ "@rollup/rollup-linux-arm-gnueabihf": "4.54.0",
+ "@rollup/rollup-linux-arm-musleabihf": "4.54.0",
+ "@rollup/rollup-linux-arm64-gnu": "4.54.0",
+ "@rollup/rollup-linux-arm64-musl": "4.54.0",
+ "@rollup/rollup-linux-loong64-gnu": "4.54.0",
+ "@rollup/rollup-linux-ppc64-gnu": "4.54.0",
+ "@rollup/rollup-linux-riscv64-gnu": "4.54.0",
+ "@rollup/rollup-linux-riscv64-musl": "4.54.0",
+ "@rollup/rollup-linux-s390x-gnu": "4.54.0",
+ "@rollup/rollup-linux-x64-gnu": "4.54.0",
+ "@rollup/rollup-linux-x64-musl": "4.54.0",
+ "@rollup/rollup-openharmony-arm64": "4.54.0",
+ "@rollup/rollup-win32-arm64-msvc": "4.54.0",
+ "@rollup/rollup-win32-ia32-msvc": "4.54.0",
+ "@rollup/rollup-win32-x64-gnu": "4.54.0",
+ "@rollup/rollup-win32-x64-msvc": "4.54.0",
+ "fsevents": "~2.3.2"
+ }
+ },
"node_modules/run-parallel": {
"version": "1.2.0",
"resolved": "https://registry.npmjs.org/run-parallel/-/run-parallel-1.2.0.tgz",
@@ -6041,6 +7302,15 @@
"node": ">= 12"
}
},
+ "node_modules/source-map-js": {
+ "version": "1.2.1",
+ "resolved": "https://registry.npmjs.org/source-map-js/-/source-map-js-1.2.1.tgz",
+ "integrity": "sha512-UXWMKhLOwVKb728IUtQPXxfYU+usdybtUrK/8uGE8CQMvrhOpwvzDBwj0QhSL7MQc7vIsISBG8VQ8+IDQxpfQA==",
+ "dev": true,
+ "engines": {
+ "node": ">=0.10.0"
+ }
+ },
"node_modules/source-map-support": {
"version": "0.5.21",
"resolved": "https://registry.npmjs.org/source-map-support/-/source-map-support-0.5.21.tgz",
@@ -6485,6 +7755,51 @@
"dev": true,
"license": "MIT"
},
+ "node_modules/tinyglobby": {
+ "version": "0.2.15",
+ "resolved": "https://registry.npmjs.org/tinyglobby/-/tinyglobby-0.2.15.tgz",
+ "integrity": "sha512-j2Zq4NyQYG5XMST4cbs02Ak8iJUdxRM0XI5QyxXuZOzKOINmWurp3smXu3y5wDcJrptwpSjgXHzIQxR0omXljQ==",
+ "dev": true,
+ "dependencies": {
+ "fdir": "^6.5.0",
+ "picomatch": "^4.0.3"
+ },
+ "engines": {
+ "node": ">=12.0.0"
+ },
+ "funding": {
+ "url": "https://github.com/sponsors/SuperchupuDev"
+ }
+ },
+ "node_modules/tinyglobby/node_modules/fdir": {
+ "version": "6.5.0",
+ "resolved": "https://registry.npmjs.org/fdir/-/fdir-6.5.0.tgz",
+ "integrity": "sha512-tIbYtZbucOs0BRGqPJkshJUYdL+SDH7dVM8gjy+ERp3WAUjLEFJE+02kanyHtwjWOnwrKYBiwAmM0p4kLJAnXg==",
+ "dev": true,
+ "engines": {
+ "node": ">=12.0.0"
+ },
+ "peerDependencies": {
+ "picomatch": "^3 || ^4"
+ },
+ "peerDependenciesMeta": {
+ "picomatch": {
+ "optional": true
+ }
+ }
+ },
+ "node_modules/tinyglobby/node_modules/picomatch": {
+ "version": "4.0.3",
+ "resolved": "https://registry.npmjs.org/picomatch/-/picomatch-4.0.3.tgz",
+ "integrity": "sha512-5gTmgEY/sqK6gFXLIsQNH19lWb4ebPDLA4SdLP7dsWkIXHWlG66oPuVvXSGFPppYZz8ZDZq0dYYrbHfBCVUb1Q==",
+ "dev": true,
+ "engines": {
+ "node": ">=12"
+ },
+ "funding": {
+ "url": "https://github.com/sponsors/jonschlinkert"
+ }
+ },
"node_modules/to-regex-range": {
"version": "5.0.1",
"resolved": "https://registry.npmjs.org/to-regex-range/-/to-regex-range-5.0.1.tgz",
@@ -6795,6 +8110,109 @@
"dev": true,
"license": "MIT"
},
+ "node_modules/vite": {
+ "version": "6.4.1",
+ "resolved": "https://registry.npmjs.org/vite/-/vite-6.4.1.tgz",
+ "integrity": "sha512-+Oxm7q9hDoLMyJOYfUYBuHQo+dkAloi33apOPP56pzj+vsdJDzr+j1NISE5pyaAuKL4A3UD34qd0lx5+kfKp2g==",
+ "dev": true,
+ "dependencies": {
+ "esbuild": "^0.25.0",
+ "fdir": "^6.4.4",
+ "picomatch": "^4.0.2",
+ "postcss": "^8.5.3",
+ "rollup": "^4.34.9",
+ "tinyglobby": "^0.2.13"
+ },
+ "bin": {
+ "vite": "bin/vite.js"
+ },
+ "engines": {
+ "node": "^18.0.0 || ^20.0.0 || >=22.0.0"
+ },
+ "funding": {
+ "url": "https://github.com/vitejs/vite?sponsor=1"
+ },
+ "optionalDependencies": {
+ "fsevents": "~2.3.3"
+ },
+ "peerDependencies": {
+ "@types/node": "^18.0.0 || ^20.0.0 || >=22.0.0",
+ "jiti": ">=1.21.0",
+ "less": "*",
+ "lightningcss": "^1.21.0",
+ "sass": "*",
+ "sass-embedded": "*",
+ "stylus": "*",
+ "sugarss": "*",
+ "terser": "^5.16.0",
+ "tsx": "^4.8.1",
+ "yaml": "^2.4.2"
+ },
+ "peerDependenciesMeta": {
+ "@types/node": {
+ "optional": true
+ },
+ "jiti": {
+ "optional": true
+ },
+ "less": {
+ "optional": true
+ },
+ "lightningcss": {
+ "optional": true
+ },
+ "sass": {
+ "optional": true
+ },
+ "sass-embedded": {
+ "optional": true
+ },
+ "stylus": {
+ "optional": true
+ },
+ "sugarss": {
+ "optional": true
+ },
+ "terser": {
+ "optional": true
+ },
+ "tsx": {
+ "optional": true
+ },
+ "yaml": {
+ "optional": true
+ }
+ }
+ },
+ "node_modules/vite/node_modules/fdir": {
+ "version": "6.5.0",
+ "resolved": "https://registry.npmjs.org/fdir/-/fdir-6.5.0.tgz",
+ "integrity": "sha512-tIbYtZbucOs0BRGqPJkshJUYdL+SDH7dVM8gjy+ERp3WAUjLEFJE+02kanyHtwjWOnwrKYBiwAmM0p4kLJAnXg==",
+ "dev": true,
+ "engines": {
+ "node": ">=12.0.0"
+ },
+ "peerDependencies": {
+ "picomatch": "^3 || ^4"
+ },
+ "peerDependenciesMeta": {
+ "picomatch": {
+ "optional": true
+ }
+ }
+ },
+ "node_modules/vite/node_modules/picomatch": {
+ "version": "4.0.3",
+ "resolved": "https://registry.npmjs.org/picomatch/-/picomatch-4.0.3.tgz",
+ "integrity": "sha512-5gTmgEY/sqK6gFXLIsQNH19lWb4ebPDLA4SdLP7dsWkIXHWlG66oPuVvXSGFPppYZz8ZDZq0dYYrbHfBCVUb1Q==",
+ "dev": true,
+ "engines": {
+ "node": ">=12"
+ },
+ "funding": {
+ "url": "https://github.com/sponsors/jonschlinkert"
+ }
+ },
"node_modules/watchpack": {
"version": "2.4.4",
"resolved": "https://registry.npmjs.org/watchpack/-/watchpack-2.4.4.tgz",
@@ -7161,6 +8579,12 @@
"node": ">=0.4.0"
}
},
+ "node_modules/yallist": {
+ "version": "3.1.1",
+ "resolved": "https://registry.npmjs.org/yallist/-/yallist-3.1.1.tgz",
+ "integrity": "sha512-a4UGQaWPH59mOXUYnAG2ewncQS4i4F43Tv3JoAM+s2VDAmS9NsK8GpDMLrCHPksFT7h3K6TOoUNn2pb7RoXx4g==",
+ "dev": true
+ },
"node_modules/yocto-queue": {
"version": "0.1.0",
"resolved": "https://registry.npmjs.org/yocto-queue/-/yocto-queue-0.1.0.tgz",
diff --git a/dimos/web/command-center-extension/package.json b/dimos/web/command-center-extension/package.json
index cd05ffb1dd..f3cd836205 100644
--- a/dimos/web/command-center-extension/package.json
+++ b/dimos/web/command-center-extension/package.json
@@ -1,7 +1,7 @@
{
"name": "command-center-extension",
"displayName": "command-center-extension",
- "description": "",
+ "description": "2D costmap visualization with robot and path overlay",
"publisher": "dimensional",
"homepage": "",
"version": "0.0.1",
@@ -10,6 +10,9 @@
"keywords": [],
"scripts": {
"build": "foxglove-extension build",
+ "build:standalone": "vite build",
+ "dev": "vite",
+ "preview": "vite preview",
"foxglove:prepublish": "foxglove-extension build --mode production",
"lint": "eslint .",
"lint:ci": "eslint .",
@@ -25,12 +28,14 @@
"@types/leaflet": "^1.9.21",
"@types/react": "18.3.24",
"@types/react-dom": "18.3.7",
+ "@vitejs/plugin-react": "^4.3.4",
"create-foxglove-extension": "1.0.6",
"eslint": "9.34.0",
"prettier": "3.6.2",
"react": "18.3.1",
"react-dom": "^18.3.1",
- "typescript": "5.9.2"
+ "typescript": "5.9.2",
+ "vite": "^6.0.0"
},
"dependencies": {
"@types/pako": "^2.0.4",
diff --git a/dimos/web/command-center-extension/src/standalone.tsx b/dimos/web/command-center-extension/src/standalone.tsx
new file mode 100644
index 0000000000..7fefcab0fd
--- /dev/null
+++ b/dimos/web/command-center-extension/src/standalone.tsx
@@ -0,0 +1,20 @@
+/**
+ * Standalone entry point for the Command Center React app.
+ * This allows the command center to run outside of Foxglove as a regular web page.
+ */
+import * as React from "react";
+import { createRoot } from "react-dom/client";
+
+import App from "./App";
+
+const container = document.getElementById("root");
+if (container) {
+ const root = createRoot(container);
+ root.render(
+
+
+
+ );
+} else {
+ console.error("Root element not found");
+}
diff --git a/dimos/web/command-center-extension/vite.config.ts b/dimos/web/command-center-extension/vite.config.ts
new file mode 100644
index 0000000000..064f2bc7c5
--- /dev/null
+++ b/dimos/web/command-center-extension/vite.config.ts
@@ -0,0 +1,21 @@
+import { defineConfig } from "vite";
+import react from "@vitejs/plugin-react";
+import { resolve } from "path";
+
+export default defineConfig({
+ plugins: [react()],
+ root: ".",
+ build: {
+ outDir: "dist-standalone",
+ emptyDirBeforeWrite: true,
+ rollupOptions: {
+ input: {
+ main: resolve(__dirname, "index.html"),
+ },
+ },
+ },
+ server: {
+ port: 3000,
+ open: false,
+ },
+});
diff --git a/dimos/web/templates/rerun_dashboard.html b/dimos/web/templates/rerun_dashboard.html
new file mode 100644
index 0000000000..9917d9d2af
--- /dev/null
+++ b/dimos/web/templates/rerun_dashboard.html
@@ -0,0 +1,20 @@
+
+
+
+ Dimos Dashboard
+
+
+
+
+
+
+
+
+
diff --git a/dimos/web/websocket_vis/websocket_vis_module.py b/dimos/web/websocket_vis/websocket_vis_module.py
index 698701058f..e3638a6fe9 100644
--- a/dimos/web/websocket_vis/websocket_vis_module.py
+++ b/dimos/web/websocket_vis/websocket_vis_module.py
@@ -16,9 +16,14 @@
"""
WebSocket Visualization Module for Dimos navigation and mapping.
+
+This module provides a WebSocket data server for real-time visualization.
+The frontend is served from a separate HTML file.
"""
import asyncio
+import os
+from pathlib import Path as FilePath
import threading
import time
from typing import Any
@@ -27,10 +32,18 @@
from reactivex.disposable import Disposable
import socketio # type: ignore[import-untyped]
from starlette.applications import Starlette
-from starlette.responses import HTMLResponse
-from starlette.routing import Route
+from starlette.responses import FileResponse, RedirectResponse, Response
+from starlette.routing import Mount, Route
+from starlette.staticfiles import StaticFiles
import uvicorn
+# Path to the frontend HTML templates and command-center build
+_TEMPLATES_DIR = FilePath(__file__).parent.parent / "templates"
+_DASHBOARD_HTML = _TEMPLATES_DIR / "rerun_dashboard.html"
+_COMMAND_CENTER_DIR = (
+ FilePath(__file__).parent.parent / "command-center-extension" / "dist-standalone"
+)
+
from dimos.core import In, Module, Out, rpc
from dimos.mapping.occupancy.gradient import gradient
from dimos.mapping.occupancy.inflation import simple_inflate
@@ -128,6 +141,9 @@ def start(self) -> None:
self._uvicorn_server_thread = threading.Thread(target=self._run_uvicorn_server, daemon=True)
self._uvicorn_server_thread.start()
+ # Show control center link in terminal
+ logger.info(f"Command Center: http://localhost:{self.port}/command-center")
+
try:
unsub = self.odom.subscribe(self._on_robot_pose)
self._disposables.add(Disposable(unsub))
@@ -186,9 +202,40 @@ def _create_server(self) -> None:
self.sio = socketio.AsyncServer(async_mode="asgi", cors_allowed_origins="*")
async def serve_index(request): # type: ignore[no-untyped-def]
- return HTMLResponse("Use the extension.")
+ """Serve appropriate HTML based on viewer mode."""
+ # If running native Rerun, redirect to standalone command center
+ viewer_backend = os.environ.get("VIEWER_BACKEND", "rerun-web").lower()
+ if viewer_backend == "rerun-native":
+ return RedirectResponse(url="/command-center")
+ # Otherwise serve full dashboard with Rerun iframe
+ return FileResponse(_DASHBOARD_HTML, media_type="text/html")
+
+ async def serve_command_center(request): # type: ignore[no-untyped-def]
+ """Serve the command center 2D visualization (built React app)."""
+ index_file = _COMMAND_CENTER_DIR / "index.html"
+ if index_file.exists():
+ return FileResponse(index_file, media_type="text/html")
+ else:
+ return Response(
+ content="Command center not built. Run: cd dimos/web/command-center-extension && npm install && npm run build:standalone",
+ status_code=503,
+ media_type="text/plain",
+ )
- routes = [Route("/", serve_index)]
+ routes = [
+ Route("/", serve_index),
+ Route("/command-center", serve_command_center),
+ ]
+
+ # Add static file serving for command-center assets if build exists
+ if _COMMAND_CENTER_DIR.exists():
+ routes.append(
+ Mount( # type: ignore[arg-type]
+ "/assets",
+ app=StaticFiles(directory=_COMMAND_CENTER_DIR / "assets"),
+ name="assets",
+ )
+ )
starlette_app = Starlette(routes=routes)
self.app = socketio.ASGIApp(self.sio, starlette_app)
diff --git a/docs/VIEWER_BACKENDS.md b/docs/VIEWER_BACKENDS.md
new file mode 100644
index 0000000000..d70e3fa824
--- /dev/null
+++ b/docs/VIEWER_BACKENDS.md
@@ -0,0 +1,77 @@
+# Viewer Backends
+
+Dimos supports three visualization backends: Rerun (web or native) and Foxglove.
+
+## Quick Start
+
+Choose your viewer backend with the `VIEWER_BACKEND` environment variable:
+
+```bash
+# Rerun native viewer (default) - Fast native window + control center
+dimos run unitree-go2
+# or explicitly:
+VIEWER_BACKEND=rerun-native dimos run unitree-go2
+
+# Rerun web viewer - Full dashboard in browser
+VIEWER_BACKEND=rerun-web dimos run unitree-go2
+
+# Foxglove - Use Foxglove Studio instead of Rerun
+VIEWER_BACKEND=foxglove dimos run unitree-go2
+```
+
+## Viewer Modes Explained
+
+### Rerun Web (`rerun-web`)
+
+**What you get:**
+- Full dashboard at http://localhost:7779
+- Rerun 3D viewer + command center sidebar in one page
+- Works in browser, no display required (headless-friendly)
+
+---
+
+### Rerun Native (`rerun-native`)
+
+**What you get:**
+- Native Rerun application (separate window opens automatically)
+- Command center at http://localhost:7779
+- Better performance with larger maps/higher resolution
+
+---
+
+### Foxglove (`foxglove`)
+
+**What you get:**
+- Foxglove bridge on ws://localhost:8765
+- No Rerun (saves resources)
+- Better performance with larger maps/higher resolution
+- Open layout: `dimos/assets/foxglove_dashboards/go2.json`
+
+---
+
+## Performance Tuning
+
+### Symptom: Slow Map Updates
+
+If you notice:
+- Robot appears to "walk across empty space"
+- Costmap updates lag behind the robot
+- Visualization stutters or freezes
+
+This happens on lower-end hardware (NUC, older laptops) with large maps.
+
+### Increase Voxel Size
+
+Edit [`dimos/robot/unitree_webrtc/unitree_go2_blueprints.py`](../dimos/robot/unitree_webrtc/unitree_go2_blueprints.py) line 82:
+
+```python
+# Before (high detail, slower on large maps)
+voxel_mapper(voxel_size=0.05), # 5cm voxels
+
+# After (lower detail, 8x faster)
+voxel_mapper(voxel_size=0.1), # 10cm voxels
+```
+
+**Trade-off:**
+- Larger voxels = fewer voxels = faster updates
+- But slightly less detail in the map
diff --git a/pyproject.toml b/pyproject.toml
index f4bd6c9fa2..9cbe25dded 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -13,6 +13,7 @@ exclude = ["dimos.web.websocket_vis.node_modules*"]
[tool.setuptools.package-data]
"dimos" = ["*.html", "*.css", "*.js", "*.json", "*.txt", "*.yaml", "*.yml"]
"dimos.utils.cli" = ["*.tcss"]
+"dimos.robot.unitree.go2" = ["*.urdf"]
"dimos.robot.unitree_webrtc.params" = ["*.yaml", "*.yml"]
"dimos.web.templates" = ["*"]
"dimos.rxpy_backpressure" = ["*.txt"]
@@ -38,6 +39,7 @@ dependencies = [
"cerebras-cloud-sdk",
"moondream",
"numpy>=1.26.4",
+ "rerun-sdk>=0.20.0",
"colorlog==6.9.0",
"yapf==0.40.2",
"typeguard",
diff --git a/uv.lock b/uv.lock
index da7940bcdc..6e5e4d940b 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1505,6 +1505,7 @@ dependencies = [
{ name = "pyturbojpeg" },
{ name = "reactivex" },
{ name = "requests" },
+ { name = "rerun-sdk" },
{ name = "scikit-learn", version = "1.7.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
{ name = "scikit-learn", version = "1.8.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
{ name = "scipy", version = "1.15.3", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
@@ -1705,6 +1706,7 @@ requires-dist = [
{ name = "regex", marker = "extra == 'cuda'" },
{ name = "requests" },
{ name = "requests-mock", marker = "extra == 'dev'", specifier = "==1.12.1" },
+ { name = "rerun-sdk", specifier = ">=0.20.0" },
{ name = "rtree", marker = "extra == 'manipulation'" },
{ name = "ruff", marker = "extra == 'dev'", specifier = "==0.14.3" },
{ name = "scikit-learn" },
@@ -7520,6 +7522,25 @@ wheels = [
{ url = "https://files.pythonhosted.org/packages/3f/51/d4db610ef29373b879047326cbf6fa98b6c1969d6f6dc423279de2b1be2c/requests_toolbelt-1.0.0-py2.py3-none-any.whl", hash = "sha256:cccfdd665f0a24fcf4726e690f65639d272bb0637b9b92dfd91a5568ccf6bd06", size = 54481, upload-time = "2023-05-01T04:11:28.427Z" },
]
+[[package]]
+name = "rerun-sdk"
+version = "0.28.1"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+ { name = "attrs" },
+ { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
+ { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
+ { name = "pillow" },
+ { name = "pyarrow" },
+ { name = "typing-extensions" },
+]
+wheels = [
+ { url = "https://files.pythonhosted.org/packages/11/4f/7105b8aa0cfb2afdef53ef34d82a043126b6a69e74fbc530c08362b756b5/rerun_sdk-0.28.1-cp310-abi3-macosx_11_0_arm64.whl", hash = "sha256:efc4534ad2db8ec8c3b3c68f5883537d639c6758943e1ee10cfe6fb2022708e5", size = 108152262, upload-time = "2025-12-19T22:15:49.596Z" },
+ { url = "https://files.pythonhosted.org/packages/c9/c5/2a170f9d7c59888875cd60f9b756fc88eef6bf431ffbfe030291bb272754/rerun_sdk-0.28.1-cp310-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:af0631b2598c7edb1872b42ec67ff04ff07bda60db6a4f9987821e4628271cbb", size = 115949311, upload-time = "2025-12-19T22:15:56.449Z" },
+ { url = "https://files.pythonhosted.org/packages/75/f7/ca2231395357d874f6e94daede9d726f9a5969654ae7efca4990cf3b3c6e/rerun_sdk-0.28.1-cp310-abi3-manylinux_2_28_x86_64.whl", hash = "sha256:330ff7df6bcc31d45ccea84e8790b8755353731230c036bfa33fed53a48a02e7", size = 123828354, upload-time = "2025-12-19T22:16:02.755Z" },
+ { url = "https://files.pythonhosted.org/packages/bb/36/81fda4823c56c492cc5dc0408acb3635f08b0b17b1471b90dfbc4bea2793/rerun_sdk-0.28.1-cp310-abi3-win_amd64.whl", hash = "sha256:04e70610090dee4128b404a7f010c3b25208708c9dd2b0a279dbd27a69ccf453", size = 105707482, upload-time = "2025-12-19T22:16:08.704Z" },
+]
+
[[package]]
name = "retrying"
version = "1.4.2"