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refactor: migrate ZED producer values and frame conversions to CDR - #4667

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refactor: migrate ZED producer values and frame conversions to CDR#4667
TomCC7 wants to merge 2 commits into
cc/feat/cdr-temporal-memoryfrom
cc/feat/cdr-zed-producer

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@TomCC7

@TomCC7 TomCC7 commented Oct 20, 2026

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ZED now produces generated Image, CameraInfo, PointCloud2 and TFMessage values with exact Header timestamps. Mount, SDK-extrinsics and tracking transforms use the shared generated geometry helpers while preserving the existing coordinate conventions. SDK-independent conversions are separated from device access so their actual CDR bytes can be tested without a proprietary SDK.

Parent: #4666. Part of the message encoding refactor. CDR changes encoding; transport default cutover and final stack ancestry reconciliation are separate remaining slices.

Files Change
ZED camera and compatibility layer Generated values, calibration helper, RGB/depth/cloud conversion and exact capture timestamps
ZED conversion helper and tests Nonidentity extrinsics, rotated mount removal, frame topology, optical axes, shipped YAML calibration and real CDR round trips
Message workflow Run installed-wheel ZED checks and strict typing without SDK/device access

Manual offline check from this PR installed with its normal main-package build:

from dimos_cdrgen.registry import encode, decode
from dimos.hardware.sensors.camera.zed.messages import transform_from_arrays
from dimos.messages.geometry_msgs.msg import TransformStamped
from dimos.msgs.time import time_from_nanoseconds, to_nanoseconds

pose = transform_from_arrays(
    [1, 2, 3], [0, 0, 0, 1], parent="world", child="zed_link",
    stamp=time_from_nanoseconds(1700000000123456789),
)
received = decode(encode(pose), TransformStamped)
assert received.child_frame_id == "zed_link"
assert to_nanoseconds(received.header.stamp) == 1700000000123456789
print(received.transform.translation)

Validation: 35 focused source cases and 35 installed-main-wheel cases pass; three production files pass strict typing; all applicable hooks pass; normal main wheel builds and the default 198-package environment passes uv pip check. Wheel SHA256 fc5ce8ab404dd5040de572538fc7f25582f7cc38aad224e7bc010b4813189e94.

No ZED SDK/device is available here: these are software conversion checks, not camera/device acceptance. No hardware, benchmarks or CI polling performed. Public module methods and ports keep their names; the encoding/value representation changes deliberately.

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go2 replay realtime (arm64)

Details
Benchmark suite Current: 4dcda64 Previous: fbe126e Ratio
peak memory 1746.488 MB 1564.824 MB 1.12
peak threads 372 threads 357 threads 1.04
network (transport) 2719.462 MB 2727.328 MB 1.00
disk write 1.641 MB 1.488 MB 1.10
instructions 133.363 G 114.929 G 1.16

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

@TomCC7 TomCC7 mentioned this pull request Oct 20, 2026
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@codecov

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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 0x100b92a80>
        __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 0x3a591f3e0>
        __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...91f3e0>, 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 0x10ad494e0>
        body_on_base_link = <function body_on_base_link at 0x3a3fe44a0>
        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 0x106e7d8a0>
        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 0x3a591fa40>
        __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 0x3a591fa40>, origin='/Users/ec2-user/actions-runner/_work/dimos/dimos/.../simulation/go2_sim/world.py')
        _mount     = <function _mount at 0x3a599ff60>
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        apply_fitted_physics = <function apply_fitted_physics at 0x3a599e2a0>
        dataclass  = <function dataclass at 0x1005fca40>
        frames_to_edge_transforms = <function frames_to_edge_transforms at 0x3a3ad2520>
        generate   = <function generate at 0x3a599fce0>
        go2_spec   = <function go2_spec at 0x3a599e200>
        load_policy = <function load_policy at 0x3a599dbc0>
        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 0x108d02020>
        setup_logger = <function setup_logger at 0x108eba340>
        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 0x100b92a80>
        __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...a80>, 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 0x3a9939460>
        __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 0x10ad494e0>
        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 0x3a993a300>
        __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...93a300>, 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 0x10ad494e0>
        body_on_base_link = <function body_on_base_link at 0x3a3fe44a0>
        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 0x106e7d8a0>
        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 0x3a993ab40>
        __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 0x3a993ab40>, origin='/Users/ec2-user/actions-runner/_work/dimos/dimos/.../simulation/go2_sim/world.py')
        _mount     = <function _mount at 0x3ab4b2160>
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        apply_fitted_physics = <function apply_fitted_physics at 0x3a599e2a0>
        dataclass  = <function dataclass at 0x1005fca40>
        frames_to_edge_transforms = <function frames_to_edge_transforms at 0x3a3ad2520>
        generate   = <function generate at 0x3a599fce0>
        go2_spec   = <function go2_spec at 0x3a599e200>
        load_policy = <function load_policy at 0x3a599dbc0>
        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 0x108d02020>
        setup_logger = <function setup_logger at 0x108eba340>
        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 0x100b92a80>
        __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... 0x100b92a80>, 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 0x106e7d8a0>
        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 0x3a9973a40>
        __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 0x3a9973a40>, origin='/Users/ec2-user/actions-runner/_work/dimos/dimos/.../simulation/go2_sim/world.py')
        _mount     = <function _mount at 0x3a9821c60>
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        apply_fitted_physics = <function apply_fitted_physics at 0x3a599e2a0>
        dataclass  = <function dataclass at 0x1005fca40>
        frames_to_edge_transforms = <function frames_to_edge_transforms at 0x3a3ad2520>
        generate   = <function generate at 0x3a599fce0>
        go2_spec   = <function go2_spec at 0x3a599e200>
        load_policy = <function load_policy at 0x3a599dbc0>
        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 0x108d02020>
        setup_logger = <function setup_logger at 0x108eba340>
        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 0x100b92a80>
        __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 0x100b92a80>, 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 0x106e7d8a0>
        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 0x3a99731d0>
        __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 0x3a99731d0>, origin='/Users/ec2-user/actions-runner/_work/dimos/dimos/.../simulation/go2_sim/world.py')
        _mount     = <function _mount at 0x3a9821bc0>
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        apply_fitted_physics = <function apply_fitted_physics at 0x3a599e2a0>
        dataclass  = <function dataclass at 0x1005fca40>
        frames_to_edge_transforms = <function frames_to_edge_transforms at 0x3a3ad2520>
        generate   = <function generate at 0x3a599fce0>
        go2_spec   = <function go2_spec at 0x3a599e200>
        load_policy = <function load_policy at 0x3a599dbc0>
        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 0x108d02020>
        setup_logger = <function setup_logger at 0x108eba340>
        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 closed this Oct 20, 2026
@TomCC7
TomCC7 deleted the cc/feat/cdr-zed-producer branch October 20, 2026 18:10

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