[Vibed Experiment] feat: render TF tree as hierarchical Rerun entity paths

[leshy]

Summary

• Intercept TFMessage in the Rerun bridge and render transforms as hierarchical entity paths (e.g. world/base_link/camera/optical) via DFS traversal of the accumulated TF tree
• Rate-limit TF tree re-renders using min_interval_sec and cache the adjacency dict (rebuilt only on new edges) for performance
• Add Config.tf_enabled flag, cycle protection in DFS, and 5 unit tests covering chain hierarchy, multiple roots, disabled fallback, incremental updates, and cycle protection

Closes #1627

Test plan

• 5 unit tests passing (pytest dimos/visualization/rerun/test_tf_tree.py -v)
• mypy clean
• Performance review: rate-limiting and adjacency caching verified

🤖 Generated with Claude Code

[greptile-apps]

Greptile Summary

This PR closes the long-standing TODO in the Rerun bridge by giving it its own MultiTBuffer and rendering the accumulated TF tree as proper hierarchical Rerun entity paths (e.g. world/odom/base_link/camera) via a DFS walk, replacing the previous flat-path fallback. The implementation is solid: transforms are always accumulated, rendering is rate-limited via min_interval_sec, the adjacency/roots cache is rebuilt only when new edges appear, and cycle detection prevents infinite recursion.

Key changes:

• Config.tf_enabled flag to opt out of TF interception
• RerunBridgeModule._render_tf_tree() — DFS walk with per-render visited set for cycle safety
• Adjacency cache (_tf_children, _tf_roots) invalidated by edge count, keeping hot-path overhead minimal
• 5 unit tests covering chain hierarchy, multiple roots, disabled fallback, incremental updates, and cycle protection
• The cycle-protection test assertion (<= 3) is too permissive and should be == 0 to match the documented expectation
• _make_bridge test helper leaves _last_tf_render_time and the adjacency-cache attributes uninitialised, which will cause AttributeError in any future test that exercises _on_message with tf_enabled=True

Confidence Score: 4/5

• Safe to merge; production code path is correct and the issues are limited to test quality.
• The bridge logic is well-implemented with no production bugs found. The two concerns are confined to the test file: a loose cycle-protection assertion that could hide future regressions, and a partially-uninitialised test helper that will break any new _on_message tests. Fixing these before merge improves long-term test reliability but does not block the feature itself.
• dimos/visualization/rerun/test_tf_tree.py — cycle assertion and missing attribute initialisation in _make_bridge

Important Files Changed

Filename	Overview
dimos/visualization/rerun/bridge.py	Adds TFMessage interception and hierarchical entity-path rendering via DFS. Logic is sound: transforms are always accumulated, rendering is rate-limited, cycle detection works, and adjacency cache is rebuilt only on new edges. Minor inconsistency: _tf_num_edges uses getattr fallback in _render_tf_tree while _tf_roots/_tf_children use direct attribute access, relying on start() always being called first.
dimos/visualization/rerun/test_tf_tree.py	5 unit tests covering the main scenarios. Two issues: the cycle-protection assertion is too loose (<= 3 instead of == 0), and _make_bridge leaves several instance attributes uninitialised, making tests for _on_message with tf_enabled=True fragile. Unused call import also present.

Sequence Diagram

sequenceDiagram
    participant PubSub
    participant RerunBridgeModule
    participant MultiTBuffer
    participant Rerun

    PubSub->>RerunBridgeModule: _on_message(TFMessage, topic)
    RerunBridgeModule->>MultiTBuffer: receive_transform(*transforms)
    RerunBridgeModule->>RerunBridgeModule: check rate-limit (min_interval_sec)
    alt interval elapsed
        RerunBridgeModule->>RerunBridgeModule: _render_tf_tree()
        note over RerunBridgeModule: Rebuild adjacency cache if new edges
        loop DFS over roots
            RerunBridgeModule->>MultiTBuffer: get_transform(parent, child)
            MultiTBuffer-->>RerunBridgeModule: Transform | None
            RerunBridgeModule->>Rerun: rr.log(entity_path, Transform3D)
        end
    end
    RerunBridgeModule-->>PubSub: return (TF path consumed)

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