Merge origin/dev into ruthwik_teleop

Author: ruthwikdasyam

.gitignore

@@ -54,6 +54,7 @@ yolo11n.pt
 # symlink one of .envrc.* if you'd like to use
 .envrc
 .claude
+**/CLAUDE.md
 .direnv/
 
 /logs

README.md

@@ -6,7 +6,7 @@
 
 <br>
 
-[![Discord](https://img.shields.io/discord/1341146487186391173?style=flat-square&logo=discord&logoColor=white&label=Discord&color=5865F2)](https://discord.gg/8m6HMArf)
+[![Discord](https://img.shields.io/discord/1341146487186391173?style=flat-square&logo=discord&logoColor=white&label=Discord&color=5865F2)](https://discord.gg/dimos)
 [![Stars](https://img.shields.io/github/stars/dimensionalOS/dimos?style=flat-square)](https://github.com/dimensionalOS/dimos/stargazers)
 [![Forks](https://img.shields.io/github/forks/dimensionalOS/dimos?style=flat-square)](https://github.com/dimensionalOS/dimos/fork)
 [![Contributors](https://img.shields.io/github/contributors/dimensionalOS/dimos?style=flat-square)](https://github.com/dimensionalOS/dimos/graphs/contributors)
@@ -71,9 +71,9 @@ Supported/tested matrix:
 | Platform | Status | Tested | Required System deps |
 | --- | --- | --- | --- |
 | Linux | supported | Ubuntu 22.04, 24.04 | See below |
-| macOS | experimental beta | not CI-tested | `brew install gnu-sed gcc portaudio git-lfs libjpeg-turbo python` |
+| macOS | experimental beta | not CI-tested | `brew install gnu-sed gcc portaudio git-lfs libjpeg-turbo python; export ARCHFLAGS="-arch $(uname -m)"` |
 
-Note: macOS is usable but expect inconsistent/flaky behavior (rather than hard errors/crashes).
+Note: macOS is usable but expect inconsistent/flaky behavior (rather than hard errors/crashes). Setting `ARCHFLAGS` is likely optional, but some systems it is required to avoid a `clang` error.
 
 ```sh
 sudo apt-get update
@@ -152,7 +152,7 @@ from dimos.core import In, Module, Out, rpc
 from dimos.core.blueprints import autoconnect
 from dimos.msgs.geometry_msgs import Twist
 from dimos.msgs.sensor_msgs import Image
-from dimos.msgs.sensor_msgs.image_impls.AbstractImage import ImageFormat
+from dimos.msgs.sensor_msgs.Image import ImageFormat
 
 class RobotConnection(Module):
     cmd_vel: In[Twist]
@@ -189,7 +189,7 @@ if __name__ == "__main__":
 ### Blueprints
 
 Blueprints are how robots are constructed on Dimensional; instructions for how to construct and wire modules. You compose them with
-`autoconnect(...)`, which connects streams by `(name, type)` and returns a `ModuleBlueprintSet`.
+`autoconnect(...)`, which connects streams by `(name, type)` and returns a `Blueprint`.
 
 Blueprints can be composed, remapped, and have transports overridden if `autoconnect()` fails due to conflicting variable names or `In[]` and `Out[]` message types.
 

bin/dev

@@ -1,43 +1,43 @@
 #!/usr/bin/env bash
 REPO_ROOT=$(git rev-parse --show-toplevel)
 REL_PATH=$(realpath --relative-to="$REPO_ROOT" "$(pwd)")
-IMAGE="ghcr.io/dimensionalos/dev"
-IMAGE_NAME="$IMAGE:dev"
+IMAGE="ghcr.io/dimensionalos/ros-dev"
+IMAGE_TAG="$IMAGE:dev"
 
 image_exists() {
-    docker image inspect "${IMAGE_NAME}" &>/dev/null
+    docker image inspect "${IMAGE_TAG}" &>/dev/null
 }
 
 image_pull() {
-    docker pull "$IMAGE_NAME"
+    docker pull "$IMAGE_TAG"
 }
 
 ensure_image_downloaded() {
     if ! image_exists "$1"; then
-        echo "Image ${IMAGE_NAME} not found. Pulling..."
+        echo "Image ${IMAGE_TAG} not found. Pulling..."
         image_pull "$1"
     fi
 }
 
 check_image_running() {
-    if docker ps -q --filter "ancestor=${IMAGE_NAME}" | grep -q .; then
+    if docker ps -q --filter "ancestor=${IMAGE_TAG}" | grep -q .; then
         return 0
     else
         return 1
     fi
 }
 
 stop_image() {
-    if check_image_running ${IMAGE_NAME}; then
-        echo "Stopping containers from image ${IMAGE_NAME}..."
-        docker stop $(docker ps -q --filter "ancestor=${IMAGE_NAME}")
+    if check_image_running ${IMAGE_TAG}; then
+        echo "Stopping containers from image ${IMAGE_TAG}..."
+        docker stop $(docker ps -q --filter "ancestor=${IMAGE_TAG}")
     else
-        echo "No containers from image ${IMAGE_NAME} are running."
+        echo "No containers from image ${IMAGE_TAG} are running."
     fi
 }
 
 
-get_tag() {
+get_branch_tag() {
     local branch_name
     branch_name=$(git rev-parse --abbrev-ref HEAD)
 
@@ -58,16 +58,16 @@ get_tag() {
 
 build_image() {
     local image_tag
-    image_tag=$(get_tag)
+    image_tag=$(get_branch_tag)
 
     docker build \
         --build-arg GIT_COMMIT=$(git rev-parse --short HEAD) \
         --build-arg GIT_BRANCH=$(git rev-parse --abbrev-ref HEAD) \
-        -t "ghcr.io/dimensionalos/dev:${image_tag}" -f docker/dev/Dockerfile .
+        -t "ghcr.io/dimensionalos/ros-dev:${image_tag}" -f docker/dev/Dockerfile .
 }
 
 remove_image() {
-    local tag=$(get_tag)
+    local tag=$(get_branch_tag)
     docker rm -f "dimos-dev-${tag}" 2>/dev/null || true
 }
 
@@ -141,7 +141,7 @@ else
             shift
             ;;
         pull)
-            docker pull ghcr.io/dimensionalos/dev:dev
+            docker pull "${IMAGE_TAG}"
             shift
             ;;
         *)

data/.lfs/piper_description.tar.gz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4ce51d4ea15f29d80e69b0fff4a4d667f086e010329bb5c66980a881f1ee539
+size 3091511

data/.lfs/xarm_description.tar.gz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82634d767b1f96474b9273500d3f8123f0df9dd1f7e1d84f369e65b3d257f00f
+size 12703173

dimos/agents/__init__.py

@@ -1,12 +1,3 @@
-from langchain_core.messages import (
-    AIMessage,
-    HumanMessage,
-    MessageLikeRepresentation,
-    SystemMessage,
-    ToolCall,
-    ToolMessage,
-)
-
 from dimos.agents.agent import Agent, deploy
 from dimos.agents.spec import AgentSpec
 from dimos.agents.vlm_agent import VLMAgent

dimos/agents_deprecated/agent.py

@@ -36,7 +36,7 @@
 from dotenv import load_dotenv
 from openai import NOT_GIVEN, OpenAI
 from pydantic import BaseModel
-from reactivex import Observable, Observer, create, empty, just, operators as RxOps
+from reactivex import Observable, Observer, create, empty, just, operators as rxops
 from reactivex.disposable import CompositeDisposable, Disposable
 from reactivex.subject import Subject
 
@@ -201,19 +201,19 @@ def __init__(
             if (input_data_stream is None)
             else (
                 input_query_stream.pipe(  # type: ignore[misc, union-attr]
-                    RxOps.with_latest_from(input_data_stream),
-                    RxOps.map(
+                    rxops.with_latest_from(input_data_stream),
+                    rxops.map(
                         lambda combined: {
                             "query": combined[0],  # type: ignore[index]
                             "objects": combined[1]  # type: ignore[index]
                             if len(combined) > 1  # type: ignore[arg-type]
                             else "No object data available",
                         }
                     ),
-                    RxOps.map(
+                    rxops.map(
                         lambda data: f"{data['query']}\n\nCurrent objects detected:\n{data['objects']}"  # type: ignore[index]
                     ),
-                    RxOps.do_action(
+                    rxops.do_action(
                         lambda x: print(f"\033[34mEnriched query: {x.split(chr(10))[0]}\033[0m")  # type: ignore[arg-type]
                         or [print(f"\033[34m{line}\033[0m") for line in x.split(chr(10))[1:]]  # type: ignore[var-annotated]
                     ),
@@ -513,9 +513,9 @@ def _process_frame(emission) -> Observable:  # type: ignore[no-untyped-def, type
                 frame = emission
             return just(frame).pipe(  # type: ignore[call-overload, no-any-return]
                 MyOps.print_emission(id="B", **print_emission_args),  # type: ignore[arg-type]
-                RxOps.observe_on(self.pool_scheduler),
+                rxops.observe_on(self.pool_scheduler),
                 MyOps.print_emission(id="C", **print_emission_args),  # type: ignore[arg-type]
-                RxOps.subscribe_on(self.pool_scheduler),
+                rxops.subscribe_on(self.pool_scheduler),
                 MyOps.print_emission(id="D", **print_emission_args),  # type: ignore[arg-type]
                 MyVidOps.with_jpeg_export(
                     self.frame_processor,  # type: ignore[arg-type]
@@ -525,13 +525,13 @@ def _process_frame(emission) -> Observable:  # type: ignore[no-untyped-def, type
                 MyOps.print_emission(id="E", **print_emission_args),  # type: ignore[arg-type]
                 MyVidOps.encode_image(),
                 MyOps.print_emission(id="F", **print_emission_args),  # type: ignore[arg-type]
-                RxOps.filter(
+                rxops.filter(
                     lambda base64_and_dims: base64_and_dims is not None
                     and base64_and_dims[0] is not None  # type: ignore[index]
                     and base64_and_dims[1] is not None  # type: ignore[index]
                 ),
                 MyOps.print_emission(id="G", **print_emission_args),  # type: ignore[arg-type]
-                RxOps.flat_map(
+                rxops.flat_map(
                     lambda base64_and_dims: create(  # type: ignore[arg-type, return-value]
                         lambda observer, _: self._observable_query(
                             observer,  # type: ignore[arg-type]
@@ -555,11 +555,11 @@ def process_if_free(emission):  # type: ignore[no-untyped-def]
                 is_processing[0] = True
                 return _process_frame(emission).pipe(
                     MyOps.print_emission(id="I", **print_emission_args),  # type: ignore[arg-type]
-                    RxOps.observe_on(self.pool_scheduler),
+                    rxops.observe_on(self.pool_scheduler),
                     MyOps.print_emission(id="J", **print_emission_args),  # type: ignore[arg-type]
-                    RxOps.subscribe_on(self.pool_scheduler),
+                    rxops.subscribe_on(self.pool_scheduler),
                     MyOps.print_emission(id="K", **print_emission_args),  # type: ignore[arg-type]
-                    RxOps.do_action(
+                    rxops.do_action(
                         on_completed=lambda: is_processing.__setitem__(0, False),
                         on_error=lambda e: is_processing.__setitem__(0, False),
                     ),
@@ -568,7 +568,7 @@ def process_if_free(emission):  # type: ignore[no-untyped-def]
 
         observable = frame_observable.pipe(
             MyOps.print_emission(id="A", **print_emission_args),  # type: ignore[arg-type]
-            RxOps.flat_map(process_if_free),
+            rxops.flat_map(process_if_free),
             MyOps.print_emission(id="M", **print_emission_args),  # type: ignore[arg-type]
         )
 
@@ -601,7 +601,7 @@ def _process_query(query) -> Observable:  # type: ignore[no-untyped-def, type-ar
             """
             return just(query).pipe(
                 MyOps.print_emission(id="Pr A", **print_emission_args),  # type: ignore[arg-type]
-                RxOps.flat_map(
+                rxops.flat_map(
                     lambda query: create(  # type: ignore[arg-type, return-value]
                         lambda observer, _: self._observable_query(observer, incoming_query=query)  # type: ignore[arg-type]
                     )
@@ -622,11 +622,11 @@ def process_if_free(query):  # type: ignore[no-untyped-def]
                 logger.info("Processing Query.")
                 return _process_query(query).pipe(
                     MyOps.print_emission(id="B", **print_emission_args),  # type: ignore[arg-type]
-                    RxOps.observe_on(self.pool_scheduler),
+                    rxops.observe_on(self.pool_scheduler),
                     MyOps.print_emission(id="C", **print_emission_args),  # type: ignore[arg-type]
-                    RxOps.subscribe_on(self.pool_scheduler),
+                    rxops.subscribe_on(self.pool_scheduler),
                     MyOps.print_emission(id="D", **print_emission_args),  # type: ignore[arg-type]
-                    RxOps.do_action(
+                    rxops.do_action(
                         on_completed=lambda: is_processing.__setitem__(0, False),
                         on_error=lambda e: is_processing.__setitem__(0, False),
                     ),
@@ -635,7 +635,7 @@ def process_if_free(query):  # type: ignore[no-untyped-def]
 
         observable = query_observable.pipe(
             MyOps.print_emission(id="A", **print_emission_args),  # type: ignore[arg-type]
-            RxOps.flat_map(lambda query: process_if_free(query)),  # type: ignore[no-untyped-call]
+            rxops.flat_map(lambda query: process_if_free(query)),  # type: ignore[no-untyped-call]
             MyOps.print_emission(id="F", **print_emission_args),  # type: ignore[arg-type]
         )
 
@@ -654,9 +654,9 @@ def get_response_observable(self) -> Observable:  # type: ignore[type-arg]
             Observable: An observable that emits string responses from the agent.
         """
         return self.response_subject.pipe(
-            RxOps.observe_on(self.pool_scheduler),
-            RxOps.subscribe_on(self.pool_scheduler),
-            RxOps.share(),
+            rxops.observe_on(self.pool_scheduler),
+            rxops.subscribe_on(self.pool_scheduler),
+            rxops.share(),
         )
 
     def run_observable_query(self, query_text: str, **kwargs) -> Observable:  # type: ignore[no-untyped-def, type-arg]

dimos/agents_deprecated/memory/image_embedding.py

@@ -64,7 +64,7 @@ def _initialize_model(self):  # type: ignore[no-untyped-def]
         """Initialize the specified embedding model."""
         try:
             import onnxruntime as ort  # type: ignore[import-untyped]
-            import torch
+            import torch  # noqa: F401
             from transformers import (  # type: ignore[import-untyped]
                 AutoFeatureExtractor,
                 AutoModel,

dimos/agents_deprecated/modules/gateway/client.py

@@ -52,6 +52,7 @@ def __init__(
         self.timeout = timeout
         self._client = None
         self._async_client = None
+        self._aclose_task: asyncio.Task[None] | None = None
 
         # Always use TensorZero embedded gateway
         try:
@@ -177,7 +178,7 @@ def __del__(self) -> None:
             try:
                 loop = asyncio.get_event_loop()
                 if loop.is_running():
-                    loop.create_task(self.aclose())
+                    self._aclose_task = loop.create_task(self.aclose())
                 else:
                     loop.run_until_complete(self.aclose())
             except RuntimeError: