Feat/ivan/local planner trajectory

.gitattributes

@@ -34,3 +34,8 @@ misc/DimSim/public/sims/*.json filter=lfs diff=lfs merge=lfs -text
 misc/DimSim/public/embodiment/*.glb filter=lfs diff=lfs merge=lfs -text
 misc/DimSim/scenes/**/*.glb filter=lfs diff=lfs merge=lfs -text
 misc/DimSim/scenes/**/*.gltf filter=lfs diff=lfs merge=lfs -text
+# Machine-generated, and reviewed as artifacts rather than as source: a lock file
+# is cargo's output, and motion's planner crate is what an autoresearch lab
+# emitted. Marking them keeps a diff about the code that was actually written.
+Cargo.lock linguist-generated=true
+dimos/navigation/local_planner/rust/src/planner.rs linguist-generated=true

.github/scripts/wheel_smoke.py

@@ -25,7 +25,9 @@
 from pathlib import Path
 import urllib.request
 
-from dimos.navigation.replanning_a_star.min_cost_astar_ext import min_cost_astar_cpp  # noqa: F401
+from dimos.navigation.go2.replanning_a_star.min_cost_astar_ext import (
+    min_cost_astar_cpp,  # noqa: F401
+)
 from dimos.web.relay_bridge import locate
 from dimos.web.relay_bridge.relay_process import RelayProcess
 

.github/workflows/ci.yml

@@ -340,13 +340,13 @@ jobs:
           uv sync --group tests --frozen
           source .venv/bin/activate
           maturin develop -m dimos/mapping/ray_tracing/rust/py/Cargo.toml
-          maturin develop -m dimos/navigation/nav_3d/mls_planner/rust/py/Cargo.toml
+          maturin develop -m dimos/navigation/global_planner/mls_planner/rust/py/Cargo.toml
           python -c "import dimos_voxel_ray_tracing, dimos_mls_planner"
           python -m pytest -c /dev/null --rootdir . --noconftest --import-mode=importlib -p no:cacheprovider -v \
             dimos/mapping/ray_tracing/test_voxel_map.py \
             dimos/mapping/ray_tracing/test_transformer.py \
-            dimos/navigation/nav_3d/mls_planner/test_mls_planner.py \
-            dimos/navigation/nav_3d/mls_planner/test_transformer.py
+            dimos/navigation/global_planner/mls_planner/test_mls_planner.py \
+            dimos/navigation/global_planner/mls_planner/test_transformer.py
       - name: Bake e2e tests
         run: uv run pytest -m bake_e2e dimos/cli/bake/test_bake_e2e.py --no-cov
       - name: Native module e2e tests

Cargo.toml

@@ -6,8 +6,8 @@ members = [
     "native/rust/dimos-module-macros",
     "dimos/mapping/ray_tracing/rust",
     "dimos/mapping/ray_tracing/rust/py",
-    "dimos/navigation/nav_3d/mls_planner/rust",
-    "dimos/navigation/nav_3d/mls_planner/rust/py",
+    "dimos/navigation/global_planner/mls_planner/rust",
+    "dimos/navigation/global_planner/mls_planner/rust/py",
     "dimos/hardware/sensors/lidar/livox/rust",
     "dimos/hardware/sensors/lidar/pointlio/rust",
     "dimos/hardware/sensors/lidar/virtual_mid360",

bin/build-test-natives

@@ -13,7 +13,7 @@ python setup.py build_ext --inplace
 # and the rust native-module binaries the livox e2e tests spawn from target/release.
 if command -v cargo &>/dev/null; then
   maturin develop --uv -m dimos/mapping/ray_tracing/rust/py/Cargo.toml
-  maturin develop --uv -m dimos/navigation/nav_3d/mls_planner/rust/py/Cargo.toml
+  maturin develop --uv -m dimos/navigation/global_planner/mls_planner/rust/py/Cargo.toml
   cargo build --release --locked -p dimos-livox -p dimos-virtual-mid360
 else
   echo "warning: cargo not found; skipping Rust builds, their tests will skip or fail." >&2

dimos/agents/skills/navigation.py

@@ -19,6 +19,7 @@
 
 from dimos.agents.annotation import skill
 from dimos.agents.capabilities import CAP_MOVEMENT
+from dimos.agents.skills.visual_servoing.query import get_object_bbox_from_image
 from dimos.core.core import rpc
 from dimos.core.module import Module
 from dimos.core.stream import In
@@ -28,8 +29,7 @@
 from dimos.msgs.geometry_msgs.Vector3 import Vector3, make_vector3
 from dimos.msgs.sensor_msgs.Image import Image
 from dimos.navigation.base import NavigationState
-from dimos.navigation.navigation_spec import NavigationInterfaceSpec
-from dimos.navigation.visual.query import get_object_bbox_from_image
+from dimos.navigation.go2.replanning_a_star.spec import NavigationInterfaceSpec
 from dimos.perception.experimental.object_tracking_spec import ObjectTrackingSpec
 from dimos.perception.experimental.spatial_memory_spec import SpatialMemorySpec
 from dimos.types.robot_location import RobotLocation
@@ -114,8 +114,8 @@ def tag_location(self, location_name: str) -> str:
     # TODO(capabilities): this skill is `instant`, so the `movement` hold is
     # released the moment the call returns even though the tagged-location and
     # semantic-map paths only fire set_goal() and keep navigating. Make it
-    # `background` and close the hold when the robot actually stops -- the
-    # planner already emits a goal-reached signal (see PatrollingModule) -- so
+    # `background` and close the hold when the robot actually stops (the
+    # planner already emits a goal-reached signal, see PatrollingModule) so
     # patrol/follow/explore can't start over an active navigation goal.
     @skill(uses=[CAP_MOVEMENT])
     def navigate_with_text(self, query: str) -> str:

dimos/agents/skills/person_follow.py

@@ -22,6 +22,9 @@
 
 from dimos.agents.annotation import skill
 from dimos.agents.capabilities import CAP_MOVEMENT
+from dimos.agents.skills.visual_servoing.detection_navigation import DetectionNavigation
+from dimos.agents.skills.visual_servoing.query import get_object_bbox_from_image
+from dimos.agents.skills.visual_servoing.visual_servoing_2d import VisualServoing2D
 from dimos.constants import DEFAULT_THREAD_JOIN_TIMEOUT
 from dimos.core.core import rpc
 from dimos.core.module import Module, ModuleConfig
@@ -35,9 +38,6 @@
 from dimos.msgs.sensor_msgs.Image import Image, ImageFormat
 from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
 from dimos.msgs.tf2_msgs.TFMessage import TFMessage
-from dimos.navigation.visual.query import get_object_bbox_from_image
-from dimos.navigation.visual_servoing.detection_navigation import DetectionNavigation
-from dimos.navigation.visual_servoing.visual_servoing_2d import VisualServoing2D
 from dimos.utils.logging_config import setup_logger
 from dimos.utils.turbojpeg import get_turbojpeg
 

dimos/cli/bake/test_discovery.py

@@ -27,7 +27,7 @@
     select_modules,
 )
 from dimos.cli.bake.errors import BakeError
-from dimos.core.stream import In, Out
+from dimos.core.stream import IO, In, Out
 from dimos.core.transport_factory import zenoh_key_expr
 from dimos.protocol.pubsub.impl.zenohpubsub import Topic as ZenohTopic
 
@@ -141,13 +141,17 @@ def test_the_real_repo_registers_the_two_shipped_modules() -> None:
 
 
 def wrapper_ports(python_ref: str) -> dict[str, type]:
-    """The python wrapper's ports, keyed by name, as message classes."""
+    """The python wrapper's ports, keyed by name, as message classes.
+
+    `IO` counts: a port that both subscribes and publishes (tf) rides in the
+    manifest's `inputs` table, because the bake graph has no io kind.
+    """
     module_name, _, class_name = python_ref.partition(":")
     wrapper = getattr(importlib.import_module(module_name), class_name)
     return {
         name: get_args(hint)[0]
         for name, hint in get_type_hints(wrapper).items()
-        if get_origin(hint) in (In, Out)
+        if get_origin(hint) in (In, Out, IO)
     }
 
 

dimos/cli/dimos.py

@@ -140,7 +140,7 @@ def cli_main() -> None:
 main.add_typer(topic_app, name="topic")
 main.add_typer(map_app, name="map")
 
-from dimos.navigation.nav_3d.evaluator.cli import app as nav_eval_app
+from dimos.navigation.global_planner.evaluator.cli import app as nav_eval_app
 
 main.add_typer(nav_eval_app, name="nav-eval")
 main.add_typer(dataprep_app, name="dataprep")

dimos/codebase_checks/test_no_sections.py

@@ -52,6 +52,9 @@
     ".tox",
     # third-party vendored code
     "gtsam",
+    # cargo's build dir: gitignored, so CI never sees it, but locally it holds
+    # whole vendored python envs whose stdlib is full of section banners.
+    "target",
 }
 
 # Lines that match section patterns but are actually programmatic / intentional.

dimos/control/tasks/path_follower_task/path_follower_task.py

@@ -16,7 +16,7 @@
 unwrapped from its daemon thread and rebuilt as a passive ControlTask.
 
 Algorithm is a faithful port of
-:class:`dimos.navigation.replanning_a_star.local_planner.LocalPlanner`:
+:class:`dimos.navigation.go2.replanning_a_star.local_planner.LocalPlanner`:
 PController + 0.5 m fixed lookahead + rotate-then-drive heuristic +
 state machine (initial_rotation → path_following → final_rotation → arrived).
 
@@ -57,8 +57,8 @@
 from dimos.msgs.geometry_msgs.Vector3 import Vector3
 from dimos.msgs.nav_msgs.Path import Path
 from dimos.msgs.std_msgs.Float32 import Float32
-from dimos.navigation.replanning_a_star.controllers import PController
-from dimos.navigation.replanning_a_star.path_distancer import PathDistancer
+from dimos.navigation.go2.replanning_a_star.controllers import PController
+from dimos.navigation.go2.replanning_a_star.path_distancer import PathDistancer
 from dimos.protocol.service.spec import BaseConfig
 from dimos.utils.logging_config import setup_logger
 from dimos.utils.trigonometry import angle_diff

dimos/core/coordination/blueprint_config/fields.py

@@ -17,6 +17,7 @@
 from __future__ import annotations
 
 from collections.abc import Mapping
+from dataclasses import is_dataclass
 import inspect
 from types import UnionType
 from typing import Annotated, Any, Union, get_args, get_origin, get_type_hints
@@ -165,6 +166,11 @@ def prepare_model_input(
             continue
         nested_models = _base_model_types(info.annotation)
         if not nested_models:
+            # A dataclass field has no per-field defaults to fall back on, so a
+            # sparse override is completed from the field's default instance.
+            default = _parse_field_default(info)
+            if is_dataclass(default) and not isinstance(default, type):
+                prepared[name] = {**plain(default), **plain_mapping(raw_value)}
             continue
 
         selected: type[BaseModel] | None = None

dimos/core/coordination/blueprint_config/merging.py

@@ -18,6 +18,7 @@
 
 from collections.abc import Mapping
 import difflib
+import json
 from typing import Any
 
 from dimos.core.coordination.blueprint_config.errors import BlueprintConfigError
@@ -98,7 +99,19 @@ def merge_environment(
     def set_coerced(path: tuple[str, ...], raw_name: str, value: str) -> None:
         identity = _environment_identity(path)
         target = targets.get(identity) if identity is not None else None
-        coerced = value if target is None else coerce_environment_value(value, target, raw_name)
+        if target is not None:
+            coerced = coerce_environment_value(value, target, raw_name)
+        elif value.lstrip().startswith(("[", "{")):
+            # A leaf the schema does not enumerate (inside a dataclass field) still
+            # takes a sequence or object as JSON.
+            try:
+                coerced = json.loads(value)
+            except json.JSONDecodeError as error:
+                raise BlueprintConfigError(
+                    f"Environment variable {raw_name} contains invalid JSON: {error.msg}."
+                ) from error
+        else:
+            coerced = value
         deep_set(env_source, path, coerced)
 
     for raw_name, value in environ.items():

dimos/core/coordination/blueprint_config/test_parser.py

@@ -13,6 +13,7 @@
 # limitations under the License.
 
 from collections.abc import Callable
+from dataclasses import dataclass
 from pathlib import Path
 from typing import Annotated, Any, Literal
 
@@ -53,6 +54,21 @@ class SecondaryModule(Module):
     config: SecondaryConfig
 
 
+@dataclass(frozen=True)
+class Body:
+    length: float
+    max_speed: float
+    rows: tuple[tuple[float, float], ...]
+
+
+class BodyConfig(ModuleConfig):
+    body: Body = Body(length=1.0, max_speed=0.5, rows=((1.0, 2.0),))
+
+
+class BodyModule(Module):
+    config: BodyConfig
+
+
 class ProviderConfig(BaseModel):
     api_key: str
     retries: int = 1
@@ -68,6 +84,28 @@ def subscribe(self, callback: Any, selfstream: Stream[bytes] | None = None) -> A
         return lambda: None
 
 
+def test_sparse_dataclass_override_completes_from_the_default() -> None:
+    parsed = BlueprintConfigParser(BodyModule.blueprint()).parse(
+        [], environ={"BODYMODULE__BODY__MAX_SPEED": "0.6"}
+    )
+
+    body = parsed.module_kwargs("bodymodule")["body"]
+    assert body == {"length": 1.0, "max_speed": 0.6, "rows": ((1.0, 2.0),)}
+
+    # A blueprint-pinned body is what gets overlaid, not the class default, and a
+    # sequence leaf takes JSON.
+    pinned = BodyModule.blueprint(body=Body(length=2.0, max_speed=0.4, rows=()))
+    parsed = BlueprintConfigParser(pinned).parse(
+        [], environ={"BODYMODULE__BODY__MAX_SPEED": "0.6", "BODYMODULE__BODY__ROWS": "[[3, 4]]"}
+    )
+
+    assert parsed.module_kwargs("bodymodule")["body"] == {
+        "length": 2.0,
+        "max_speed": 0.6,
+        "rows": ((3.0, 4.0),),
+    }
+
+
 def test_parse_supports_value_forms_types_nested_defaults_and_last_wins() -> None:
     blueprint = PrimaryModule.blueprint(nested={"mode": "manual"})
 

dimos/core/coordination/module_coordinator.py

@@ -124,6 +124,11 @@ def _stop_manager(m: WorkerManager) -> None:
 
     def start_rpc_service(self) -> None:
         """Expose the coordinator's API as @rpc methods over LCM."""
+        if not self._global_config.serve_coordinator_rpc:
+            # Deliberate: the name is bus-wide, and this stack shares the bus with
+            # one that owns it. Costs remote introspection of THIS stack, nothing else.
+            logger.info("serve_coordinator_rpc is off; not claiming the Coordinator name")
+            return
         with self._rpc_lock:
             if self._coordinator_rpc is not None:
                 return

dimos/core/global_config.py

@@ -85,7 +85,7 @@ class GlobalConfig(BaseSettings):
     zenoh_multicast: bool = True
     # Multicast group scouting joins, e.g. 224.0.0.224:7446. Empty takes zenoh's
     # own. Moving it walks a session onto a private discovery bus, which is how
-    # parallel sessions on one machine stay apart -- LCM_DEFAULT_URL's analog.
+    # parallel sessions on one machine stay apart (LCM_DEFAULT_URL's analog).
     zenoh_scout_addr: str = ""
     # Whether peers propagate the peers they already know over established links.
     # Unlike multicast scouting this reaches nothing new on the LAN, and zenoh
@@ -94,6 +94,8 @@ class GlobalConfig(BaseSettings):
     # Seconds ZenohService.start() blocks for the configured connect endpoints to
     # link before giving up and continuing. 0 disables the wait.
     zenoh_connect_timeout: float = Field(default=1.0, ge=0, le=86400)
+    # Off: share a zenoh bus with a stack that already owns the Coordinator name.
+    serve_coordinator_rpc: bool = True
     viewer: ViewerBackend = "rerun"
     rerun_open: RerunOpenOption = RERUN_OPEN_DEFAULT
     rerun_web: bool = RERUN_ENABLE_WEB

dimos/core/introspection/module/info.py

@@ -20,9 +20,17 @@
 from typing import Any
 
 # Internal RPCs to hide from io() output
+# Every module has these; io() shows what a module adds.
 INTERNAL_RPCS = {
+    "build",
     "dynamic_skills",
+    "get_skills",
+    "peek_stream",
+    "set_module_ref",
+    "set_transport",
     "skills",
+    "start",
+    "stop",
     "_io_instance",
 }
 

dimos/experimental/memory/rust/flake.nix

@@ -34,8 +34,8 @@
             ../../../../native/rust/dimos-module-macros
             ../../../../dimos/mapping/ray_tracing/rust
             ../../../../dimos/mapping/ray_tracing/rust/py
-            ../../../../dimos/navigation/nav_3d/mls_planner/rust
-            ../../../../dimos/navigation/nav_3d/mls_planner/rust/py
+            ../../../../dimos/navigation/global_planner/mls_planner/rust
+            ../../../../dimos/navigation/global_planner/mls_planner/rust/py
             ../../../../dimos/hardware/sensors/lidar/livox/rust
             ../../../../dimos/hardware/sensors/lidar/pointlio/rust
             ../../../../dimos/hardware/sensors/lidar/virtual_mid360

dimos/experimental/security_demo/security_module.py

@@ -37,13 +37,13 @@
 from dimos.msgs.nav_msgs.OccupancyGrid import OccupancyGrid
 from dimos.msgs.sensor_msgs.CameraInfo import CameraInfo
 from dimos.msgs.sensor_msgs.Image import Image
-from dimos.navigation.patrolling.create_patrol_router import create_patrol_router
-from dimos.navigation.patrolling.routers.patrol_router import PatrolRouter
+from dimos.navigation.experimental.patrolling.create_patrol_router import create_patrol_router
+from dimos.navigation.experimental.patrolling.routers.patrol_router import PatrolRouter
 from dimos.agents.skills.speak_skill_spec import SpeakSkillSpec
-from dimos.navigation.replanning_a_star.module_spec import ReplanningAStarPlannerSpec
-from dimos.navigation.visual_servoing.visual_servoing_2d import VisualServoing2D
+from dimos.navigation.go2.replanning_a_star.module_spec import ReplanningAStarPlannerSpec
+from dimos.agents.skills.visual_servoing.visual_servoing_2d import VisualServoing2D
 from dimos.utils.logging_config import setup_logger
-from dimos.navigation.patrolling.constants import EXTRA_CLEARANCE
+from dimos.navigation.experimental.patrolling.constants import EXTRA_CLEARANCE
 
 if TYPE_CHECKING:
     from dimos.perception.detection.type.detection2d.bbox import Detection2DBBox

dimos/hardware/sensors/lidar/fastlio2/module.py

@@ -24,7 +24,6 @@
 
 from __future__ import annotations
 
-import os
 import time
 from typing import TYPE_CHECKING
 
@@ -63,10 +62,9 @@ class FastLio2Config(NativeModuleConfig):
     stdin_config: bool = True
     base_fields: frozenset[str] = frozenset({"frame_id"})
     # Livox SDK hardware config. lidar_ip required; host_ip optional (auto-derived
-    # from lidar_ip's subnet). Both fall back to DIMOS_FASTLIO_LIDAR_IP /
-    # DIMOS_FASTLIO_HOST_IP.
-    host_ip: str | None = Field(default_factory=lambda: os.environ.get("DIMOS_FASTLIO_HOST_IP"))
-    lidar_ip: str | None = Field(default_factory=lambda: os.environ.get("DIMOS_FASTLIO_LIDAR_IP"))
+    # from lidar_ip's subnet).
+    host_ip: str | None = None
+    lidar_ip: str | None = None
     frequency: float = 10.0
 
     # Odometry is published as frame_id (fixed) -> sensor_frame_id (moving sensor),
@@ -162,7 +160,7 @@ def _validate_network(self) -> None:
         if not lidar_ip:
             raise RuntimeError(
                 "FastLio2: lidar_ip not set — it's network-specific. Set it in the config "
-                "or via the DIMOS_FASTLIO_LIDAR_IP env var."
+                "or FASTLIO2__LIDAR_IP in the environment."
             )
         # host_ip optional: derive the local NIC on lidar_ip's /24 when unset or
         # not one of our IPs (shared with the Mid360 driver).