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Add native DimSim bridge and nav blueprint for browser-based 3D simulation with LCM transport. Uses globally installed dimsim CLI (https://jsr.io/@antim/dimsim). - DimSimBridge (NativeModule) manages the dimsim subprocess - DimSimTF publishes transform tree from odom - sim-nav blueprint wires bridge + TF + voxel mapping + A* + frontier exploration Usage: dimos run sim-nav TODO: - General eval workflow integration - Test headless integration
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@greptileai go for it |
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| def move(self, twist: Twist, duration: float = 0.0) -> bool: | ||
| """Send movement command to the simulator via cmd_vel.""" | ||
| self.cmd_vel.publish(twist) |
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duration parameter is unused. Other move() implementations in the codebase (unitree, drone) use this to execute timed movements.
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| match global_config.viewer_backend: |
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I'd suggest we should be moving to a config that is not created at import time. To facilitate that in future, maybe this should all be wrapped into a function? Then if we remove the global_config variable in future this API wouldn't need to change.
- Remove out-of-order odom drop in tf_module — server-side physics publishes at 50Hz from a single source, timestamp filtering caused jitter by dropping near-identical timestamps over UDP multicast Sensor rates: - Odom: 50 Hz - Lidar: 10 Hz, 15,000 points, 4m range - RGB: 2 Hz, 960×432 JPEG - Depth: 2 Hz, 960×432 16UC1 Usage: dimos run sim-nav # normal DIMSIM_HEADLESS=1 DIMSIM_RENDER=gpu dimos run sim-nav # headless Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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