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refactor(perception): use generated CDR in localization and color cache - #4664

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refactor(perception): use generated CDR in localization and color cache#4664
TomCC7 wants to merge 2 commits into
cc/feat/cdr-fiducial-consumersfrom
cc/feat/cdr-localize-consumers

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@TomCC7

@TomCC7 TomCC7 commented Oct 20, 2026

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Linear project: Message Encoding Refactor

Query-time localization now consumes generated images, calibration, TF and point clouds. Camera discovery inspects decoded image layout, including big-endian 16-bit depth; geometry uses shared projection, cloud and transform helpers. Existing query/model APIs, thresholds, port names and Observation pose API remain unchanged.

Lidar maps and object-cloud fusion preserve the newest contributing source stamp as integer nanoseconds. The existing seconds-valued Localization result API is still seconds-valued. Generated boxes carry that result time and use actual Point/PoseWithCovariance types. The offline renderer uses the current Rerun helpers and logs local camera pinholes without references to a missing TF tree.

The live local color cache previously selected a JPEG/LCM codec, which cannot accept generated Image. It now explicitly selects jpegcdr: JPEG bytes in a generated CompressedImage CDR storage envelope, decoded back to a generated Image with exact Header and BGR8 color. Geometry selects lz4+cdr. This preserves JPEG compression; it does not introduce a new transport or MCAP encoding. The old JPEG/LCM codec remains separate for unmigrated consumers until legacy retirement, and is not a compatibility path for this new cache.

Validation

At 9c7c0805c4758f60e0ac032942e5f61e868f4fb4:

  • 49 source and 49 installed-main-wheel localization/projection/recording/codec checks pass. Production imports are asserted to come from site-packages for installed acceptance.
  • Dual-camera pose composition, camera/depth discovery with both byte orders, world lidar registration/deduplication, Observation pose boundary, visibility/occlusion and generated CDR output boxes execute with real lightweight values.
  • Out-of-order cloud fusion preserves the exact newest nanosecond with and without voxel averaging. RGB, BGR and grayscale JPEG/CDR caches close/reopen through real SQLite with exact source Header and tested pixel colors; invalid codec/type declarations are rejected.
  • The offline renderer writes an actual RRD in an isolated child; the installed Rerun CLI confirms images, clouds, local camera pinholes and the answer entity. No visual human acceptance or screenshot claim.
  • Exact documentation block below executes. Strict typing passes 12 production files; applicable hooks, normal wheel build and default dependency pip check (198 packages) pass.
  • Wheel SHA256: c9fd93ff319b071ea777ff3200eba85ae8700afdc37514171b9baed2f31c8a15.

No full detector/segmenter/embedding localization model run, live blueprint, robot or new fixture download. Live module/blueprint execution still depends on the later default encoding cutover. CI has not been polled; benchmarks remain paused.

Manual check

After installing this branch through the normal main package installation path, run this complete geometry example in Python 3.12. It needs no model, network or physical sensor:

python - <<'PY'
from dimos.perception.localize.rig import Rig
from dimos.protocol.tf.static_tf_publisher import frames_to_edge_transforms
from dimos.protocol.tf.tf import MultiTBuffer

tf = MultiTBuffer()
tf.receive_transform(*frames_to_edge_transforms([
    ("base_link", "world", (2, 0, 0), (0, 0, 0)),
    ("front", "base_link", (0.5, 0, 0), (0, 0, 0)),
]))
rig = Rig(cameras={}, tf=tf)
pose = rig.camera_pose(0, "front")
assert pose is not None
assert pose.header.frame_id == "world"
assert pose.pose.position.x == 2.5
PY

See the self-contained perception guide for cache and source-clock behavior.

File change summary

Parent-relative diff from #4663 at b330329940e201771f0a54467275a2aae17af6b0: 16 files, 693 additions, 152 deletions.

Category Files Scope
Localize consumers and offline tool 9 Generated geometry and source-time boundaries
Stream projection 1 Generated calibration/transform helpers, existing Observation API
Storage codec and dispatch 2 Explicit generated JPEG/CDR color cache
Regression tests 2 Real geometry, SQLite reopening, docs and RRD checks
Docs and CI 2 Full short example and installed-wheel gates

Stack

Depends on #4663. Experimental/depth consumers, ZED, mapping/navigation, controls/robots, default cutover and legacy retirement remain later work; final PR-chain reconciliation follows those changes. No merge/release requested.

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go2 replay realtime (arm64)

Details
Benchmark suite Current: 2203be9 Previous: fbe126e Ratio
peak memory 1787.492 MB 1564.824 MB 1.14
peak threads 380 threads 357 threads 1.06
network (transport) 2719.512 MB 2727.328 MB 1.00
disk write 1.629 MB 1.488 MB 1.09
instructions 133.317 G 114.929 G 1.16

This comment was automatically generated by workflow using github-action-benchmark.

@codecov

codecov Bot commented Oct 20, 2026 •
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❌ 4 Tests Failed:

Tests completed Failed Passed Skipped
4 4 0 19
View the top 3 failed test(s) by shortest run time 
::dimos.robot.unitree.go2.blueprints.navigation.test_go2_sim_nav
Stack Traces | 0s run time 
.../blueprints/navigation/test_go2_sim_nav.py:22: in <module>
    from dimos.robot.unitree.go2.blueprints.basic.go2_sim import go2_sim
        Blueprint  = <class 'dimos.core.coordination.blueprints.Blueprint'>
        BlueprintAtom = <class 'dimos.core.coordination.blueprints.BlueprintAtom'>
        ModuleBase = <class 'dimos.core.module.ModuleBase'>
        MovementManager = <class 'dimos.navigation.movement_manager.movement_manager.MovementManager'>
        __builtins__ = <builtins>
        __cached__ = '.../navigation/__pycache__/test_go2_sim_nav.cpython-312.pyc'
        __doc__    = 'The simulator runs the navigation the robot runs, unmodified.'
        __file__   = '/Users/ec2-user/actions-runner/_work/dimos/dimos/.../blueprints/navigation/test_go2_sim_nav.py'
        __loader__ = <_pytest.assertion.rewrite.AssertionRewritingHook object at 0x1044f78f0>
        __name__   = 'dimos.robot.unitree.go2.blueprints.navigation.test_go2_sim_nav'
        __package__ = 'dimos.robot.unitree.go2.blueprints.navigation'
        __spec__   = ModuleSpec(name='dimos.robot.unitree.go2.blueprints.navigation.test_go2_sim_nav', loader=<_pytest.assertion.rewrite.As...n='/Users/ec2-user/actions-runner/_work/dimos/dimos/.../blueprints/navigation/test_go2_sim_nav.py')
        pytest     = <module 'pytest' from '.../dimos/dimos/.venv/lib/python3.12.../site-packages/pytest/__init__.py'>
.../blueprints/basic/go2_sim.py:28: in <module>
    from dimos.simulation.go2_sim.world import SimGo2World
        Any        = typing.Any
        Go2Mid360StaticTf = <class 'dimos.robot.unitree.go2.go2_mid360_static_transforms.Go2Mid360StaticTf'>
        MovementManager = <class 'dimos.navigation.movement_manager.movement_manager.MovementManager'>
        ROBOT_HEIGHT = 0.45
        ROBOT_LENGTH = 0.6858
        ROBOT_WIDTH = 0.3175
        TYPE_CHECKING = False
        __annotations__ = {}
        __builtins__ = <builtins>
        __cached__ = '.../basic/__pycache__/go2_sim.cpython-312.pyc'
        __doc__    = 'The legged Go2 with its Mid-360 in a generated office, driven from the rerun viewer.'
        __file__   = '/Users/ec2-user/actions-runner/_work/dimos/dimos/.../blueprints/basic/go2_sim.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0x3ab8fb6b0>
        __name__   = 'dimos.robot.unitree.go2.blueprints.basic.go2_sim'
        __package__ = 'dimos.robot.unitree.go2.blueprints.basic'
        __spec__   = ModuleSpec(name='dimos.robot.unitree.go2.blueprints.basic.go2_sim', loader=<_frozen_importlib_external.SourceFileLoade...8fb6b0>, origin='/Users/ec2-user/actions-runner/_work/dimos/dimos/.../blueprints/basic/go2_sim.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0x1245f14e0>
        body_on_base_link = <function body_on_base_link at 0x3a5c2b600>
        global_config = GlobalConfig(robot_ip=None, robot_ips=None, unitree_aes_128_key=None, xarm7_ip=None, xarm6_ip=None, lite6_ip=None, can...load_retries=2, dimos_upload_chunk_mb=None, dimos_upload_quiet_s=30.0, dimos_http_timeout=60.0, dimos_staging_dir=None)
        partial    = <class 'functools.partial'>
.../simulation/go2_sim/world.py:115: in <module>
    MOUNT_XYZ, MOUNT_R = _mount()
        BOX_EDGES  = array([[[         -1,          -1,          -1],
        [          1,          -1,          -1]],

       [[         ... 1,           1]],

       [[          1,           1,          -1],
        [          1,           1,           1]]])
        BOX_RGBA   = {'ceiling': (0.95, 0.95, 0.95, 1.0), 'clutter': (0.45, 0.55, 0.7, 1.0), 'wall': (0.86, 0.84, 0.78, 1.0)}
        CEILING_GROUP = 1
        CMD_VEL_TIMEOUT = 0.2
        COLLISION_GROUP = 3
        CONTROL_DT = 0.02
        Contact    = <class 'dimos.msgs.sim_msgs.Contacts.Contact'>
        Contacts   = <class 'dimos.msgs.sim_msgs.Contacts.Contacts'>
        DEFAULT_THREAD_JOIN_TIMEOUT = 2.0
        Disposable = <class 'reactivex.disposable.disposable.Disposable'>
        Event      = <class 'threading.Event'>
        FLOOR_CHECKER = ((0.62, 0.6, 0.56), (0.7, 0.68, 0.64))
        FRAMES     = [('base_link', None, (0.0, 0.0, 0.0), (0.0, 0.0, 0.0)), ('front_camera', 'base_link', (0.32715, -3e-05, 0.04297), (0.0...511965976, 0.0)), ('camera_optical', 'front_camera', (0.0, 0.0, 0.0), (-1.5707963267948966, 0.0, -1.5707963267948966))]
        FRAME_DT   = 0.1
        Family     = typing.Literal['office']
        Field      = <function Field at 0x107c85800>
        Go2Policy  = <class 'dimos.simulation.go2_legged.policy.Go2Policy'>
        In         = <class 'dimos.core.stream.In'>
        LIDAR_GROUPS = array([1, 1, 1, 0, 0, 0], dtype=uint8)
        LIDAR_HALF_EXTENTS = (0.0325, 0.0325, 0.03)
        LeggedGo2  = <class 'dimos.simulation.go2_legged.robot.LeggedGo2'>
        LineSegments3D = <class 'dimos.msgs.nav_msgs.LineSegments3D.LineSegments3D'>
        Module     = <class 'dimos.core.module.Module'>
        ModuleConfig = <class 'dimos.core.module.ModuleConfig'>
        MujocoRaycaster = <class 'dimos.simulation.sensors.mujoco_raycaster.MujocoRaycaster'>
        NDArray    = numpy.ndarray[tuple[typing.Any, ...], numpy.dtype[~_ScalarT]]
        ODOM_FRAME_ID = 'odom'
        Odometry   = <class 'dimos.msgs.nav_msgs.Odometry.Odometry'>
        Out        = <class 'dimos.core.stream.Out'>
        POINT_RATE = 200000.0
        Part       = typing.Literal['trunk', 'lidar', 'leg', 'foot']
        Path       = <class 'pathlib.Path'>
        PointCloud2 = <class 'dimos.msgs.sensor_msgs.PointCloud2.PointCloud2'>
        Pose       = <class 'dimos.msgs.geometry_msgs.Pose.Pose'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        Quaternion = <class 'dimos.msgs.geometry_msgs.Quaternion.Quaternion'>
        ROBOT_VISUAL_GROUP = 2
        Rotation   = <class 'scipy.spatial.transform._rotation.Rotation'>
        SCENE_GROUP = 0
        SCENE_PUBLISH_DT = 2.0
        SENSOR_FRAME_ID = 'mid360_link'
        STILL      = array([          0,           0,           0])
        Scene      = <class 'dimos.simulation.scenes.procedural.Scene'>
        SimMid360  = <class 'dimos.simulation.sensors.mid360.lidar.SimMid360'>
        TFMessage  = <class 'dimos.msgs.tf2_msgs.TFMessage.TFMessage'>
        TICKS_PER_FRAME = 5
        Thread     = <class 'threading.Thread'>
        Transform  = <class 'dimos.msgs.geometry_msgs.Transform.Transform'>
        Twist      = <class 'dimos.msgs.geometry_msgs.Twist.Twist'>
        Vector3    = <class 'dimos.msgs.geometry_msgs.Vector3.Vector3'>
        __builtins__ = <builtins>
        __cached__ = '.../go2_sim/__pycache__/world.cpython-312.pyc'
        __doc__    = "The simulated world: a generated scene, the legged Go2 and its Mid-360.\n\nStands in for the Go2 driver and PointLio, publishing PointLio's output contract from\nground truth.\n"
        __file__   = '/Users/ec2-user/actions-runner/_work/dimos/dimos/.../simulation/go2_sim/world.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0x3ab8fba70>
        __name__   = 'dimos.simulation.go2_sim.world'
        __package__ = 'dimos.simulation.go2_sim'
        __spec__   = ModuleSpec(name='dimos.simulation.go2_sim.world', loader=<_frozen_importlib_external.SourceFileLoader object at 0x3ab8fba70>, origin='/Users/ec2-user/actions-runner/_work/dimos/dimos/.../simulation/go2_sim/world.py')
        _mount     = <function _mount at 0x3ad3818a0>
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        apply_fitted_physics = <function apply_fitted_physics at 0x3ad3cbba0>
        dataclass  = <function dataclass at 0x104008a40>
        frames_to_edge_transforms = <function frames_to_edge_transforms at 0x35cdc56c0>
        generate   = <function generate at 0x3ad381620>
        go2_spec   = <function go2_spec at 0x3ad3cbb00>
        load_policy = <function load_policy at 0x3ad3cb4c0>
        logger     = <BoundLoggerLazyProxy(logger=<_FixedFindCallerLogger .../simulation/go2_sim/world.py (INFO)>, wrapper_class=<class 'structlog.stdlib.BoundLogger'>, processors=None, context_class=None, initial_values={}, logger_factory_args=())>
        math       = <module 'math' (built-in)>
        mujoco     = <module 'mujoco' from '.../dimos/dimos/.venv/lib/python3.12.../site-packages/mujoco/__init__.py'>
        np         = <module 'numpy' from '.../dimos/dimos/.venv/lib/python3.12.../site-packages/numpy/__init__.py'>
        rpc        = <function rpc at 0x121d06020>
        setup_logger = <function setup_logger at 0x121ec6340>
        time       = <module 'time' (built-in)>
.../simulation/go2_sim/world.py:111: in _mount
    matrix = edges["front_camera"].to_matrix() @ edges["mid360_link"].to_matrix()
E   AttributeError: 'geometry_msgs__msg__TransformStamped' object has no attribute 'to_matrix'
        edges      = {'camera_optical': geometry_msgs__msg__TransformStamped(header=std_msgs__msg__Header(stamp=builtin_interfaces__msg__Ti...y_msgs/msg/Quaternion'), __msgtype__='geometry_msgs/msg/Transform'), __msgtype__='geometry_msgs/msg/TransformStamped')}
::dimos.robot.unitree.go2.blueprints.test_tf_topology
Stack Traces | 0s run time 
.../go2/blueprints/test_tf_topology.py:34: in <module>
    from dimos.robot.unitree.go2.blueprints.navigation.go2_sim_nav import go2_sim_nav
        Blueprint  = <class 'dimos.core.coordination.blueprints.Blueprint'>
        PointLio   = <class 'dimos.hardware.sensors.lidar.pointlio.module.PointLio'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        RelocalizationModule = <class 'dimos.mapping.relocalization.module.RelocalizationModule'>
        __builtins__ = <builtins>
        __cached__ = '.../blueprints/__pycache__/test_tf_topology.cpython-312.pyc'
        __doc__    = 'Every Go2 blueprint publishes a tf tree, not a tf graph.\n\ntf gives each frame one parent. Two publishers writing th...mount tree owns base_link, and the static tree is rooted at\nmid360_link so it never writes the frame PointLio owns.\n'
        __file__   = '/Users/ec2-user/actions-runner/_work/dimos/dimos/.../go2/blueprints/test_tf_topology.py'
        __loader__ = <_pytest.assertion.rewrite.AssertionRewritingHook object at 0x1044f78f0>
        __name__   = 'dimos.robot.unitree.go2.blueprints.test_tf_topology'
        __package__ = 'dimos.robot.unitree.go2.blueprints'
        __spec__   = ModuleSpec(name='dimos.robot.unitree.go2.blueprints.test_tf_topology', loader=<_pytest.assertion.rewrite.AssertionRewr...8f0>, origin='/Users/ec2-user/actions-runner/_work/dimos/dimos/.../go2/blueprints/test_tf_topology.py')
        pytest     = <module 'pytest' from '.../dimos/dimos/.venv/lib/python3.12.../site-packages/pytest/__init__.py'>
        unitree_go2_mid360_record = Blueprint(blueprints=(BlueprintAtom(kwargs={}, module=<class 'dimos.navigation.movement_manager.movement_manager.Movem..., ('keyboardteleop', 'cmd_vel'): 'tele_cmd_vel'}), requirement_checks=(), configurator_checks=(), hosted_placements=())
.../blueprints/navigation/go2_sim_nav.py:24: in <module>
    from dimos.robot.unitree.go2.blueprints.basic.go2_sim import go2_sim, rerun_blueprint, rerun_config
        Any        = typing.Any
        __annotations__ = {}
        __builtins__ = <builtins>
        __cached__ = '.../navigation/__pycache__/go2_sim_nav.cpython-312.pyc'
        __doc__    = 'Go2 navigation driving the simulated legged Go2 to a clicked goal.'
        __file__   = '/Users/ec2-user/actions-runner/_work/dimos/dimos/.../blueprints/navigation/go2_sim_nav.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0x3ab90eba0>
        __name__   = 'dimos.robot.unitree.go2.blueprints.navigation.go2_sim_nav'
        __package__ = 'dimos.robot.unitree.go2.blueprints.navigation'
        __spec__   = ModuleSpec(name='dimos.robot.unitree.go2.blueprints.navigation.go2_sim_nav', loader=<_frozen_importlib_external.Source...origin='/Users/ec2-user/actions-runner/_work/dimos/dimos/.../blueprints/navigation/go2_sim_nav.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0x1245f14e0>
        global_config = GlobalConfig(robot_ip=None, robot_ips=None, unitree_aes_128_key=None, xarm7_ip=None, xarm6_ip=None, lite6_ip=None, can...load_retries=2, dimos_upload_chunk_mb=None, dimos_upload_quiet_s=30.0, dimos_http_timeout=60.0, dimos_staging_dir=None)
        partial    = <class 'functools.partial'>
.../blueprints/basic/go2_sim.py:28: in <module>
    from dimos.simulation.go2_sim.world import SimGo2World
        Any        = typing.Any
        Go2Mid360StaticTf = <class 'dimos.robot.unitree.go2.go2_mid360_static_transforms.Go2Mid360StaticTf'>
        MovementManager = <class 'dimos.navigation.movement_manager.movement_manager.MovementManager'>
        ROBOT_HEIGHT = 0.45
        ROBOT_LENGTH = 0.6858
        ROBOT_WIDTH = 0.3175
        TYPE_CHECKING = False
        __annotations__ = {}
        __builtins__ = <builtins>
        __cached__ = '.../basic/__pycache__/go2_sim.cpython-312.pyc'
        __doc__    = 'The legged Go2 with its Mid-360 in a generated office, driven from the rerun viewer.'
        __file__   = '/Users/ec2-user/actions-runner/_work/dimos/dimos/.../blueprints/basic/go2_sim.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0x3ab90fd10>
        __name__   = 'dimos.robot.unitree.go2.blueprints.basic.go2_sim'
        __package__ = 'dimos.robot.unitree.go2.blueprints.basic'
        __spec__   = ModuleSpec(name='dimos.robot.unitree.go2.blueprints.basic.go2_sim', loader=<_frozen_importlib_external.SourceFileLoade...90fd10>, origin='/Users/ec2-user/actions-runner/_work/dimos/dimos/.../blueprints/basic/go2_sim.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0x1245f14e0>
        body_on_base_link = <function body_on_base_link at 0x3a5c2b600>
        global_config = GlobalConfig(robot_ip=None, robot_ips=None, unitree_aes_128_key=None, xarm7_ip=None, xarm6_ip=None, lite6_ip=None, can...load_retries=2, dimos_upload_chunk_mb=None, dimos_upload_quiet_s=30.0, dimos_http_timeout=60.0, dimos_staging_dir=None)
        partial    = <class 'functools.partial'>
.../simulation/go2_sim/world.py:115: in <module>
    MOUNT_XYZ, MOUNT_R = _mount()
        BOX_EDGES  = array([[[         -1,          -1,          -1],
        [          1,          -1,          -1]],

       [[         ... 1,           1]],

       [[          1,           1,          -1],
        [          1,           1,           1]]])
        BOX_RGBA   = {'ceiling': (0.95, 0.95, 0.95, 1.0), 'clutter': (0.45, 0.55, 0.7, 1.0), 'wall': (0.86, 0.84, 0.78, 1.0)}
        CEILING_GROUP = 1
        CMD_VEL_TIMEOUT = 0.2
        COLLISION_GROUP = 3
        CONTROL_DT = 0.02
        Contact    = <class 'dimos.msgs.sim_msgs.Contacts.Contact'>
        Contacts   = <class 'dimos.msgs.sim_msgs.Contacts.Contacts'>
        DEFAULT_THREAD_JOIN_TIMEOUT = 2.0
        Disposable = <class 'reactivex.disposable.disposable.Disposable'>
        Event      = <class 'threading.Event'>
        FLOOR_CHECKER = ((0.62, 0.6, 0.56), (0.7, 0.68, 0.64))
        FRAMES     = [('base_link', None, (0.0, 0.0, 0.0), (0.0, 0.0, 0.0)), ('front_camera', 'base_link', (0.32715, -3e-05, 0.04297), (0.0...511965976, 0.0)), ('camera_optical', 'front_camera', (0.0, 0.0, 0.0), (-1.5707963267948966, 0.0, -1.5707963267948966))]
        FRAME_DT   = 0.1
        Family     = typing.Literal['office']
        Field      = <function Field at 0x107c85800>
        Go2Policy  = <class 'dimos.simulation.go2_legged.policy.Go2Policy'>
        In         = <class 'dimos.core.stream.In'>
        LIDAR_GROUPS = array([1, 1, 1, 0, 0, 0], dtype=uint8)
        LIDAR_HALF_EXTENTS = (0.0325, 0.0325, 0.03)
        LeggedGo2  = <class 'dimos.simulation.go2_legged.robot.LeggedGo2'>
        LineSegments3D = <class 'dimos.msgs.nav_msgs.LineSegments3D.LineSegments3D'>
        Module     = <class 'dimos.core.module.Module'>
        ModuleConfig = <class 'dimos.core.module.ModuleConfig'>
        MujocoRaycaster = <class 'dimos.simulation.sensors.mujoco_raycaster.MujocoRaycaster'>
        NDArray    = numpy.ndarray[tuple[typing.Any, ...], numpy.dtype[~_ScalarT]]
        ODOM_FRAME_ID = 'odom'
        Odometry   = <class 'dimos.msgs.nav_msgs.Odometry.Odometry'>
        Out        = <class 'dimos.core.stream.Out'>
        POINT_RATE = 200000.0
        Part       = typing.Literal['trunk', 'lidar', 'leg', 'foot']
        Path       = <class 'pathlib.Path'>
        PointCloud2 = <class 'dimos.msgs.sensor_msgs.PointCloud2.PointCloud2'>
        Pose       = <class 'dimos.msgs.geometry_msgs.Pose.Pose'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        Quaternion = <class 'dimos.msgs.geometry_msgs.Quaternion.Quaternion'>
        ROBOT_VISUAL_GROUP = 2
        Rotation   = <class 'scipy.spatial.transform._rotation.Rotation'>
        SCENE_GROUP = 0
        SCENE_PUBLISH_DT = 2.0
        SENSOR_FRAME_ID = 'mid360_link'
        STILL      = array([          0,           0,           0])
        Scene      = <class 'dimos.simulation.scenes.procedural.Scene'>
        SimMid360  = <class 'dimos.simulation.sensors.mid360.lidar.SimMid360'>
        TFMessage  = <class 'dimos.msgs.tf2_msgs.TFMessage.TFMessage'>
        TICKS_PER_FRAME = 5
        Thread     = <class 'threading.Thread'>
        Transform  = <class 'dimos.msgs.geometry_msgs.Transform.Transform'>
        Twist      = <class 'dimos.msgs.geometry_msgs.Twist.Twist'>
        Vector3    = <class 'dimos.msgs.geometry_msgs.Vector3.Vector3'>
        __builtins__ = <builtins>
        __cached__ = '.../go2_sim/__pycache__/world.cpython-312.pyc'
        __doc__    = "The simulated world: a generated scene, the legged Go2 and its Mid-360.\n\nStands in for the Go2 driver and PointLio, publishing PointLio's output contract from\nground truth.\n"
        __file__   = '/Users/ec2-user/actions-runner/_work/dimos/dimos/.../simulation/go2_sim/world.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0x3ab90ef00>
        __name__   = 'dimos.simulation.go2_sim.world'
        __package__ = 'dimos.simulation.go2_sim'
        __spec__   = ModuleSpec(name='dimos.simulation.go2_sim.world', loader=<_frozen_importlib_external.SourceFileLoader object at 0x3ab90ef00>, origin='/Users/ec2-user/actions-runner/_work/dimos/dimos/.../simulation/go2_sim/world.py')
        _mount     = <function _mount at 0x3a7f23b00>
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        apply_fitted_physics = <function apply_fitted_physics at 0x3ad3cbba0>
        dataclass  = <function dataclass at 0x104008a40>
        frames_to_edge_transforms = <function frames_to_edge_transforms at 0x35cdc56c0>
        generate   = <function generate at 0x3ad381620>
        go2_spec   = <function go2_spec at 0x3ad3cbb00>
        load_policy = <function load_policy at 0x3ad3cb4c0>
        logger     = <BoundLoggerLazyProxy(logger=<_FixedFindCallerLogger .../simulation/go2_sim/world.py (INFO)>, wrapper_class=<class 'structlog.stdlib.BoundLogger'>, processors=None, context_class=None, initial_values={}, logger_factory_args=())>
        math       = <module 'math' (built-in)>
        mujoco     = <module 'mujoco' from '.../dimos/dimos/.venv/lib/python3.12.../site-packages/mujoco/__init__.py'>
        np         = <module 'numpy' from '.../dimos/dimos/.venv/lib/python3.12.../site-packages/numpy/__init__.py'>
        rpc        = <function rpc at 0x121d06020>
        setup_logger = <function setup_logger at 0x121ec6340>
        time       = <module 'time' (built-in)>
.../simulation/go2_sim/world.py:111: in _mount
    matrix = edges["front_camera"].to_matrix() @ edges["mid360_link"].to_matrix()
E   AttributeError: 'geometry_msgs__msg__TransformStamped' object has no attribute 'to_matrix'
        edges      = {'camera_optical': geometry_msgs__msg__TransformStamped(header=std_msgs__msg__Header(stamp=builtin_interfaces__msg__Ti...y_msgs/msg/Quaternion'), __msgtype__='geometry_msgs/msg/Transform'), __msgtype__='geometry_msgs/msg/TransformStamped')}
::dimos.simulation.go2_sim.test_command_hold
Stack Traces | 0s run time 
.../simulation/go2_sim/test_command_hold.py:19: in <module>
    from dimos.simulation.go2_sim.world import STILL, CommandHold
        __builtins__ = <builtins>
        __cached__ = '.../go2_sim/__pycache__/test_command_hold.cpython-312.pyc'
        __doc__    = None
        __file__   = '/Users/ec2-user/actions-runner/_work/dimos/dimos/.../simulation/go2_sim/test_command_hold.py'
        __loader__ = <_pytest.assertion.rewrite.AssertionRewritingHook object at 0x1044f78f0>
        __name__   = 'dimos.simulation.go2_sim.test_command_hold'
        __package__ = 'dimos.simulation.go2_sim'
        __spec__   = ModuleSpec(name='dimos.simulation.go2_sim.test_command_hold', loader=<_pytest.assertion.rewrite.AssertionRewritingHook... 0x1044f78f0>, origin='/Users/ec2-user/actions-runner/_work/dimos/dimos/.../simulation/go2_sim/test_command_hold.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        np         = <module 'numpy' from '.../dimos/dimos/.venv/lib/python3.12....../site-packages/numpy/__init__.py'>
.../simulation/go2_sim/world.py:115: in <module>
    MOUNT_XYZ, MOUNT_R = _mount()
        BOX_EDGES  = array([[[         -1,          -1,          -1],
        [          1,          -1,          -1]],

       [[         ... 1,           1]],

       [[          1,           1,          -1],
        [          1,           1,           1]]])
        BOX_RGBA   = {'ceiling': (0.95, 0.95, 0.95, 1.0), 'clutter': (0.45, 0.55, 0.7, 1.0), 'wall': (0.86, 0.84, 0.78, 1.0)}
        CEILING_GROUP = 1
        CMD_VEL_TIMEOUT = 0.2
        COLLISION_GROUP = 3
        CONTROL_DT = 0.02
        Contact    = <class 'dimos.msgs.sim_msgs.Contacts.Contact'>
        Contacts   = <class 'dimos.msgs.sim_msgs.Contacts.Contacts'>
        DEFAULT_THREAD_JOIN_TIMEOUT = 2.0
        Disposable = <class 'reactivex.disposable.disposable.Disposable'>
        Event      = <class 'threading.Event'>
        FLOOR_CHECKER = ((0.62, 0.6, 0.56), (0.7, 0.68, 0.64))
        FRAMES     = [('base_link', None, (0.0, 0.0, 0.0), (0.0, 0.0, 0.0)), ('front_camera', 'base_link', (0.32715, -3e-05, 0.04297), (0.0...511965976, 0.0)), ('camera_optical', 'front_camera', (0.0, 0.0, 0.0), (-1.5707963267948966, 0.0, -1.5707963267948966))]
        FRAME_DT   = 0.1
        Family     = typing.Literal['office']
        Field      = <function Field at 0x107c85800>
        Go2Policy  = <class 'dimos.simulation.go2_legged.policy.Go2Policy'>
        In         = <class 'dimos.core.stream.In'>
        LIDAR_GROUPS = array([1, 1, 1, 0, 0, 0], dtype=uint8)
        LIDAR_HALF_EXTENTS = (0.0325, 0.0325, 0.03)
        LeggedGo2  = <class 'dimos.simulation.go2_legged.robot.LeggedGo2'>
        LineSegments3D = <class 'dimos.msgs.nav_msgs.LineSegments3D.LineSegments3D'>
        Module     = <class 'dimos.core.module.Module'>
        ModuleConfig = <class 'dimos.core.module.ModuleConfig'>
        MujocoRaycaster = <class 'dimos.simulation.sensors.mujoco_raycaster.MujocoRaycaster'>
        NDArray    = numpy.ndarray[tuple[typing.Any, ...], numpy.dtype[~_ScalarT]]
        ODOM_FRAME_ID = 'odom'
        Odometry   = <class 'dimos.msgs.nav_msgs.Odometry.Odometry'>
        Out        = <class 'dimos.core.stream.Out'>
        POINT_RATE = 200000.0
        Part       = typing.Literal['trunk', 'lidar', 'leg', 'foot']
        Path       = <class 'pathlib.Path'>
        PointCloud2 = <class 'dimos.msgs.sensor_msgs.PointCloud2.PointCloud2'>
        Pose       = <class 'dimos.msgs.geometry_msgs.Pose.Pose'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        Quaternion = <class 'dimos.msgs.geometry_msgs.Quaternion.Quaternion'>
        ROBOT_VISUAL_GROUP = 2
        Rotation   = <class 'scipy.spatial.transform._rotation.Rotation'>
        SCENE_GROUP = 0
        SCENE_PUBLISH_DT = 2.0
        SENSOR_FRAME_ID = 'mid360_link'
        STILL      = array([          0,           0,           0])
        Scene      = <class 'dimos.simulation.scenes.procedural.Scene'>
        SimMid360  = <class 'dimos.simulation.sensors.mid360.lidar.SimMid360'>
        TFMessage  = <class 'dimos.msgs.tf2_msgs.TFMessage.TFMessage'>
        TICKS_PER_FRAME = 5
        Thread     = <class 'threading.Thread'>
        Transform  = <class 'dimos.msgs.geometry_msgs.Transform.Transform'>
        Twist      = <class 'dimos.msgs.geometry_msgs.Twist.Twist'>
        Vector3    = <class 'dimos.msgs.geometry_msgs.Vector3.Vector3'>
        __builtins__ = <builtins>
        __cached__ = '.../go2_sim/__pycache__/world.cpython-312.pyc'
        __doc__    = "The simulated world: a generated scene, the legged Go2 and its Mid-360.\n\nStands in for the Go2 driver and PointLio, publishing PointLio's output contract from\nground truth.\n"
        __file__   = '/Users/ec2-user/actions-runner/_work/dimos/dimos/.../simulation/go2_sim/world.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0x3ab951730>
        __name__   = 'dimos.simulation.go2_sim.world'
        __package__ = 'dimos.simulation.go2_sim'
        __spec__   = ModuleSpec(name='dimos.simulation.go2_sim.world', loader=<_frozen_importlib_external.SourceFileLoader object at 0x3ab951730>, origin='/Users/ec2-user/actions-runner/_work/dimos/dimos/.../simulation/go2_sim/world.py')
        _mount     = <function _mount at 0x3a8177420>
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        apply_fitted_physics = <function apply_fitted_physics at 0x3ad3cbba0>
        dataclass  = <function dataclass at 0x104008a40>
        frames_to_edge_transforms = <function frames_to_edge_transforms at 0x35cdc56c0>
        generate   = <function generate at 0x3ad381620>
        go2_spec   = <function go2_spec at 0x3ad3cbb00>
        load_policy = <function load_policy at 0x3ad3cb4c0>
        logger     = <BoundLoggerLazyProxy(logger=<_FixedFindCallerLogger .../simulation/go2_sim/world.py (INFO)>, wrapper_class=<class 'structlog.stdlib.BoundLogger'>, processors=None, context_class=None, initial_values={}, logger_factory_args=())>
        math       = <module 'math' (built-in)>
        mujoco     = <module 'mujoco' from '.../dimos/dimos/.venv/lib/python3.12.../site-packages/mujoco/__init__.py'>
        np         = <module 'numpy' from '.../dimos/dimos/.venv/lib/python3.12....../site-packages/numpy/__init__.py'>
        rpc        = <function rpc at 0x121d06020>
        setup_logger = <function setup_logger at 0x121ec6340>
        time       = <module 'time' (built-in)>
.../simulation/go2_sim/world.py:111: in _mount
    matrix = edges["front_camera"].to_matrix() @ edges["mid360_link"].to_matrix()
E   AttributeError: 'geometry_msgs__msg__TransformStamped' object has no attribute 'to_matrix'
        edges      = {'camera_optical': geometry_msgs__msg__TransformStamped(header=std_msgs__msg__Header(stamp=builtin_interfaces__msg__Ti...y_msgs/msg/Quaternion'), __msgtype__='geometry_msgs/msg/Transform'), __msgtype__='geometry_msgs/msg/TransformStamped')}
::dimos.simulation.go2_sim.test_world
Stack Traces | 0s run time 
.../simulation/go2_sim/test_world.py:25: in <module>
    from dimos.simulation.go2_sim.world import (
        CONTROL_DT = 0.02
        Contact    = <class 'dimos.msgs.sim_msgs.Contacts.Contact'>
        NDArray    = numpy.ndarray[tuple[typing.Any, ...], numpy.dtype[~_ScalarT]]
        OnnxGo2Policy = <class 'dimos.simulation.go2_legged.policy.OnnxGo2Policy'>
        __builtins__ = <builtins>
        __cached__ = '.../go2_sim/__pycache__/test_world.cpython-312.pyc'
        __doc__    = None
        __file__   = '/Users/ec2-user/actions-runner/_work/dimos/dimos/.../simulation/go2_sim/test_world.py'
        __loader__ = <_pytest.assertion.rewrite.AssertionRewritingHook object at 0x1044f78f0>
        __name__   = 'dimos.simulation.go2_sim.test_world'
        __package__ = 'dimos.simulation.go2_sim'
        __spec__   = ModuleSpec(name='dimos.simulation.go2_sim.test_world', loader=<_pytest.assertion.rewrite.AssertionRewritingHook object at 0x1044f78f0>, origin='/Users/ec2-user/actions-runner/_work/dimos/dimos/.../simulation/go2_sim/test_world.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        mujoco     = <module 'mujoco' from '.../dimos/dimos/.venv/lib/python3.12....../site-packages/mujoco/__init__.py'>
        np         = <module 'numpy' from '.../dimos/dimos/.venv/lib/python3.12....../site-packages/numpy/__init__.py'>
        pytest     = <module 'pytest' from '.../dimos/dimos/.venv/lib/python3.12.../site-packages/pytest/__init__.py'>
.../simulation/go2_sim/world.py:115: in <module>
    MOUNT_XYZ, MOUNT_R = _mount()
        BOX_EDGES  = array([[[         -1,          -1,          -1],
        [          1,          -1,          -1]],

       [[         ... 1,           1]],

       [[          1,           1,          -1],
        [          1,           1,           1]]])
        BOX_RGBA   = {'ceiling': (0.95, 0.95, 0.95, 1.0), 'clutter': (0.45, 0.55, 0.7, 1.0), 'wall': (0.86, 0.84, 0.78, 1.0)}
        CEILING_GROUP = 1
        CMD_VEL_TIMEOUT = 0.2
        COLLISION_GROUP = 3
        CONTROL_DT = 0.02
        Contact    = <class 'dimos.msgs.sim_msgs.Contacts.Contact'>
        Contacts   = <class 'dimos.msgs.sim_msgs.Contacts.Contacts'>
        DEFAULT_THREAD_JOIN_TIMEOUT = 2.0
        Disposable = <class 'reactivex.disposable.disposable.Disposable'>
        Event      = <class 'threading.Event'>
        FLOOR_CHECKER = ((0.62, 0.6, 0.56), (0.7, 0.68, 0.64))
        FRAMES     = [('base_link', None, (0.0, 0.0, 0.0), (0.0, 0.0, 0.0)), ('front_camera', 'base_link', (0.32715, -3e-05, 0.04297), (0.0...511965976, 0.0)), ('camera_optical', 'front_camera', (0.0, 0.0, 0.0), (-1.5707963267948966, 0.0, -1.5707963267948966))]
        FRAME_DT   = 0.1
        Family     = typing.Literal['office']
        Field      = <function Field at 0x107c85800>
        Go2Policy  = <class 'dimos.simulation.go2_legged.policy.Go2Policy'>
        In         = <class 'dimos.core.stream.In'>
        LIDAR_GROUPS = array([1, 1, 1, 0, 0, 0], dtype=uint8)
        LIDAR_HALF_EXTENTS = (0.0325, 0.0325, 0.03)
        LeggedGo2  = <class 'dimos.simulation.go2_legged.robot.LeggedGo2'>
        LineSegments3D = <class 'dimos.msgs.nav_msgs.LineSegments3D.LineSegments3D'>
        Module     = <class 'dimos.core.module.Module'>
        ModuleConfig = <class 'dimos.core.module.ModuleConfig'>
        MujocoRaycaster = <class 'dimos.simulation.sensors.mujoco_raycaster.MujocoRaycaster'>
        NDArray    = numpy.ndarray[tuple[typing.Any, ...], numpy.dtype[~_ScalarT]]
        ODOM_FRAME_ID = 'odom'
        Odometry   = <class 'dimos.msgs.nav_msgs.Odometry.Odometry'>
        Out        = <class 'dimos.core.stream.Out'>
        POINT_RATE = 200000.0
        Part       = typing.Literal['trunk', 'lidar', 'leg', 'foot']
        Path       = <class 'pathlib.Path'>
        PointCloud2 = <class 'dimos.msgs.sensor_msgs.PointCloud2.PointCloud2'>
        Pose       = <class 'dimos.msgs.geometry_msgs.Pose.Pose'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        Quaternion = <class 'dimos.msgs.geometry_msgs.Quaternion.Quaternion'>
        ROBOT_VISUAL_GROUP = 2
        Rotation   = <class 'scipy.spatial.transform._rotation.Rotation'>
        SCENE_GROUP = 0
        SCENE_PUBLISH_DT = 2.0
        SENSOR_FRAME_ID = 'mid360_link'
        STILL      = array([          0,           0,           0])
        Scene      = <class 'dimos.simulation.scenes.procedural.Scene'>
        SimMid360  = <class 'dimos.simulation.sensors.mid360.lidar.SimMid360'>
        TFMessage  = <class 'dimos.msgs.tf2_msgs.TFMessage.TFMessage'>
        TICKS_PER_FRAME = 5
        Thread     = <class 'threading.Thread'>
        Transform  = <class 'dimos.msgs.geometry_msgs.Transform.Transform'>
        Twist      = <class 'dimos.msgs.geometry_msgs.Twist.Twist'>
        Vector3    = <class 'dimos.msgs.geometry_msgs.Vector3.Vector3'>
        __builtins__ = <builtins>
        __cached__ = '.../go2_sim/__pycache__/world.cpython-312.pyc'
        __doc__    = "The simulated world: a generated scene, the legged Go2 and its Mid-360.\n\nStands in for the Go2 driver and PointLio, publishing PointLio's output contract from\nground truth.\n"
        __file__   = '/Users/ec2-user/actions-runner/_work/dimos/dimos/.../simulation/go2_sim/world.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0x3ab95ba70>
        __name__   = 'dimos.simulation.go2_sim.world'
        __package__ = 'dimos.simulation.go2_sim'
        __spec__   = ModuleSpec(name='dimos.simulation.go2_sim.world', loader=<_frozen_importlib_external.SourceFileLoader object at 0x3ab95ba70>, origin='/Users/ec2-user/actions-runner/_work/dimos/dimos/.../simulation/go2_sim/world.py')
        _mount     = <function _mount at 0x3a8177a60>
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        apply_fitted_physics = <function apply_fitted_physics at 0x3ad3cbba0>
        dataclass  = <function dataclass at 0x104008a40>
        frames_to_edge_transforms = <function frames_to_edge_transforms at 0x35cdc56c0>
        generate   = <function generate at 0x3ad381620>
        go2_spec   = <function go2_spec at 0x3ad3cbb00>
        load_policy = <function load_policy at 0x3ad3cb4c0>
        logger     = <BoundLoggerLazyProxy(logger=<_FixedFindCallerLogger .../simulation/go2_sim/world.py (INFO)>, wrapper_class=<class 'structlog.stdlib.BoundLogger'>, processors=None, context_class=None, initial_values={}, logger_factory_args=())>
        math       = <module 'math' (built-in)>
        mujoco     = <module 'mujoco' from '.../dimos/dimos/.venv/lib/python3.12....../site-packages/mujoco/__init__.py'>
        np         = <module 'numpy' from '.../dimos/dimos/.venv/lib/python3.12....../site-packages/numpy/__init__.py'>
        rpc        = <function rpc at 0x121d06020>
        setup_logger = <function setup_logger at 0x121ec6340>
        time       = <module 'time' (built-in)>
.../simulation/go2_sim/world.py:111: in _mount
    matrix = edges["front_camera"].to_matrix() @ edges["mid360_link"].to_matrix()
E   AttributeError: 'geometry_msgs__msg__TransformStamped' object has no attribute 'to_matrix'
        edges      = {'camera_optical': geometry_msgs__msg__TransformStamped(header=std_msgs__msg__Header(stamp=builtin_interfaces__msg__Ti...y_msgs/msg/Quaternion'), __msgtype__='geometry_msgs/msg/Transform'), __msgtype__='geometry_msgs/msg/TransformStamped')}

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@TomCC7 TomCC7 mentioned this pull request Oct 20, 2026
Closed
@TomCC7 TomCC7 closed this Oct 20, 2026
@TomCC7
TomCC7 deleted the cc/feat/cdr-localize-consumers branch October 20, 2026 18:10

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