Antim/sim integration merged

dimos/robot/all_blueprints.py

@@ -58,6 +58,8 @@
     "mid360-fastlio-voxels": "dimos.hardware.sensors.lidar.fastlio2.fastlio_blueprints:mid360_fastlio_voxels",
     "mid360-fastlio-voxels-native": "dimos.hardware.sensors.lidar.fastlio2.fastlio_blueprints:mid360_fastlio_voxels_native",
     "phone-go2-teleop": "dimos.teleop.phone.blueprints:phone_go2_teleop",
+    "sim-basic": "dimos.robot.sim.blueprints.basic.sim_basic:sim_basic",
+    "sim-nav": "dimos.robot.sim.blueprints.nav.sim_nav:sim_nav",
     "simple-phone-teleop": "dimos.teleop.phone.blueprints:simple_phone_teleop",
     "uintree-g1-primitive-no-nav": "dimos.robot.unitree.g1.blueprints.primitive.uintree_g1_primitive_no_nav:uintree_g1_primitive_no_nav",
     "unitree-g1": "dimos.robot.unitree.g1.blueprints.perceptive.unitree_g1:unitree_g1",

dimos/robot/sim/blueprints/basic/sim_basic.py

@@ -0,0 +1,145 @@
+# Copyright 2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Basic DimSim blueprint — connection + visualization."""
+
+from typing import Any
+
+from dimos.core.blueprints import autoconnect
+from dimos.core.global_config import global_config
+from dimos.core.transport import JpegLcmTransport
+from dimos.msgs.sensor_msgs import Image
+from dimos.protocol.pubsub.impl.lcmpubsub import LCM
+from dimos.robot.sim.bridge import sim_bridge
+from dimos.robot.sim.tf_module import sim_tf
+from dimos.web.websocket_vis.websocket_vis_module import websocket_vis
+
+
+class _SimLCM(LCM):  # type: ignore[misc]
+    """LCM that JPEG-decodes image topics and standard-decodes everything else."""
+
+    _JPEG_TOPICS = frozenset({"/color_image"})
+
+    def decode(self, msg: bytes, topic: Any) -> Any:  # type: ignore[override]
+        if getattr(topic, "topic", None) in self._JPEG_TOPICS:
+            return Image.lcm_jpeg_decode(msg)
+        return super().decode(msg, topic)
+
+
+# DimSim sends JPEG-compressed images over LCM — use JpegLcmTransport to decode.
+_transports_base = autoconnect().transports(
+    {("color_image", Image): JpegLcmTransport("/color_image", Image)}
+)
+
+
+def _convert_camera_info(camera_info: Any) -> Any:
+    # Log pinhole under TF tree (3D frustum) — NOT at the image entity.
+    # Pinhole at the image entity blocks rerun's 2D viewer.
+    import rerun as rr
+
+    fx, fy = camera_info.K[0], camera_info.K[4]
+    cx, cy = camera_info.K[2], camera_info.K[5]
+    return [
+        (
+            "world/tf/camera_optical",
+            rr.Pinhole(
+                focal_length=[fx, fy],
+                principal_point=[cx, cy],
+                width=camera_info.width,
+                height=camera_info.height,
+                image_plane_distance=1.0,
+            ),
+        ),
+        (
+            "world/tf/camera_optical",
+            rr.Transform3D(parent_frame="tf#/camera_optical"),
+        ),
+    ]
+
+
+def _convert_color_image(image: Any) -> Any:
+    # Log image at both:
+    #   world/color_image                  — 2D view (no pinhole ancestor)
+    #   world/tf/camera_optical/image      — 3D view (child of pinhole)
+    rerun_data = image.to_rerun()
+    return [
+        ("world/color_image", rerun_data),
+        ("world/tf/camera_optical/image", rerun_data),
+    ]
+
+
+def _convert_global_map(grid: Any) -> Any:
+    return grid.to_rerun(voxel_size=0.1, mode="boxes")
+
+
+def _convert_navigation_costmap(grid: Any) -> Any:
+    return grid.to_rerun(
+        colormap="Accent",
+        z_offset=0.015,
+        opacity=0.2,
+        background="#484981",
+    )
+
+
+def _static_base_link(rr: Any) -> list[Any]:
+    return [
+        rr.Boxes3D(
+            half_sizes=[0.3, 0.15, 0.12],
+            colors=[(0, 180, 255)],
+        ),
+        rr.Transform3D(parent_frame="tf#/base_link"),
+    ]
+
+
+rerun_config = {
+    "pubsubs": [_SimLCM(autoconf=True)],
+    "visual_override": {
+        "world/camera_info": _convert_camera_info,
+        "world/color_image": _convert_color_image,
+        "world/global_map": _convert_global_map,
+        "world/navigation_costmap": _convert_navigation_costmap,
+        "world/pointcloud": None,
+    },
+    "static": {
+        "world/tf/base_link": _static_base_link,
+    },
+}
+
+match global_config.viewer_backend:
+    case "foxglove":
+        from dimos.robot.foxglove_bridge import foxglove_bridge
+
+        with_vis = autoconnect(
+            _transports_base,
+            foxglove_bridge(shm_channels=["/color_image#sensor_msgs.Image"]),
+        )
+    case "rerun":
+        from dimos.visualization.rerun.bridge import rerun_bridge
+
+        with_vis = autoconnect(_transports_base, rerun_bridge(**rerun_config))
+    case "rerun-web":
+        from dimos.visualization.rerun.bridge import rerun_bridge
+
+        with_vis = autoconnect(_transports_base, rerun_bridge(viewer_mode="web", **rerun_config))
+    case _:
+        with_vis = _transports_base
+
+sim_basic = autoconnect(
+    with_vis,
+    sim_bridge(),
+    sim_tf(),
+    websocket_vis(),
+).global_config(n_workers=4, robot_model="dimsim")
+
+__all__ = ["sim_basic"]

dimos/robot/sim/blueprints/nav/sim_nav.py

@@ -0,0 +1,35 @@
+# Copyright 2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""DimSim navigation blueprint — basic + mapping + planning + exploration."""
+
+from dimos.core.blueprints import autoconnect
+from dimos.mapping.costmapper import cost_mapper
+from dimos.mapping.pointclouds.occupancy import (
+    HeightCostConfig,
+)
+from dimos.mapping.voxels import voxel_mapper
+from dimos.navigation.frontier_exploration import wavefront_frontier_explorer
+from dimos.navigation.replanning_a_star.module import replanning_a_star_planner
+from dimos.robot.sim.blueprints.basic.sim_basic import sim_basic
+
+sim_nav = autoconnect(
+    sim_basic,
+    voxel_mapper(voxel_size=0.1, publish_interval=0.5),
+    cost_mapper(algo="height_cost", config=HeightCostConfig(can_pass_under=1.5, smoothing=2.0)),
+    replanning_a_star_planner(),
+    wavefront_frontier_explorer(),
+).global_config(n_workers=6, robot_model="dimsim")
+
+__all__ = ["sim_nav"]