Antim/sim integration merged by leshy · Pull Request #1390 · dimensionalOS/dimos

leshy · 2026-03-01T16:38:05Z

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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

leshy · 2026-03-01T16:43:47Z

@greptileai go for it

greptile-apps

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greptile-apps · 2026-03-01T16:51:43Z

dimos/robot/sim/tf_module.py

+    def move(self, twist: Twist, duration: float = 0.0) -> bool:
+        """Send movement command to the simulator via cmd_vel."""
+        self.cmd_vel.publish(twist)


duration parameter is unused. Other move() implementations in the codebase (unitree, drone) use this to execute timed movements.

Dreamsorcerer · 2026-03-04T19:02:08Z

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

+    },
+}
+
+match global_config.viewer_backend:


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>

Viswa4599 · 2026-03-10T02:17:14Z

TODO

CI tests for dimsim integration
Integrate eval stack

…prints - bridge.py: download compiled binary from GitHub Releases (no Deno dependency), auto-symlink to ~/.local/bin, support DIMSIM_CONNECT_ONLY and DIMSIM_CHANNELS env vars for parallel eval instances - New e2e test: test_dimsim_nav.py — 6 smoke tests for sim-nav sensor pipeline (color, depth, odom, lidar, cmd_vel control, odom rate). Runs in CI with CPU rendering, force-kills port 8090 on setup/teardown to prevent leaks - Eval tests: EVALS_DIR now reads from ~/.dimsim/evals/ (installed by dimsim setup) instead of reaching into DimSim source tree. Added force-kill cleanup to both sequential and parallel eval fixtures - New sim blueprints: sim-agentic, sim-eval, sim-parallel-eval, sim-spatial, sim-temporal-memory - Simulation developer docs at docs/development/simulation.md

…merged # Conflicts: # dimos/robot/all_blueprints.py

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

@rpc

…wn, untrack generated artifacts - Fix global_config.viewer_backend → global_config.viewer (AttributeError) - Add @rpc decorator to DimSimBridge.start() override - Update self.config.executable after binary download in _maybe_build() - Add start_new_session=True to all test subprocess.Popen calls - Implement duration-based motion in DimSimTF.move() - Fix docstring filenames to match actual test file names - Untrack assets/temporal_memory/ and add to .gitignore

…it__.py files - Replace all removed shorthand aliases with ClassName.blueprint() pattern (CostMapper, VoxelGridMapper, ReplanningAStarPlanner, WavefrontFrontierExplorer, SpatialMemory, WebsocketVisModule, RerunBridgeModule, FoxgloveBridge) - Replace deleted dimos.agents.agent with MCP agent (McpServer + McpClient) - Replace dimos.perception.experimental.temporal_memory shorthand with direct import - Fix spec.Camera/Pointcloud import path (dimos.spec.perception) - Fix CameraInfo import (module vs class) - Fix LCM() constructor (remove autoconf param) - Fix rerun bridge import (RerunBridgeModule + _resolve_viewer_mode) - Remove all __init__.py files (not allowed in dimos) - Fix all_blueprints.py sorting and add dim-sim-bridge/dim-sim-tf modules - Add skipif_in_ci back to test_dimsim_nav (requires dimsim binary)

- Remove `from __future__ import annotations` from bridge.py and tf_module.py (broke Module port creation from type annotations) - Convert DimSimBridgeConfig from @DataClass to pydantic model (parent NativeModuleConfig is pydantic) - Fix all msg imports: use `from dimos.msgs.*.X import X` (module-level imports returned modules, not classes) - Replace `None` with named `_suppress` function in rerun visual_override (pydantic requires callable, lambdas not picklable) - Add missing PatrollingModule to sim_agentic blueprint - Fix os.killpg PermissionError on macOS in test teardown - Add venv bin to PATH in e2e test subprocess env

Fix update flow: prefer compiled binary over PATH in _resolve_paths(), always sync self.config.executable after version check, create symlink before running setup. Add eval creation section to simulation.md. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Fix update flow: prefer compiled binary over PATH in _resolve_paths(), always sync self.config.executable after version check, create symlink before running setup. Add eval creation section to simulation.md. Remove skipif_in_ci from test_dimsim_nav only. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Viswa4599 · 2026-03-28T04:43:38Z

@leshy summary of changes:

Merged dev
Added docs in docs/simulation.md. Will keep updating
Built eval framework and primitives on our end, you can run evals and build your own (eg: list all objects in a sim and choose one to go to). More on that in the docs. This is still very early, have to add more primitives.
Added sometests in e2e. Smoke test for sim-nav and tests to run an eval through dimos (skipped for now in ci)

To try the tests out :

python -m pytest dimos/e2e_tests/test_dimsim_nav.py -v -s  -o "addopts=" -m slow
python -m pytest dimos/e2e_tests/test_dimsim_eval.py -v -s -o "addopts=" -m slow
python -m pytest dimos/e2e_tests/test_dimsim_eval_parallel.py -v -s -o "addopts=" -m slow

leshy force-pushed the antim/sim-integration-merged branch from 82073b9 to 15526d4 Compare March 1, 2026 16:43

greptile-apps bot reviewed Mar 1, 2026

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leshy mentioned this pull request Mar 1, 2026

Add Antim Labs sim integration module (dimsim) #1387

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Viswa4599 and others added 2 commits March 1, 2026 23:45

Auto-install and update dimsim CLI on dimos run sim-nav

6d28968

CI code cleanup

fe77900

dimensionalOS deleted a comment from greptile-apps bot Mar 2, 2026

Dreamsorcerer reviewed Mar 4, 2026

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Viswa4599 and others added 4 commits March 4, 2026 22:35

CI code cleanup

02d1342

Fix rerun camera: separate pinhole from image entity for 2D/3D compat

0dbcd7a

Force Deno cache reload on dimsim CLI update

4a46b5d

leshy and others added 3 commits March 10, 2026 17:04

sim mapper small adjustments

60c0c00

Merge remote-tracking branch 'origin/dev' into antim/sim-integration-…

7da940a

…merged # Conflicts: # dimos/robot/all_blueprints.py

Copilot AI review requested due to automatic review settings March 28, 2026 01:58

Copilot started reviewing on behalf of Viswa4599 March 28, 2026 01:59 View session

CI code cleanup

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Viswa4599 and others added 9 commits March 27, 2026 22:07

Update dimos/e2e_tests/test_dimsim_eval_parallel.py

3bd9c2c

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

CI code cleanup

43403f0

CI code cleanup

8f72932

docs: remove single eval run section from simulation.md

09d1296

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

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Antim/sim integration merged#1390

Antim/sim integration merged#1390
leshy wants to merge 20 commits intodevfrom
antim/sim-integration-merged

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