Release v0.0.6: Pre-Launch Unitree Go2 Release

.editorconfig

@@ -0,0 +1,27 @@
+# top-most EditorConfig file
+root = true
+
+[*]
+indent_style = space
+indent_size = 2
+end_of_line = lf
+charset = utf-8
+trim_trailing_whitespace = true
+insert_final_newline = true
+
+[*.md]
+indent_size = 4
+
+[*.nix]
+indent_size = 2
+
+[*.{py,ipynb}]
+indent_size = 4
+max_line_length = 100
+
+[*.rs]
+indent_style = space
+indent_size = 4
+
+[*.{ts,svelte}]
+indent_size = 2

.envrc.nix

@@ -2,4 +2,10 @@ if ! has nix_direnv_version || ! nix_direnv_version 3.0.6; then
   source_url "https://raw.githubusercontent.com/nix-community/nix-direnv/3.0.6/direnvrc" "sha256-RYcUJaRMf8oF5LznDrlCXbkOQrywm0HDv1VjYGaJGdM="
 fi
 use flake .
+for venv in venv .venv env; do
+  if [[ -f "$venv/bin/activate" ]]; then
+    source "$venv/bin/activate"
+    break
+  fi
+done
 dotenv_if_exists

.envrc.venv

@@ -1,2 +1,7 @@
-source env/bin/activate
+for venv in venv .venv env; do
+  if [[ -f "$venv/bin/activate" ]]; then
+    source "$venv/bin/activate"
+    break
+  fi
+done
 dotenv_if_exists

.gitattributes

@@ -4,8 +4,9 @@
 # Ensure Python files always use LF for line endings.
 *.py text eol=lf
 # Treat designated file types as binary and do not alter their contents or line endings.
-*.png binary
-*.jpg binary
+*.png filter=lfs diff=lfs merge=lfs -text binary
+*.jpg filter=lfs diff=lfs merge=lfs -text binary
+*.jpeg filter=lfs diff=lfs merge=lfs -text binary
 *.ico binary
 *.pdf binary
 # Explicit LFS tracking for test files
@@ -14,3 +15,4 @@
 *.mp4 filter=lfs diff=lfs merge=lfs -text binary
 *.mov filter=lfs diff=lfs merge=lfs -text binary
 *.gif filter=lfs diff=lfs merge=lfs -text binary
+*.foxe filter=lfs diff=lfs merge=lfs -text binary

.github/workflows/_docker-build-template.yml

@@ -38,19 +38,19 @@ jobs:
           sudo rm -rf /usr/share/dotnet
           sudo rm -rf /usr/local/share/boost
           sudo rm -rf /usr/local/lib/android
-          
+
           echo "=== Cleaning images from deleted branches ==="
-          
+
           # Get list of all remote branches
           git ls-remote --heads origin | awk '{print $2}' | sed 's|refs/heads/||' > /tmp/active_branches.txt
-          
+
           # Check each docker image tag against branch list
           docker images --format "{{.Repository}}:{{.Tag}}|{{.ID}}" | \
           grep "ghcr.io/dimensionalos" | \
           grep -v ":<none>" | \
           while IFS='|' read image_ref id; do
             tag=$(echo "$image_ref" | cut -d: -f2)
-            
+
             # Skip if tag matches an active branch
             if grep -qx "$tag" /tmp/active_branches.txt; then
               echo "Branch exists: $tag - keeping $image_ref"
@@ -59,15 +59,15 @@ jobs:
               docker rmi "$id" 2>/dev/null || true
             fi
           done
-          
+
           rm -f /tmp/active_branches.txt
-          
+
           USAGE=$(df / | awk 'NR==2 {print $5}' | sed 's/%//')
           echo "Pre-docker-cleanup disk usage: ${USAGE}%"
-          
+
           if [ $USAGE -gt 60 ]; then
             echo "=== Running quick cleanup (usage > 60%) ==="
-            
+
             # Keep newest image per tag
             docker images --format "{{.Repository}}|{{.Tag}}|{{.ID}}" | \
             grep "ghcr.io/dimensionalos" | \
@@ -81,39 +81,39 @@ jobs:
             {
               repo=$1; tag=$2; id=$3
               repo_tag = repo ":" tag
-              
+
               # Skip protected tags
               if (tag ~ /^(main|dev|latest)$/) next
-              
+
               # Keep newest per tag, remove older duplicates
               if (!(repo_tag in seen_combos)) {
                 seen_combos[repo_tag] = 1
               } else {
                 system("docker rmi " id " 2>/dev/null || true")
               }
             }'
-            
+
             docker image prune -f
             docker volume prune -f
           fi
-          
+
           # Aggressive cleanup if still above 85%
           USAGE=$(df / | awk 'NR==2 {print $5}' | sed 's/%//')
           if [ $USAGE -gt 85 ]; then
             echo "=== AGGRESSIVE cleanup (usage > 85%) - removing all except main/dev ==="
-            
+
             # Remove ALL images except main and dev tags
             docker images --format "{{.Repository}}:{{.Tag}} {{.ID}}" | \
             grep -E "ghcr.io/dimensionalos" | \
             grep -vE ":(main|dev)$" | \
             awk '{print $2}' | xargs -r docker rmi -f || true
-            
+
             docker container prune -f
             docker volume prune -a -f
             docker network prune -f
-            docker image prune -f 
+            docker image prune -f
           fi
-          
+
           echo -e "post cleanup space:\n $(df -h)"
 
       - uses: docker/login-action@v3

.github/workflows/code-cleanup.yml

@@ -1,5 +1,8 @@
 name: code-cleanup
-on: push
+on:
+  push:
+    paths-ignore:
+      - '**.md'
 
 permissions:
   contents: write
@@ -13,20 +16,21 @@ jobs:
     - name: Fix permissions
       run: |
         sudo chown -R $USER:$USER ${{ github.workspace }} || true
-        
+
     - uses: actions/checkout@v3
     - uses: actions/setup-python@v3
+    - uses: astral-sh/setup-uv@v4
     - name: Run pre-commit
       id: pre-commit-first
       uses: pre-commit/action@v3.0.1
       continue-on-error: true
-      
+
     - name: Re-run pre-commit if failed initially
       id: pre-commit-retry
       if: steps.pre-commit-first.outcome == 'failure'
       uses: pre-commit/action@v3.0.1
       continue-on-error: false
-      
+
     - name: Commit code changes
       uses: stefanzweifel/git-auto-commit-action@v5
       with:

.github/workflows/docker.yml

@@ -4,7 +4,11 @@ on:
     branches:
       - main
       - dev
+    paths-ignore:
+      - '**.md'
   pull_request:
+    paths-ignore:
+      - '**.md'
 
 permissions:
   contents: read
@@ -24,7 +28,7 @@ jobs:
       - name: Fix permissions
         run: |
           sudo chown -R $USER:$USER ${{ github.workspace }} || true
-          
+
       - uses: actions/checkout@v4
       - id: filter
         uses: dorny/paths-filter@v3
@@ -132,7 +136,7 @@ jobs:
     uses: ./.github/workflows/_docker-build-template.yml
     with:
       should-run: ${{
-        needs.check-changes.result == 'success' && 
+        needs.check-changes.result == 'success' &&
         (needs.check-changes.outputs.dev == 'true' ||
          (needs.ros-python.result == 'success' && (needs.check-changes.outputs.python == 'true' || needs.check-changes.outputs.ros == 'true')))
         }}
@@ -201,6 +205,21 @@ jobs:
       cmd: "pytest -m lcm"
       dev-image: dev:${{ (needs.check-changes.outputs.python == 'true' || needs.check-changes.outputs.dev == 'true') && needs.dev.result == 'success' && needs.check-changes.outputs.branch-tag || 'dev' }}
 
+  run-mypy:
+    needs: [check-changes, ros-dev]
+    if: always()
+    uses: ./.github/workflows/tests.yml
+    secrets: inherit
+    with:
+      should-run: ${{
+        needs.check-changes.result == 'success' &&
+        ((needs.ros-dev.result == 'success') ||
+        (needs.ros-dev.result == 'skipped' &&
+        needs.check-changes.outputs.tests == 'true'))
+        }}
+      cmd: "MYPYPATH=/opt/ros/humble/lib/python3.10/site-packages mypy dimos"
+      dev-image: ros-dev:${{ (needs.check-changes.outputs.python == 'true' || needs.check-changes.outputs.dev == 'true' || needs.check-changes.outputs.ros == 'true') && needs.ros-dev.result == 'success' && needs.check-changes.outputs.branch-tag || 'dev' }}
+
   # Run module tests directly to avoid pytest forking issues
   # run-module-tests:
   #   needs: [check-changes, dev]
@@ -218,21 +237,20 @@ jobs:
   #     - name: Fix permissions
   #       run: |
   #         sudo chown -R $USER:$USER ${{ github.workspace }} || true
-  #         
+  #
   #     - uses: actions/checkout@v4
   #       with:
   #         lfs: true
-  #         
+  #
   #     - name: Configure Git LFS
   #       run: |
   #         git config --global --add safe.directory '*'
   #         git lfs install
   #         git lfs fetch
   #         git lfs checkout
-  #       
+  #
   #     - name: Run module tests
   #       env:
   #         CI: "true"
   #       run: |
   #         /entrypoint.sh bash -c "pytest -m module"
-

.github/workflows/readme.md

@@ -12,17 +12,17 @@ https://code.visualstudio.com/docs/devcontainers/containers
 create personal access token (classic, not fine grained)
 https://github.com/settings/tokens
 
-add permissions 
+add permissions
 - read:packages scope to download container images and read their metadata.
-    
+
     and optionally,
-    
+
 - write:packages scope to download and upload container images and read and write their metadata.
 - delete:packages scope to delete container images.
 
 more info @ https://docs.github.com/en/packages/working-with-a-github-packages-registry/working-with-the-container-registry
 
-login to docker via 
+login to docker via
 
 `sh
 echo TOKEN | docker login ghcr.io -u GITHUB_USER --password-stdin
@@ -38,14 +38,14 @@ pull dev image (master)
 docker pull ghcr.io/dimensionalos/dev:latest
 `
 
-# todo 
+# todo
 
 Currently there is an issue with ensuring both correct docker image build ordering, and skipping unneccessary re-builds.
 
 (we need job dependancies for builds to wait to their images underneath to be built (for example py waits for ros))
 by default if a parent is skipped, it's children get skipped as well, unless they have always() in their conditional.
 
-Issue is once we put always() in the conditional, it seems that no matter what other check we put in the same conditional, job will always run. 
+Issue is once we put always() in the conditional, it seems that no matter what other check we put in the same conditional, job will always run.
 for this reason we cannot skip python (and above) builds for now. Needs review.
 
 I think we will need to write our own build dispatcher in python that calls github workflows that build images.

.github/workflows/tests.yml

@@ -28,14 +28,14 @@ jobs:
   #       if: ${{ !inputs.should-run }}
   #       run: |
   #         exit 0
-          
+
   #     - name: Free disk space
   #       run: |
   #         sudo rm -rf /opt/ghc
   #         sudo rm -rf /usr/share/dotnet
   #         sudo rm -rf /usr/local/share/boost
   #         sudo rm -rf /usr/local/lib/android
-          
+
   run-tests:
     runs-on: [self-hosted, Linux]
     container:
@@ -47,17 +47,16 @@ jobs:
 
     steps:
       - uses: actions/checkout@v4
-          
+
       - name: Fix permissions
         run: |
           git config --global --add safe.directory '*'
-          
+
       - name: Run tests
         run: |
           /entrypoint.sh bash -c "${{ inputs.cmd }}"
-          
+
       - name: check disk space
         if: failure()
         run: |
           df -h
-

.gitignore

@@ -1,3 +1,7 @@
+# generic ignore pattern
+**/*.ignore
+**/*.ignore.*
+
 .vscode/
 
 # Ignore Python cache files
@@ -8,6 +12,7 @@ __pycache__/
 *venv*/
 .venv*/
 .ssh/
+.direnv/
 
 # Ignore python tooling dirs
 *.egg-info/
@@ -49,3 +54,12 @@ yolo11n.pt
 # symlink one of .envrc.* if you'd like to use
 .envrc
 .claude
+.direnv/
+
+/logs
+
+*.so
+
+/.mypy_cache*
+
+*mobileclip*