From 3b2416662641b9526045b0c922ea11342848d223 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 27 May 2026 00:00:33 -0700 Subject: [PATCH 01/23] have rust use nix --- dimos/mapping/ray_tracing/module.py | 4 +-- dimos/mapping/ray_tracing/rust/.gitignore | 1 + dimos/mapping/ray_tracing/rust/flake.nix | 42 +++++++++++++++++++++++ 3 files changed, 45 insertions(+), 2 deletions(-) create mode 100644 dimos/mapping/ray_tracing/rust/flake.nix diff --git a/dimos/mapping/ray_tracing/module.py b/dimos/mapping/ray_tracing/module.py index 28af45e28a..f506b85155 100644 --- a/dimos/mapping/ray_tracing/module.py +++ b/dimos/mapping/ray_tracing/module.py @@ -26,8 +26,8 @@ class RayTracingVoxelMapConfig(NativeModuleConfig): cwd: str | None = "rust" - executable: str = "target/release/voxel_ray_tracing" - build_command: str | None = "cargo build --release" + executable: str = "result/bin/voxel_ray_tracing" + build_command: str | None = "nix build path:." stdin_config: bool = True voxel_size: float = 0.1 diff --git a/dimos/mapping/ray_tracing/rust/.gitignore b/dimos/mapping/ray_tracing/rust/.gitignore index 2f7896d1d1..ff69d57ad6 100644 --- a/dimos/mapping/ray_tracing/rust/.gitignore +++ b/dimos/mapping/ray_tracing/rust/.gitignore @@ -1 +1,2 @@ target/ +result diff --git a/dimos/mapping/ray_tracing/rust/flake.nix b/dimos/mapping/ray_tracing/rust/flake.nix new file mode 100644 index 0000000000..bb2fbfd52d --- /dev/null +++ b/dimos/mapping/ray_tracing/rust/flake.nix @@ -0,0 +1,42 @@ +{ + description = "Voxel ray tracing native module for DimOS"; + + inputs = { + nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; + flake-utils.url = "github:numtide/flake-utils"; + # Relative git+file: will be deprecated (nix#12281) but there's no + # viable alternative for reaching local path deps outside the flake dir currently + # presumably an alternative will be added before this is removed + dimos-repo = { url = "git+file:../../../.."; flake = false; }; + }; + + outputs = { self, nixpkgs, flake-utils, dimos-repo }: + flake-utils.lib.eachDefaultSystem (system: + let + pkgs = import nixpkgs { inherit system; }; + + src = pkgs.runCommand "voxel-ray-tracing-src" {} '' + mkdir -p $out/dimos/mapping/ray_tracing/rust + cp -r ${./src} $out/dimos/mapping/ray_tracing/rust/src + cp ${./Cargo.toml} $out/dimos/mapping/ray_tracing/rust/Cargo.toml + cp ${./Cargo.lock} $out/dimos/mapping/ray_tracing/rust/Cargo.lock + + mkdir -p $out/native/rust + cp -r ${dimos-repo}/native/rust/dimos-module $out/native/rust/dimos-module + cp -r ${dimos-repo}/native/rust/dimos-module-macros $out/native/rust/dimos-module-macros + ''; + in { + packages.default = pkgs.rustPlatform.buildRustPackage { + pname = "voxel-ray-tracing"; + version = "0.1.0"; + + inherit src; + cargoRoot = "dimos/mapping/ray_tracing/rust"; + buildAndTestSubdir = "dimos/mapping/ray_tracing/rust"; + + cargoHash = "sha256-g30NaoLdtWT5YBsEnE4Xv+EMnI5HHFtZAUtdEL/VbKQ="; + + meta.mainProgram = "voxel_ray_tracing"; + }; + }); +} From 51666bcd298c1d08bdee179f176f45c0a7dd417d Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 27 May 2026 00:08:11 -0700 Subject: [PATCH 02/23] - --- dimos/robot/all_blueprints.py | 1 + .../navigation/unitree_g1_nav_simple.py | 35 +++++++++++++++++++ 2 files changed, 36 insertions(+) create mode 100644 dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py diff --git a/dimos/robot/all_blueprints.py b/dimos/robot/all_blueprints.py index 6fbf0138bb..713a5df2ca 100644 --- a/dimos/robot/all_blueprints.py +++ b/dimos/robot/all_blueprints.py @@ -91,6 +91,7 @@ "unitree-g1-joystick": "dimos.robot.unitree.g1.blueprints.basic.unitree_g1_joystick:unitree_g1_joystick", "unitree-g1-nav-onboard": "dimos.robot.unitree.g1.blueprints.navigation.unitree_g1_nav_onboard:unitree_g1_nav_onboard", "unitree-g1-nav-sim": "dimos.robot.unitree.g1.blueprints.navigation.unitree_g1_nav_sim:unitree_g1_nav_sim", + "unitree-g1-nav-simple": "dimos.robot.unitree.g1.blueprints.navigation.unitree_g1_nav_simple:unitree_g1_nav_simple", "unitree-g1-shm": "dimos.robot.unitree.g1.blueprints.perceptive.unitree_g1_shm:unitree_g1_shm", "unitree-g1-sim": "dimos.robot.unitree.g1.blueprints.perceptive.unitree_g1_sim:unitree_g1_sim", "unitree-go2": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2:unitree_go2", diff --git a/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py b/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py new file mode 100644 index 0000000000..98128cc400 --- /dev/null +++ b/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py @@ -0,0 +1,35 @@ +#!/usr/bin/env python3 +# Copyright 2025-2026 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 G1 stack: base sensors plus real robot connection and ROS nav.""" + +from dimos.core.coordination.blueprints import autoconnect +from dimos.hardware.sensors.lidar.fastlio2.module import FastLio2 +from dimos.mapping.costmapper import CostMapper +from dimos.mapping.ray_tracing.module import RayTracingVoxelMap +from dimos.navigation.movement_manager.movement_manager import MovementManager +from dimos.navigation.replanning_a_star.module import ReplanningAStarPlanner +from dimos.robot.unitree.g1.connection import G1Connection + +unitree_g1_nav_simple = autoconnect( + FastLio2.blueprint(), + G1Connection.blueprint(), + RayTracingVoxelMap.blueprint(), + CostMapper.blueprint(), + ReplanningAStarPlanner.blueprint(), + MovementManager.blueprint(), +).global_config(n_workers=10, robot_model="unitree_g1") + +__all__ = ["unitree_g1_nav_simple"] From ec039694ce31c7622a1e97c3e777a72a9111d7f4 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 27 May 2026 15:11:00 +0800 Subject: [PATCH 03/23] add lock --- dimos/mapping/ray_tracing/rust/flake.lock | 78 +++++++++++++++++++++++ 1 file changed, 78 insertions(+) create mode 100644 dimos/mapping/ray_tracing/rust/flake.lock diff --git a/dimos/mapping/ray_tracing/rust/flake.lock b/dimos/mapping/ray_tracing/rust/flake.lock new file mode 100644 index 0000000000..a548660557 --- /dev/null +++ b/dimos/mapping/ray_tracing/rust/flake.lock @@ -0,0 +1,78 @@ +{ + "nodes": { + "dimos-repo": { + "flake": false, + "locked": { + "lastModified": 1779865691, + "narHash": "sha256-2CVWcov7DiC1qX/B/zFKDJiSYsnbrZ3FNT/viprFWTQ=", + "ref": "refs/heads/jeff/feat/g1_raycast", + "rev": "51666bcd298c1d08bdee179f176f45c0a7dd417d", + "revCount": 744, + "type": "git", + "url": "file:../../../.." + }, + "original": { + "type": "git", + "url": "file:../../../.." + } + }, + "flake-utils": { + "inputs": { + "systems": "systems" + }, + "locked": { + "lastModified": 1731533236, + "narHash": "sha256-l0KFg5HjrsfsO/JpG+r7fRrqm12kzFHyUHqHCVpMMbI=", + "owner": "numtide", + "repo": "flake-utils", + "rev": "11707dc2f618dd54ca8739b309ec4fc024de578b", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "flake-utils", + "type": "github" + } + }, + "nixpkgs": { + "locked": { + "lastModified": 1779560665, + "narHash": "sha256-tpyBcxPpcQb8ukyNF7DoCwfSY3VPsxHoYwj00Cayv5o=", + "owner": "NixOS", + "repo": "nixpkgs", + "rev": "64c08a7ca051951c8eae34e3e3cb1e202fe36786", + "type": "github" + }, + "original": { + "owner": "NixOS", + "ref": "nixos-unstable", + "repo": "nixpkgs", + "type": "github" + } + }, + "root": { + "inputs": { + "dimos-repo": "dimos-repo", + "flake-utils": "flake-utils", + "nixpkgs": "nixpkgs" + } + }, + "systems": { + "locked": { + "lastModified": 1681028828, + "narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=", + "owner": "nix-systems", + "repo": "default", + "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e", + "type": "github" + }, + "original": { + "owner": "nix-systems", + "repo": "default", + "type": "github" + } + } + }, + "root": "root", + "version": 7 +} From 0707dbb654926f029264946e2a8ebd73f2a9c768 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 27 May 2026 15:28:06 +0800 Subject: [PATCH 04/23] fix pyproject.toml for the g1 --- pyproject.toml | 7 +- uv.lock | 1460 +++++++++++++++++++++++------------------------- 2 files changed, 709 insertions(+), 758 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 39db0c1b7c..82a40e1c6e 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -248,7 +248,7 @@ manipulation = [ # Hardware SDKs "piper-sdk", - "pyrealsense2; sys_platform != 'darwin'", + "pyrealsense2; sys_platform != 'darwin' and platform_machine != 'aarch64'", "xarm-python-sdk>=1.17.0", "a750-control; sys_platform == 'linux' and platform_machine == 'x86_64'", @@ -288,7 +288,7 @@ psql = [ sim = [ # Simulation "mujoco>=3.3.4", - "playground>=0.0.5", + "playground>=0.0.5; platform_system != 'Linux' or platform_machine != 'aarch64'", "pygame>=2.6.1", ] @@ -454,6 +454,9 @@ required-version = ">=0.9.17" default-groups = ["tests"] exclude-newer = "7 days" exclude-newer-package = { dimos-viewer = false } +required-environments = [ + "sys_platform == 'linux' and platform_machine == 'aarch64'", +] override-dependencies = [ # moondream pins pillow<11 but we need >=12.2.0 for security fixes # (CVE-2026-25990, CVE-2026-40192, CVE-2026-42311). diff --git a/uv.lock b/uv.lock index b4da9cadaf..a3682b0568 100644 --- a/uv.lock +++ b/uv.lock @@ -2,45 +2,48 @@ version = 1 revision = 3 requires-python = ">=3.10" resolution-markers = [ - "python_full_version >= '3.14' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version >= '3.14' and platform_machine != 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.13.*' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.13.*' and platform_machine != 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.12.*' and platform_machine != 'x86_64' and sys_platform == 'darwin'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'darwin'", "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'linux'", "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version >= '3.14' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version >= '3.14' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.13.*' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.13.*' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version >= '3.14' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version >= '3.14' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version >= '3.14' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "python_full_version == '3.13.*' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version == '3.13.*' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version == '3.13.*' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.12.*' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version == '3.12.*' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version == '3.12.*' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.11.*' and platform_machine != 'x86_64' and sys_platform == 'darwin'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.11.*' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version == '3.11.*' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version < '3.11' and platform_machine != 'x86_64' and sys_platform == 'darwin'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version < '3.11' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version < '3.11' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version < '3.11' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'darwin'", +] +required-markers = [ + "platform_machine == 'aarch64' and sys_platform == 'linux'", ] [options] -exclude-newer = "0001-01-01T00:00:00Z" # This has no effect and is included for backwards compatibility when using relative exclude-newer values. +exclude-newer = "2026-05-20T07:27:12.417458117Z" exclude-newer-span = "P7D" [options.exclude-newer-package] @@ -517,31 +520,31 @@ name = "brax" version = "0.14.1" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "absl-py" }, - { name = "etils" }, - { name = "flask" }, - { name = "flask-cors" }, - { name = "flax", version = "0.10.7", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "flax", version = "0.12.4", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, - { name = "jax", version = "0.6.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "jax", version = "0.9.0.1", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, - { name = "jaxlib", version = "0.6.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "jaxlib", version = "0.9.0.1", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, - { name = "jaxopt" }, - { name = "jinja2" }, - { name = "ml-collections" }, - { name = "mujoco" }, - { name = "mujoco-mjx" }, - { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, - { name = "optax" }, - { name = "orbax-checkpoint" }, - { name = "pillow" }, - { name = "scipy", version = "1.15.3", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "scipy", version = "1.17.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, - { name = "tensorboardx" }, - { name = "trimesh" }, - { name = "typing-extensions" }, + { name = "absl-py", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "etils", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "flask", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "flask-cors", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "flax", version = "0.10.7", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, + { name = "flax", version = "0.12.4", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "jax", version = "0.6.2", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, + { name = "jax", version = "0.9.0.1", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "jaxlib", version = "0.6.2", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, + { name = "jaxlib", version = "0.9.0.1", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "jaxopt", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "jinja2", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "ml-collections", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "mujoco", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "mujoco-mjx", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, + { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "optax", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "orbax-checkpoint", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "pillow", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "scipy", version = "1.15.3", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, + { name = "scipy", version = "1.17.0", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "tensorboardx", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "trimesh", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "typing-extensions", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/39/8f/480ec7af5570dd8e8f03e226eea3f26e11c1053d3fdc319c4d5fbd6af248/brax-0.14.1.tar.gz", hash = "sha256:e2641b2a0ac151da4bb2bae69443a8e8080a0a85907431ec49b42ce72e3097df", size = 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sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'darwin'", ] dependencies = [ - { name = "absl-py", marker = "python_full_version < '3.11'" }, - { name = "jax", version = "0.6.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "jaxlib", version = 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{ name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, + { name = "toolz", marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, + { name = "typing-extensions", marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/77/70/53c7d404ce9e2a94009aea7f77ef6e392f6740e071c62683a506647c520f/chex-0.1.90.tar.gz", hash = "sha256:d3c375aeb6154b08f1cccd2bee4ed83659ee2198a6acf1160d2fe2e4a6c87b5c", size = 92363, upload-time = "2025-07-23T19:50:47.945Z" } wheels = [ @@ -831,42 +833,38 @@ name = "chex" version = "0.1.91" source = { registry = "https://pypi.org/simple" } resolution-markers = [ - "python_full_version >= '3.14' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version >= '3.14' and platform_machine != 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.13.*' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.13.*' and platform_machine != 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.12.*' and platform_machine != 'x86_64' and sys_platform == 'darwin'", - "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version >= '3.14' and platform_machine == 'x86_64' and sys_platform == 'win32'", - 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sys_platform == 'linux'", - "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.11.*' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version == '3.11.*' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", -] -dependencies = [ - { name = "absl-py", marker = "python_full_version >= '3.11'" }, - { name = "jax", version = "0.9.0.1", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, - { name = "jaxlib", version = "0.9.0.1", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, - { 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platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.13.*' and platform_machine == 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'darwin'", +] +dependencies = [ + { name = "absl-py", marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "jax", version = "0.9.0.1", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "jaxlib", version = "0.9.0.1", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "toolz", marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "typing-extensions", marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/5b/7d/812f01e7b2ddf28a0caa8dde56bd951a2c8f691c9bbfce38d469458d1502/chex-0.1.91.tar.gz", hash = "sha256:65367a521415ada905b8c0222b0a41a68337fcadf79a1fb6fc992dbd95dd9f76", size = 90302, upload-time = "2025-09-01T21:49:32.834Z" } wheels = [ @@ -1236,13 +1234,13 @@ name = "contourpy" version = "1.3.2" source = { registry = "https://pypi.org/simple" } resolution-markers = [ - "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version < '3.11' and platform_machine != 'x86_64' and sys_platform == 'darwin'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'darwin'", "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version < '3.11' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version < '3.11' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version < '3.11' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version < 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and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.11.*' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and 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== 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'" }, + { name = "cuda-pathfinder", marker = "platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'" }, ] wheels = [ { url = "https://files.pythonhosted.org/packages/7a/d8/b546104b8da3f562c1ff8ab36d130c8fe1dd6a045ced80b4f6ad74f7d4e1/cuda_bindings-12.9.4-cp310-cp310-manylinux_2_24_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:4d3c842c2a4303b2a580fe955018e31aea30278be19795ae05226235268032e5", size = 12148218, upload-time = "2025-10-21T14:51:28.855Z" }, @@ -1691,9 +1689,9 @@ name = "cupy-cuda12x" version = "13.6.0" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "fastrlock", marker = "platform_machine == 'x86_64'" }, - { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11' and platform_machine == 'x86_64'" }, - { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11' and platform_machine == 'x86_64'" }, + { name = "fastrlock", marker = "platform_machine != 'aarch64'" }, + { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11' and platform_machine != 'aarch64'" }, + { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11' and platform_machine != 'aarch64'" }, ] wheels = [ { url = "https://files.pythonhosted.org/packages/53/2b/8064d94a6ab6b5c4e643d8535ab6af6cabe5455765540931f0ef60a0bc3b/cupy_cuda12x-13.6.0-cp310-cp310-manylinux2014_x86_64.whl", hash = "sha256:e78409ea72f5ac7d6b6f3d33d99426a94005254fa57e10617f430f9fd7c3a0a1", size = 112238589, upload-time = "2025-08-18T08:24:15.541Z" }, @@ -1756,8 +1754,8 @@ name = "dataclasses-json" version = "0.6.7" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "marshmallow", marker = "python_full_version >= '3.11'" }, - { name = "typing-inspect", marker = "python_full_version >= '3.11'" }, + { name = "marshmallow", marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "typing-inspect", marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/64/a4/f71d9cf3a5ac257c993b5ca3f93df5f7fb395c725e7f1e6479d2514173c3/dataclasses_json-0.6.7.tar.gz", hash = "sha256:b6b3e528266ea45b9535223bc53ca645f5208833c29229e847b3f26a1cc55fc0", size = 32227, upload-time = "2024-06-09T16:20:19.103Z" } wheels = [ @@ -1957,7 +1955,7 @@ all = [ { name = "opencv-python-headless" }, { name = "pillow" }, { name = "piper-sdk" }, - { name = "playground" }, + { name = "playground", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, { name = "plotly" }, { name = "plum-dispatch" }, { name = "portal" }, @@ -1967,7 +1965,7 @@ all = [ { name = "pydantic-settings" }, { name = "pygame" }, { name = "pymavlink" }, - { name = "pyrealsense2", marker = "sys_platform != 'darwin'" }, + { name = "pyrealsense2", marker = "platform_machine != 'aarch64' and sys_platform != 'darwin'" }, { name = "python-multipart" }, { name = "pyturbojpeg" }, { name = "pyyaml" }, @@ -2083,7 +2081,7 @@ manipulation = [ { name = "piper-sdk" }, { name = "plotly" }, { name = "pycollada" }, - { name = "pyrealsense2", marker = "sys_platform != 'darwin'" }, + { name = "pyrealsense2", marker = "platform_machine != 'aarch64' and sys_platform != 'darwin'" }, { name = "pyyaml" }, { name = "trimesh" }, { name = "xacro" }, @@ -2133,7 +2131,7 @@ psql = [ ] sim = [ { name = "mujoco" }, - { name = "playground" }, + { name = "playground", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, { name = "pygame" }, ] unitree = [ @@ -2438,7 +2436,7 @@ requires-dist = [ { name = "pillow", marker = "extra == 'perception'" }, { name = "pin", specifier = ">=3.3.0" }, { name = "piper-sdk", marker = "extra == 'manipulation'" }, - { name = "playground", marker = "extra == 'sim'", specifier = ">=0.0.5" }, + { name = "playground", marker = "(platform_machine != 'aarch64' and extra == 'sim') or (sys_platform != 'linux' and extra == 'sim')", specifier = ">=0.0.5" }, { name = "plotext", specifier = "==5.3.2" }, { name = "plotly", marker = "extra == 'manipulation'", specifier = ">=5.9.0" }, { name = "plum-dispatch", specifier = "==2.5.7" }, @@ -2454,7 +2452,7 @@ requires-dist = [ { name = "pydantic-settings", marker = "extra == 'docker'", specifier = ">=2.11.0,<3" }, { name = "pygame", marker = "extra == 'sim'", specifier = ">=2.6.1" }, { name = "pymavlink", marker = "extra == 'drone'" }, - { name = "pyrealsense2", marker = "sys_platform != 'darwin' and extra == 'manipulation'" }, + { name = "pyrealsense2", marker = "platform_machine != 'aarch64' and sys_platform != 'darwin' and extra == 'manipulation'" }, { name = "python-dotenv" }, { name = "python-multipart", marker = "extra == 'misc'", specifier = ">=0.0.27" }, { name = "pyturbojpeg", specifier = "==1.8.2" }, @@ -2746,24 +2744,19 @@ name = "drake" version = "1.45.0" source = { registry = "https://pypi.org/simple" } resolution-markers = [ - "python_full_version >= '3.14' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version >= '3.14' and platform_machine != 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.13.*' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.13.*' and platform_machine != 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.12.*' and platform_machine != 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.11.*' and 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'darwin'" }, + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'darwin'", +] +dependencies = [ + { name = "matplotlib", marker = "platform_machine != 'aarch64' and sys_platform == 'darwin'" }, + { name = "mosek", version = "11.0.24", source = { registry = "https://pypi.org/simple" }, marker = "platform_machine != 'aarch64' and sys_platform == 'darwin'" }, + { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'darwin'" }, + { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11' and platform_machine != 'aarch64' and sys_platform == 'darwin'" }, + { name = "pydot", marker = "platform_machine != 'aarch64' and sys_platform == 'darwin'" }, + { name = "pyyaml", marker = "platform_machine != 'aarch64' and sys_platform == 'darwin'" }, ] wheels = [ { url = "https://files.pythonhosted.org/packages/a0/31/aa4f1f5523381539e1028354cc535d5a3307d28fd33872f2b403454d8391/drake-1.45.0-cp312-cp312-macosx_14_0_arm64.whl", hash = "sha256:b0d9bd6196dc6d3b0e660fc6351fcf236727a45ef6a7123f8dc96f85b8662ac3", size = 57314509, upload-time = "2025-09-16T19:02:10.195Z" }, @@ -2775,34 +2768,24 @@ name = "drake" version = "1.49.0" source = { registry = "https://pypi.org/simple" } resolution-markers = [ - "python_full_version >= '3.14' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version >= '3.14' and platform_machine != 'x86_64' and 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sys_platform != 'linux' and sys_platform != 'win32')", - "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.12.*' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version == '3.12.*' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version == '3.12.*' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.11.*' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - 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sys_platform == 'win32'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", +] +dependencies = [ + { name = "matplotlib", marker = "platform_machine != 'aarch64' and sys_platform != 'darwin'" }, + { name = "mosek", version = "11.1.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.15' and platform_machine != 'aarch64' and sys_platform != 'darwin'" }, + { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform != 'darwin'" }, + { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11' and platform_machine != 'aarch64' and sys_platform != 'darwin'" }, + { name = "pydot", marker = "platform_machine != 'aarch64' and sys_platform != 'darwin'" }, + { name = "pyyaml", marker = "platform_machine != 'aarch64' and sys_platform != 'darwin'" }, ] wheels = [ { url = "https://files.pythonhosted.org/packages/fb/26/2ce3a9caf431f24e39f8b1fc7b3ebba4faafef1d61c849db3194e8d2e21d/drake-1.49.0-cp310-cp310-manylinux_2_34_x86_64.whl", hash = "sha256:6c73dbd061fcb442e82b7b5a94dadcfbf4c44949035d03394df29412114647b2", size = 41482505, upload-time = "2026-01-15T19:44:08.313Z" }, @@ -2917,7 +2900,7 @@ epath = [ { name = "zipp" }, ] epy = [ - { name = "typing-extensions" }, + { name = "typing-extensions", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] [[package]] @@ -3203,8 +3186,8 @@ name = "flask-cors" version = "6.0.2" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "flask" }, - { name = "werkzeug" }, + { name = "flask", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "werkzeug", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/70/74/0fc0fa68d62f21daef41017dafab19ef4b36551521260987eb3a5394c7ba/flask_cors-6.0.2.tar.gz", hash = "sha256:6e118f3698249ae33e429760db98ce032a8bf9913638d085ca0f4c5534ad2423", size = 13472, upload-time = "2025-12-12T20:31:42.861Z" } wheels = [ @@ -3237,24 +3220,23 @@ name = "flax" version = "0.10.7" source = { registry = "https://pypi.org/simple" } resolution-markers = [ - "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version < '3.11' and platform_machine != 'x86_64' and sys_platform == 'darwin'", - "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version < '3.11' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version < '3.11' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version < '3.11' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", -] -dependencies = [ - { name = "jax", version = "0.6.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "msgpack", marker = "python_full_version < '3.11'" }, - { name = "optax", marker = "python_full_version < '3.11'" }, - { name = "orbax-checkpoint", marker = "python_full_version < '3.11'" }, - { name = "pyyaml", marker = "python_full_version < '3.11'" }, - { name = "rich", marker = "python_full_version < '3.11'" }, - { name = 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= { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, + { name = "msgpack", marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, + { name = "optax", marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, + { name = "orbax-checkpoint", marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, + { name = "pyyaml", marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, + { name = "rich", marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, + { name = "tensorstore", version = "0.1.78", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, + { name = "treescope", marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, + { name = "typing-extensions", marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/e6/76/4ea55a60a47e98fcff591238ee26ed4624cb4fdc4893aa3ebf78d0d021f4/flax-0.10.7.tar.gz", hash = "sha256:2930d6671e23076f6db3b96afacf45c5060898f5c189ecab6dda7e05d26c2085", size = 5136099, upload-time = "2025-07-02T06:10:07.819Z" } wheels = [ @@ -3266,47 +3248,43 @@ name = "flax" version = "0.12.4" source = { registry = "https://pypi.org/simple" } resolution-markers = [ - "python_full_version >= '3.14' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version >= '3.14' and platform_machine != 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.13.*' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.13.*' and platform_machine != 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.12.*' and platform_machine != 'x86_64' and sys_platform == 'darwin'", - "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version >= '3.14' and platform_machine == 'x86_64' and sys_platform == 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platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version >= '3.14' and platform_machine == 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platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", +] +dependencies = [ + { name = "jax", version = "0.9.0.1", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "msgpack", marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "optax", marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "orbax-checkpoint", marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "orbax-export", marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "pyyaml", marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "rich", marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "tensorstore", version = "0.1.81", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "treescope", marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "typing-extensions", marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/48/81/802fd686d3f47d7560a83f73b23efff03de7e3a0342e4f0fc41680136709/flax-0.12.4.tar.gz", hash = "sha256:5e924734a0595ddfa06a824568617e5440c7948e744772cbe6101b7ae06d66a9", size = 5070824, upload-time = "2026-02-12T19:10:17.048Z" } wheels = [ @@ -3888,13 +3866,13 @@ name = "ipython" version = "8.38.0" source = { registry = "https://pypi.org/simple" } resolution-markers = [ - "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version < '3.11' and platform_machine != 'x86_64' and sys_platform == 'darwin'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'darwin'", "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version < '3.11' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version < '3.11' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version < '3.11' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'darwin'", ] dependencies = [ { name = "colorama", marker = "python_full_version < '3.11' and sys_platform == 'win32'" }, @@ -3919,34 +3897,34 @@ name = "ipython" version = "9.10.0" source = { registry = "https://pypi.org/simple" } resolution-markers = [ - "python_full_version >= '3.14' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version >= '3.14' and platform_machine != 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.13.*' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version == 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'win32'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.11.*' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version == '3.11.*' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", ] dependencies = [ { name = "colorama", marker = "python_full_version >= '3.11' and sys_platform == 'win32'" }, @@ -4001,20 +3979,19 @@ name = "jax" version = "0.6.2" source = { registry = "https://pypi.org/simple" } resolution-markers = [ - "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version < '3.11' and platform_machine != 'x86_64' and sys_platform == 'darwin'", - "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version < '3.11' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version < '3.11' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version < '3.11' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'darwin'", ] dependencies = [ - { name = "jaxlib", version = "0.6.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "ml-dtypes", marker = "python_full_version < '3.11'" }, - { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "opt-einsum", marker = "python_full_version < '3.11'" }, - { name = "scipy", version = "1.15.3", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, + { name = "jaxlib", version = "0.6.2", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, + { name = "ml-dtypes", marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, + { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, + { name = "opt-einsum", marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, + { name = "scipy", version = "1.15.3", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/cf/1e/267f59c8fb7f143c3f778c76cb7ef1389db3fd7e4540f04b9f42ca90764d/jax-0.6.2.tar.gz", hash = "sha256:a437d29038cbc8300334119692744704ca7941490867b9665406b7f90665cd96", size = 2334091, upload-time = "2025-06-17T23:10:27.186Z" } wheels = [ @@ -4026,41 +4003,37 @@ name = "jax" version = "0.9.0.1" source = { registry = "https://pypi.org/simple" } resolution-markers = [ - "python_full_version >= '3.14' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version >= '3.14' and platform_machine != 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.13.*' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.13.*' and platform_machine != 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.12.*' and platform_machine != 'x86_64' and sys_platform == 'darwin'", - "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version >= '3.14' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version >= '3.14' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.13.*' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.13.*' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version >= '3.14' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version >= '3.14' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version >= '3.14' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "python_full_version == '3.13.*' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version == '3.13.*' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version == '3.13.*' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.12.*' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version == '3.12.*' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version == '3.12.*' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.11.*' and platform_machine != 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version == 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"https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", +] +dependencies = [ + { name = "jaxlib", version = "0.9.0.1", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "ml-dtypes", marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "opt-einsum", marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "scipy", version = "1.17.0", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/52/40/f85d1feadd8f793fc1bfab726272523ef34b27302b55861ea872ec774019/jax-0.9.0.1.tar.gz", hash = "sha256:e395253449d74354fa813ff9e245acb6e42287431d8a01ff33d92e9ee57d36bd", size = 2534795, upload-time = "2026-02-05T18:47:33.088Z" } wheels = [ @@ -4072,18 +4045,17 @@ name = "jaxlib" version = "0.6.2" source = { registry = "https://pypi.org/simple" } resolution-markers = [ - "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version < '3.11' and platform_machine != 'x86_64' and sys_platform == 'darwin'", - "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version < '3.11' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version < '3.11' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version < '3.11' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'darwin'", ] dependencies = [ - { name = 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"python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", ] dependencies = [ { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, @@ -7482,21 +7435,21 @@ name = "playground" version = "0.1.0" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "absl-py" }, - { name = "brax" }, - { name = "etils" }, - { name = "flax", version = "0.10.7", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "flax", version = "0.12.4", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, - { name = "jax", version = "0.6.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "jax", version = "0.9.0.1", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, - { name = "lxml" }, - { name = "mediapy" }, - { name = "ml-collections" }, - { name = "mujoco" }, - { name = "mujoco-mjx" }, - { name = "orbax-checkpoint" }, - { name = "tqdm" }, - { name = "warp-lang" }, + { name = "absl-py", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "brax", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "etils", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "flax", version = "0.10.7", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, + { name = "flax", version = "0.12.4", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "jax", version = "0.6.2", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, + { name = "jax", version = "0.9.0.1", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "lxml", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "mediapy", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "ml-collections", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "mujoco", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "mujoco-mjx", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "orbax-checkpoint", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "tqdm", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "warp-lang", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/67/48/7ef4a08d57c431e7bea8a54c7853726de6cfcc50584442377acb6be615a6/playground-0.1.0.tar.gz", hash = "sha256:30d31d59528005e13f938cbcd5ce40c831553313aa7f861bfa3c9640115f46cf", size = 9894110, upload-time = "2026-01-08T22:18:36.578Z" } wheels = [ @@ -8283,7 +8236,7 @@ name = "pydot" version = "4.0.1" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "pyparsing", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "pyparsing", marker = "platform_machine != 'aarch64'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/50/35/b17cb89ff865484c6a20ef46bf9d95a5f07328292578de0b295f4a6beec2/pydot-4.0.1.tar.gz", hash = "sha256:c2148f681c4a33e08bf0e26a9e5f8e4099a82e0e2a068098f32ce86577364ad5", size = 162594, upload-time = "2025-06-17T20:09:56.454Z" } wheels = [ @@ -9560,13 +9513,13 @@ name = "scikit-learn" version = "1.7.2" source = { registry = "https://pypi.org/simple" } resolution-markers = [ - "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version < '3.11' and platform_machine != 'x86_64' and sys_platform == 'darwin'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'darwin'", "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version < '3.11' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version < '3.11' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version < '3.11' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'darwin'", ] dependencies = [ { name = "joblib", marker = "python_full_version < '3.11'" }, @@ -9613,34 +9566,34 @@ name = "scikit-learn" version = "1.8.0" source = { registry = "https://pypi.org/simple" } resolution-markers = [ - "python_full_version >= '3.14' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version >= '3.14' and platform_machine != 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.13.*' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.13.*' and platform_machine != 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.12.*' and platform_machine != 'x86_64' and sys_platform == 'darwin'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'linux'", "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version >= '3.14' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version >= '3.14' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.13.*' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.13.*' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version >= '3.14' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version >= '3.14' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version >= '3.14' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "python_full_version == '3.13.*' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version == '3.13.*' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version == '3.13.*' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.12.*' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version == '3.12.*' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version == '3.12.*' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.11.*' and platform_machine != 'x86_64' and sys_platform == 'darwin'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.11.*' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version == '3.11.*' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", ] dependencies = [ { name = "joblib", marker = "python_full_version >= '3.11'" }, @@ -9693,13 +9646,13 @@ name = "scipy" version = "1.15.3" source = { registry = "https://pypi.org/simple" } resolution-markers = [ - "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version < '3.11' and platform_machine != 'x86_64' and sys_platform == 'darwin'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'darwin'", "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version < '3.11' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version < '3.11' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version < '3.11' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'darwin'", ] dependencies = [ { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, @@ -9758,34 +9711,34 @@ name = "scipy" version = "1.17.0" source = { registry = "https://pypi.org/simple" } resolution-markers = [ - "python_full_version >= '3.14' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version >= '3.14' and platform_machine != 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.13.*' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.13.*' and platform_machine != 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.12.*' and platform_machine != 'x86_64' and sys_platform == 'darwin'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'linux'", "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version >= '3.14' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version >= '3.14' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.13.*' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.13.*' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version >= '3.14' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version >= '3.14' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version >= '3.14' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "python_full_version == '3.13.*' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version == '3.13.*' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version == '3.13.*' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.12.*' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version == '3.12.*' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version == '3.12.*' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.11.*' and platform_machine != 'x86_64' and sys_platform == 'darwin'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.11.*' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version == '3.11.*' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", ] dependencies = [ { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, @@ -10169,10 +10122,10 @@ name = "tensorboardx" version = "2.6.4" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, - { name = "packaging" }, - { name = "protobuf" }, + { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, + { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "packaging", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "protobuf", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/2b/c5/d4cc6e293fb837aaf9f76dd7745476aeba8ef7ef5146c3b3f9ee375fe7a5/tensorboardx-2.6.4.tar.gz", hash = "sha256:b163ccb7798b31100b9f5fa4d6bc22dad362d7065c2f24b51e50731adde86828", size = 4769801, upload-time = "2025-06-10T22:37:07.419Z" } wheels = [ @@ -10184,17 +10137,16 @@ name = "tensorstore" version = "0.1.78" source = { registry = "https://pypi.org/simple" } resolution-markers = [ - "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version < '3.11' and platform_machine != 'x86_64' and sys_platform == 'darwin'", - "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version < '3.11' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version < '3.11' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version < '3.11' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'darwin'", ] dependencies = [ - { name = "ml-dtypes", marker = "python_full_version < '3.11'" }, - { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, + { name = "ml-dtypes", marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, + { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/9f/ee/05eb424437f4db63331c90e4605025eedc0f71da3faff97161d5d7b405af/tensorstore-0.1.78.tar.gz", hash = "sha256:e26074ffe462394cf54197eb76d6569b500f347573cd74da3f4dd5f510a4ad7c", size = 6913502, upload-time = "2025-10-06T17:44:29.649Z" } wheels = [ @@ -10225,38 +10177,34 @@ name = "tensorstore" version = "0.1.81" source = { registry = "https://pypi.org/simple" } resolution-markers = [ - "python_full_version >= '3.14' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version >= '3.14' and platform_machine != 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.13.*' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.13.*' and platform_machine != 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.12.*' and platform_machine != 'x86_64' and sys_platform == 'darwin'", - "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version >= '3.14' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version >= '3.14' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.13.*' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.13.*' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version >= '3.14' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version >= '3.14' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version >= '3.14' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "python_full_version == '3.13.*' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version == '3.13.*' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version == '3.13.*' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.12.*' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version == '3.12.*' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version == '3.12.*' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", - "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.11.*' and platform_machine != 'x86_64' and sys_platform == 'darwin'", - "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.11.*' and platform_machine != 'x86_64' and sys_platform == 'win32'", - "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform != 'darwin' and sys_platform != 'win32'", - "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version == '3.11.*' and platform_machine != 'x86_64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", -] -dependencies = [ - { name = "ml-dtypes", marker = "python_full_version >= '3.11'" }, - { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", + "python_full_version >= '3.14' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.13.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", +] +dependencies = [ + { name = "ml-dtypes", marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/43/f6/e2403fc05b97ba74ad408a98a42c288e6e1b8eacc23780c153b0e5166179/tensorstore-0.1.81.tar.gz", hash = "sha256:687546192ea6f6c8ae28d18f13103336f68017d928b9f5a00325e9b0548d9c25", size = 7120819, upload-time = "2026-02-06T18:56:12.535Z" } wheels = [ @@ -10705,8 +10653,8 @@ name = "treescope" version = "0.1.10" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, + { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, + { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/f0/2a/d13d3c38862632742d2fe2f7ae307c431db06538fd05ca03020d207b5dcc/treescope-0.1.10.tar.gz", hash = "sha256:20f74656f34ab2d8716715013e8163a0da79bdc2554c16d5023172c50d27ea95", size = 138870, upload-time = "2025-08-08T05:43:48.048Z" } wheels = [ @@ -10842,8 +10790,8 @@ name = "typing-inspect" version = "0.9.0" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "mypy-extensions", marker = "python_full_version >= '3.11'" }, - { name = "typing-extensions", marker = "python_full_version >= '3.11'" }, + { name = "mypy-extensions", marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "typing-extensions", marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/dc/74/1789779d91f1961fa9438e9a8710cdae6bd138c80d7303996933d117264a/typing_inspect-0.9.0.tar.gz", hash = "sha256:b23fc42ff6f6ef6954e4852c1fb512cdd18dbea03134f91f856a95ccc9461f78", size = 13825, upload-time = "2023-05-24T20:25:47.612Z" } wheels = [ @@ -11175,8 +11123,8 @@ name = "warp-lang" version = "1.11.1" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, + { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, + { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, ] wheels = [ { url = "https://files.pythonhosted.org/packages/d5/86/507cb6e0534422ff8437f71d676f6366ec907031db54751ad371f07c0b7f/warp_lang-1.11.1-py3-none-macosx_11_0_arm64.whl", hash = "sha256:1ad11f1fa775269e991a3d55039152c8a504baf86701c849b485cb8e66c49d15", size = 24056749, upload-time = "2026-02-03T21:18:51.64Z" }, @@ -11787,9 +11735,9 @@ name = "xformers" version = "0.0.34" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11' and platform_machine == 'x86_64'" }, - { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11' and platform_machine == 'x86_64'" }, - { name = "torch", marker = "platform_machine == 'x86_64'" }, + { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11' and platform_machine != 'aarch64'" }, + { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11' and platform_machine != 'aarch64'" }, + { name = "torch", marker = "platform_machine != 'aarch64'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/ef/2b/365151a1e2e6aa70c1bd66e0532e3d71915a28a34ebde3d9b068e8849f66/xformers-0.0.34.tar.gz", hash = "sha256:716bd9ffe61f46c2cc0536abf8b8c43ec594bea47a49394ea5cfa417e9de6a6f", size = 14303297, upload-time = "2026-01-23T18:14:31.457Z" } wheels = [ From ac6e236369c7f087a8376c4cc855851a3e2d1b5c Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 27 May 2026 15:56:44 +0800 Subject: [PATCH 05/23] =?UTF-8?q?fix:=20rename=20uintree=20=E2=86=92=20uni?= =?UTF-8?q?tree=20typo=20in=20g1=20primitive=20blueprints?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Renames uintree_g1_primitive_no_nav.py to unitree_g1_primitive_no_nav.py, adds unitree_g1_onboard.py at the corrected path, updates the variable name and all importers, and regenerates the all_blueprints.py registry keys (drops the typo'd uintree-g1-primitive-no-nav entry, adds the correctly-spelled unitree-g1-onboard and unitree-g1-primitive-no-nav). --- dimos/robot/all_blueprints.py | 3 +- .../g1/blueprints/basic/unitree_g1_basic.py | 6 +-- .../blueprints/basic/unitree_g1_basic_sim.py | 6 +-- .../primitive/unitree_g1_onboard.py | 37 +++++++++++++++++++ ..._nav.py => unitree_g1_primitive_no_nav.py} | 4 +- 5 files changed, 47 insertions(+), 9 deletions(-) create mode 100644 dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_onboard.py rename dimos/robot/unitree/g1/blueprints/primitive/{uintree_g1_primitive_no_nav.py => unitree_g1_primitive_no_nav.py} (98%) diff --git a/dimos/robot/all_blueprints.py b/dimos/robot/all_blueprints.py index 713a5df2ca..c66c296db7 100644 --- a/dimos/robot/all_blueprints.py +++ b/dimos/robot/all_blueprints.py @@ -79,7 +79,6 @@ "teleop-quest-rerun": "dimos.teleop.quest.blueprints:teleop_quest_rerun", "teleop-quest-xarm6": "dimos.teleop.quest.blueprints:teleop_quest_xarm6", "teleop-quest-xarm7": "dimos.teleop.quest.blueprints:teleop_quest_xarm7", - "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", "unitree-g1-agentic": "dimos.robot.unitree.g1.blueprints.agentic.unitree_g1_agentic:unitree_g1_agentic", "unitree-g1-agentic-sim": "dimos.robot.unitree.g1.blueprints.agentic.unitree_g1_agentic_sim:unitree_g1_agentic_sim", @@ -92,6 +91,8 @@ "unitree-g1-nav-onboard": "dimos.robot.unitree.g1.blueprints.navigation.unitree_g1_nav_onboard:unitree_g1_nav_onboard", "unitree-g1-nav-sim": "dimos.robot.unitree.g1.blueprints.navigation.unitree_g1_nav_sim:unitree_g1_nav_sim", "unitree-g1-nav-simple": "dimos.robot.unitree.g1.blueprints.navigation.unitree_g1_nav_simple:unitree_g1_nav_simple", + "unitree-g1-onboard": "dimos.robot.unitree.g1.blueprints.primitive.unitree_g1_onboard:unitree_g1_onboard", + "unitree-g1-primitive-no-nav": "dimos.robot.unitree.g1.blueprints.primitive.unitree_g1_primitive_no_nav:unitree_g1_primitive_no_nav", "unitree-g1-shm": "dimos.robot.unitree.g1.blueprints.perceptive.unitree_g1_shm:unitree_g1_shm", "unitree-g1-sim": "dimos.robot.unitree.g1.blueprints.perceptive.unitree_g1_sim:unitree_g1_sim", "unitree-go2": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2:unitree_go2", diff --git a/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic.py b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic.py index 98248916ea..7a40ad71a4 100644 --- a/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic.py +++ b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic.py @@ -16,13 +16,13 @@ """Basic G1 stack: base sensors plus real robot connection and ROS nav.""" from dimos.core.coordination.blueprints import autoconnect -from dimos.robot.unitree.g1.blueprints.primitive.uintree_g1_primitive_no_nav import ( - uintree_g1_primitive_no_nav, +from dimos.robot.unitree.g1.blueprints.primitive.unitree_g1_primitive_no_nav import ( + unitree_g1_primitive_no_nav, ) from dimos.robot.unitree.g1.connection import G1Connection unitree_g1_basic = autoconnect( - uintree_g1_primitive_no_nav, + unitree_g1_primitive_no_nav, G1Connection.blueprint(), ) diff --git a/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic_sim.py b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic_sim.py index 32d2d52b8b..628e8a8867 100644 --- a/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic_sim.py +++ b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic_sim.py @@ -17,13 +17,13 @@ from dimos.core.coordination.blueprints import autoconnect from dimos.navigation.replanning_a_star.module import ReplanningAStarPlanner -from dimos.robot.unitree.g1.blueprints.primitive.uintree_g1_primitive_no_nav import ( - uintree_g1_primitive_no_nav, +from dimos.robot.unitree.g1.blueprints.primitive.unitree_g1_primitive_no_nav import ( + unitree_g1_primitive_no_nav, ) from dimos.robot.unitree.g1.mujoco_sim import G1SimConnection unitree_g1_basic_sim = autoconnect( - uintree_g1_primitive_no_nav, + unitree_g1_primitive_no_nav, G1SimConnection.blueprint(), ReplanningAStarPlanner.blueprint(), ) diff --git a/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_onboard.py b/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_onboard.py new file mode 100644 index 0000000000..a7ce2180c2 --- /dev/null +++ b/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_onboard.py @@ -0,0 +1,37 @@ +#!/usr/bin/env python3 +# Copyright 2025-2026 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. + +from __future__ import annotations + +import os + +from dimos.core.coordination.blueprints import autoconnect +from dimos.hardware.sensors.lidar.fastlio2.module import FastLio2 +from dimos.robot.unitree.g1.config import G1 +from dimos.robot.unitree.g1.effectors.high_level.dds_sdk import G1HighLevelDdsSdk + +unitree_g1_onboard = autoconnect( + FastLio2.blueprint( + host_ip=os.getenv("LIDAR_HOST_IP", "192.168.123.164"), + lidar_ip=os.getenv("LIDAR_IP", "192.168.123.120"), + mount=G1.internal_odom_offsets["mid360_link"], + map_freq=1.0, + config="default.yaml", + ), + G1HighLevelDdsSdk.blueprint(), +).global_config(n_workers=12, robot_model="unitree_g1") + + +__all__ = ["unitree_g1_onboard"] diff --git a/dimos/robot/unitree/g1/blueprints/primitive/uintree_g1_primitive_no_nav.py b/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_primitive_no_nav.py similarity index 98% rename from dimos/robot/unitree/g1/blueprints/primitive/uintree_g1_primitive_no_nav.py rename to dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_primitive_no_nav.py index 6ae1510fa9..f9c4a82468 100644 --- a/dimos/robot/unitree/g1/blueprints/primitive/uintree_g1_primitive_no_nav.py +++ b/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_primitive_no_nav.py @@ -130,7 +130,7 @@ def _create_webcam() -> Webcam: else autoconnect() ) -uintree_g1_primitive_no_nav = ( +unitree_g1_primitive_no_nav = ( autoconnect( _with_vis, _camera, @@ -163,4 +163,4 @@ def _create_webcam() -> Webcam: ) ) -__all__ = ["uintree_g1_primitive_no_nav"] +__all__ = ["unitree_g1_primitive_no_nav"] From ab6679f7aa2eebeb505f4d07e3d09c8f5b2d97da Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 27 May 2026 16:28:29 +0800 Subject: [PATCH 06/23] g1 raytracing, but frame ids of replanning a star seem to be broken (does navigate but with problems) --- dimos/msgs/nav_msgs/Odometry.py | 16 ++++++++ dimos/navigation/replanning_a_star/module.py | 9 +++++ dimos/robot/all_blueprints.py | 2 +- .../navigation/unitree_g1_nav_onboard.py | 13 +----- .../navigation/unitree_g1_nav_simple.py | 10 ++--- .../primitive/unitree_g1_onboard.py | 4 +- .../g1/blueprints/primitive/unitree_g1_vis.py | 40 +++++++++++++++++++ 7 files changed, 76 insertions(+), 18 deletions(-) create mode 100644 dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py diff --git a/dimos/msgs/nav_msgs/Odometry.py b/dimos/msgs/nav_msgs/Odometry.py index a958f8dba0..128eced187 100644 --- a/dimos/msgs/nav_msgs/Odometry.py +++ b/dimos/msgs/nav_msgs/Odometry.py @@ -131,6 +131,22 @@ def pitch(self) -> float: def yaw(self) -> float: return self.pose.yaw + def to_pose_stamped(self) -> PoseStamped: + """Convert to PoseStamped, dropping twist and covariance.""" + from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped + + return PoseStamped( + ts=self.ts, + frame_id=self.frame_id, + position=[self.position.x, self.position.y, self.position.z], + orientation=[ + self.orientation.x, + self.orientation.y, + self.orientation.z, + self.orientation.w, + ], + ) + # -- Serialization -- def lcm_encode(self) -> bytes: diff --git a/dimos/navigation/replanning_a_star/module.py b/dimos/navigation/replanning_a_star/module.py index cf3e0d472b..8697cfc28f 100644 --- a/dimos/navigation/replanning_a_star/module.py +++ b/dimos/navigation/replanning_a_star/module.py @@ -25,6 +25,7 @@ from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped from dimos.msgs.geometry_msgs.Twist import Twist from dimos.msgs.nav_msgs.OccupancyGrid import OccupancyGrid +from dimos.msgs.nav_msgs.Odometry import Odometry from dimos.msgs.nav_msgs.Path import Path from dimos.navigation.base import NavigationInterface, NavigationState from dimos.navigation.replanning_a_star.global_planner import GlobalPlanner @@ -35,6 +36,7 @@ class ReplanningAStarPlanner(Module, NavigationInterface): odom: In[PoseStamped] # TODO: Use TF. + odometry: In[Odometry] global_costmap: In[OccupancyGrid] goal_request: In[PoseStamped] clicked_point: In[PointStamped] @@ -58,6 +60,13 @@ def start(self) -> None: super().start() self.register_disposable(Disposable(self.odom.subscribe(self._planner.handle_odom))) + self.register_disposable( + Disposable( + self.odometry.subscribe( + lambda msg: self._planner.handle_odom(msg.to_pose_stamped()) + ) + ) + ) self.register_disposable( Disposable(self.global_costmap.subscribe(self._planner.handle_global_costmap)) ) diff --git a/dimos/robot/all_blueprints.py b/dimos/robot/all_blueprints.py index c66c296db7..5a4b4dba7c 100644 --- a/dimos/robot/all_blueprints.py +++ b/dimos/robot/all_blueprints.py @@ -174,7 +174,7 @@ "mock-b1-connection-module": "dimos.robot.unitree.b1.connection.MockB1ConnectionModule", "module-a": "dimos.robot.unitree.demo_error_on_name_conflicts.ModuleA", "module-b": "dimos.robot.unitree.demo_error_on_name_conflicts.ModuleB", - "movement-manager": "dimos.navigation.movement_manager.movement_manager.MovementManager", + "movement-manager": "dimos.navigation.smart_nav.ignore.modules.movement_manager.movement_manager.MovementManager", "mujoco-sim-module": "dimos.simulation.engines.mujoco_sim_module.MujocoSimModule", "nav-record": "dimos.navigation.nav_stack.modules.nav_record.nav_record.NavRecord", "navigation-skill-container": "dimos.agents.skills.navigation.NavigationSkillContainer", diff --git a/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_onboard.py b/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_onboard.py index d64b2c8aa0..3806c34c07 100644 --- a/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_onboard.py +++ b/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_onboard.py @@ -15,15 +15,13 @@ from __future__ import annotations -import os - from dimos.core.coordination.blueprints import autoconnect from dimos.core.global_config import global_config from dimos.hardware.sensors.lidar.fastlio2.module import FastLio2 from dimos.navigation.movement_manager.movement_manager import MovementManager from dimos.navigation.nav_stack.main import create_nav_stack, nav_stack_rerun_config +from dimos.robot.unitree.g1.blueprints.primitive.unitree_g1_onboard import unitree_g1_onboard from dimos.robot.unitree.g1.config import G1, G1_LOCAL_PLANNER_PRECOMPUTED_PATHS -from dimos.robot.unitree.g1.effectors.high_level.dds_sdk import G1HighLevelDdsSdk from dimos.robot.unitree.g1.g1_rerun import ( g1_odometry_tf_override, g1_static_robot, @@ -32,13 +30,7 @@ unitree_g1_nav_onboard = ( autoconnect( - FastLio2.blueprint( - host_ip=os.getenv("LIDAR_HOST_IP", "192.168.123.164"), - lidar_ip=os.getenv("LIDAR_IP", "192.168.123.120"), - mount=G1.internal_odom_offsets["mid360_link"], - map_freq=1.0, - config="default.yaml", - ), + unitree_g1_onboard, create_nav_stack( planner="simple", vehicle_height=G1.height_clearance, @@ -65,7 +57,6 @@ }, ), MovementManager.blueprint(), - G1HighLevelDdsSdk.blueprint(), vis_module( viewer_backend=global_config.viewer, rerun_config=nav_stack_rerun_config( diff --git a/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py b/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py index 98128cc400..0e80b3e5de 100644 --- a/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py +++ b/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py @@ -16,20 +16,20 @@ """Basic G1 stack: base sensors plus real robot connection and ROS nav.""" from dimos.core.coordination.blueprints import autoconnect -from dimos.hardware.sensors.lidar.fastlio2.module import FastLio2 from dimos.mapping.costmapper import CostMapper from dimos.mapping.ray_tracing.module import RayTracingVoxelMap from dimos.navigation.movement_manager.movement_manager import MovementManager from dimos.navigation.replanning_a_star.module import ReplanningAStarPlanner -from dimos.robot.unitree.g1.connection import G1Connection +from dimos.robot.unitree.g1.blueprints.primitive.unitree_g1_onboard import unitree_g1_onboard +from dimos.robot.unitree.g1.blueprints.primitive.unitree_g1_vis import unitree_g1_vis unitree_g1_nav_simple = autoconnect( - FastLio2.blueprint(), - G1Connection.blueprint(), - RayTracingVoxelMap.blueprint(), + unitree_g1_onboard, + RayTracingVoxelMap.blueprint(voxel_size=0.05), CostMapper.blueprint(), ReplanningAStarPlanner.blueprint(), MovementManager.blueprint(), + unitree_g1_vis, ).global_config(n_workers=10, robot_model="unitree_g1") __all__ = ["unitree_g1_nav_simple"] diff --git a/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_onboard.py b/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_onboard.py index a7ce2180c2..f6a407c706 100644 --- a/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_onboard.py +++ b/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_onboard.py @@ -19,6 +19,7 @@ from dimos.core.coordination.blueprints import autoconnect from dimos.hardware.sensors.lidar.fastlio2.module import FastLio2 +from dimos.robot.unitree.g1.blueprints.primitive.unitree_g1_vis import unitree_g1_vis from dimos.robot.unitree.g1.config import G1 from dimos.robot.unitree.g1.effectors.high_level.dds_sdk import G1HighLevelDdsSdk @@ -29,8 +30,9 @@ mount=G1.internal_odom_offsets["mid360_link"], map_freq=1.0, config="default.yaml", - ), + ).remappings([(FastLio2, "global_map", "global_map_fastlio")]), G1HighLevelDdsSdk.blueprint(), + unitree_g1_vis, ).global_config(n_workers=12, robot_model="unitree_g1") diff --git a/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py b/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py new file mode 100644 index 0000000000..1212e60051 --- /dev/null +++ b/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py @@ -0,0 +1,40 @@ +#!/usr/bin/env python3 +# Copyright 2025-2026 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. + +from __future__ import annotations + +from dimos.core.global_config import global_config +from dimos.navigation.nav_stack.main import nav_stack_rerun_config +from dimos.robot.unitree.g1.g1_rerun import g1_odometry_tf_override, g1_static_robot +from dimos.visualization.vis_module import vis_module + +unitree_g1_vis = vis_module( + viewer_backend=global_config.viewer, + rerun_config=nav_stack_rerun_config( + { + "visual_override": { + "world/odometry": g1_odometry_tf_override, + "world/lidar": None, + "world/local_map": None, + "world/global_map_fastlio": None, + }, + "static": {"world/tf/robot": g1_static_robot}, + "memory_limit": "1GB", + }, + vis_throttle=0.5, + ), +) + +__all__ = ["unitree_g1_vis"] From 3c204deea4a4fbbaabf2acd3a8c6c66af9b2a99b Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 1 Jun 2026 08:29:48 +0800 Subject: [PATCH 07/23] fastlio self.frame_id --- dimos/hardware/sensors/lidar/fastlio2/module.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/dimos/hardware/sensors/lidar/fastlio2/module.py b/dimos/hardware/sensors/lidar/fastlio2/module.py index 2c8ab22dfc..14d056bdc3 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/module.py +++ b/dimos/hardware/sensors/lidar/fastlio2/module.py @@ -61,7 +61,7 @@ from dimos.msgs.geometry_msgs.Vector3 import Vector3 from dimos.msgs.nav_msgs.Odometry import Odometry from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2 -from dimos.navigation.nav_stack.frames import FRAME_BODY, FRAME_ODOM +from dimos.navigation.nav_stack.frames import FRAME_BODY from dimos.spec import mapping, perception from dimos.utils.generic import get_local_ips from dimos.utils.logging_config import setup_logger @@ -171,8 +171,8 @@ def start(self) -> None: def _on_odom_for_tf(self, msg: Odometry) -> None: self.tf.publish( Transform( - frame_id=FRAME_ODOM, - child_frame_id=FRAME_BODY, + frame_id=self.frame_id, + child_frame_id=self.child_frame_id, translation=Vector3( msg.pose.position.x, msg.pose.position.y, From 2dc70bb02f7b519f6ffca6eee443488d6bf5494e Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 1 Jun 2026 10:52:52 +0800 Subject: [PATCH 08/23] make replanner blueprint configurable --- dimos/navigation/replanning_a_star/module.py | 22 ++++++++++++++++++-- 1 file changed, 20 insertions(+), 2 deletions(-) diff --git a/dimos/navigation/replanning_a_star/module.py b/dimos/navigation/replanning_a_star/module.py index 8697cfc28f..9ea8607bb2 100644 --- a/dimos/navigation/replanning_a_star/module.py +++ b/dimos/navigation/replanning_a_star/module.py @@ -19,7 +19,7 @@ from reactivex.disposable import Disposable from dimos.core.core import rpc -from dimos.core.module import Module +from dimos.core.module import Module, ModuleConfig from dimos.core.stream import In, Out from dimos.msgs.geometry_msgs.PointStamped import PointStamped from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped @@ -34,7 +34,14 @@ logger = setup_logger() +class ReplanningAStarPlannerConfig(ModuleConfig): + robot_width: float | None = None + robot_rotation_diameter: float | None = None + + class ReplanningAStarPlanner(Module, NavigationInterface): + config: ReplanningAStarPlannerConfig + odom: In[PoseStamped] # TODO: Use TF. odometry: In[Odometry] global_costmap: In[OccupancyGrid] @@ -53,7 +60,18 @@ class ReplanningAStarPlanner(Module, NavigationInterface): def __init__(self, **kwargs: Any) -> None: super().__init__(**kwargs) - self._planner = GlobalPlanner(self.config.g) + overrides = { + name: value + for name, value in ( + ("robot_width", self.config.robot_width), + ("robot_rotation_diameter", self.config.robot_rotation_diameter), + ) + if value is not None + } + effective_global_config = ( + self.config.g.model_copy(update=overrides) if overrides else self.config.g + ) + self._planner = GlobalPlanner(effective_global_config) @rpc def start(self) -> None: From c68ed56d2e5f249915b67b06d17d99028fcdc5f9 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 1 Jun 2026 10:56:12 +0800 Subject: [PATCH 09/23] initial_safe_radius_meters --- dimos/mapping/costmapper.py | 29 +++++++++++++++++++++++++++-- 1 file changed, 27 insertions(+), 2 deletions(-) diff --git a/dimos/mapping/costmapper.py b/dimos/mapping/costmapper.py index 2c374bdf91..b7fa2b6878 100644 --- a/dimos/mapping/costmapper.py +++ b/dimos/mapping/costmapper.py @@ -15,6 +15,7 @@ from dataclasses import asdict import time +import numpy as np from pydantic import Field from reactivex import combine_latest, operators as ops @@ -36,6 +37,8 @@ class Config(ModuleConfig): algo: str = "height_cost" config: OccupancyConfig = Field(default_factory=HeightCostConfig) + # for robots that cant see directly below themself + initial_safe_radius_meters: float = 0.0 class CostMapper(Module): @@ -82,5 +85,27 @@ def stop(self) -> None: # @timed() # TODO: fix thread leak in timed decorator def _calculate_costmap(self, msg: PointCloud2) -> OccupancyGrid: - fn = OCCUPANCY_ALGOS[self.config.algo] - return fn(msg, **asdict(self.config.config)) + occupancy_function = OCCUPANCY_ALGOS[self.config.algo] + grid = occupancy_function(msg, **asdict(self.config.config)) + self._apply_initial_safe_radius(grid) + return grid + + def _apply_initial_safe_radius(self, grid: OccupancyGrid) -> None: + radius_meters = self.config.initial_safe_radius_meters + if radius_meters <= 0 or grid.grid.size == 0: + return + + resolution = grid.resolution + origin_x = grid.origin.position.x + origin_y = grid.origin.position.y + + rows, columns = np.ogrid[: grid.grid.shape[0], : grid.grid.shape[1]] + cell_world_x = columns * resolution + origin_x + cell_world_y = rows * resolution + origin_y + distance_squared_meters = cell_world_x**2 + cell_world_y**2 + + # Half-cell tolerance: a cell counts as inside if any part of it overlaps + # the disc. Avoids floating-point boundary flakiness from radius/resolution. + effective_radius_meters = radius_meters + resolution * 0.5 + safe_mask = distance_squared_meters <= effective_radius_meters**2 + grid.grid[safe_mask] = 0 From b3d7675cb3be3384c26b0a4290e676af7a5de2c8 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 1 Jun 2026 11:10:33 +0800 Subject: [PATCH 10/23] fix astar reference frames --- .../navigation/replanning_a_star/min_cost_astar.py | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/dimos/navigation/replanning_a_star/min_cost_astar.py b/dimos/navigation/replanning_a_star/min_cost_astar.py index 025045c2c9..03212e87b8 100644 --- a/dimos/navigation/replanning_a_star/min_cost_astar.py +++ b/dimos/navigation/replanning_a_star/min_cost_astar.py @@ -68,11 +68,12 @@ def _reconstruct_path( start_tuple: tuple[int, int], goal_tuple: tuple[int, int], ) -> Path: + frame_id = costmap.frame_id waypoints: list[PoseStamped] = [] while current in parents: world_point = costmap.grid_to_world(current) pose = PoseStamped( - frame_id="world", + frame_id=frame_id, position=[world_point.x, world_point.y, 0.0], orientation=Quaternion(0, 0, 0, 1), # Identity quaternion ) @@ -81,7 +82,7 @@ def _reconstruct_path( start_world_point = costmap.grid_to_world(start_tuple) start_pose = PoseStamped( - frame_id="world", + frame_id=frame_id, position=[start_world_point.x, start_world_point.y, 0.0], orientation=Quaternion(0, 0, 0, 1), ) @@ -97,31 +98,32 @@ def _reconstruct_path( or (waypoints[-1].x - goal_point.x) ** 2 + (waypoints[-1].y - goal_point.y) ** 2 > 1e-10 ): goal_pose = PoseStamped( - frame_id="world", + frame_id=frame_id, position=[goal_point.x, goal_point.y, 0.0], orientation=Quaternion(0, 0, 0, 1), ) waypoints.append(goal_pose) - return Path(frame_id="world", poses=waypoints) + return Path(frame_id=frame_id, poses=waypoints) def _reconstruct_path_from_coords( path_coords: list[tuple[int, int]], costmap: OccupancyGrid, ) -> Path: + frame_id = costmap.frame_id waypoints: list[PoseStamped] = [] for gx, gy in path_coords: world_point = costmap.grid_to_world((gx, gy)) pose = PoseStamped( - frame_id="world", + frame_id=frame_id, position=[world_point.x, world_point.y, 0.0], orientation=Quaternion(0, 0, 0, 1), ) waypoints.append(pose) - return Path(frame_id="world", poses=waypoints) + return Path(frame_id=frame_id, poses=waypoints) def min_cost_astar( From 51087d1d30f422b1dbc63b4bed3dbf2f1e296691 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 1 Jun 2026 11:11:05 +0800 Subject: [PATCH 11/23] add g1 config --- .../navigation/unitree_g1_nav_simple.py | 24 +++++- .../g1/blueprints/primitive/unitree_g1_vis.py | 84 +++++++++++++++++++ 2 files changed, 105 insertions(+), 3 deletions(-) diff --git a/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py b/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py index 0e80b3e5de..12c64659cb 100644 --- a/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py +++ b/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py @@ -17,17 +17,35 @@ from dimos.core.coordination.blueprints import autoconnect from dimos.mapping.costmapper import CostMapper +from dimos.mapping.pointclouds.occupancy import HeightCostConfig from dimos.mapping.ray_tracing.module import RayTracingVoxelMap from dimos.navigation.movement_manager.movement_manager import MovementManager from dimos.navigation.replanning_a_star.module import ReplanningAStarPlanner from dimos.robot.unitree.g1.blueprints.primitive.unitree_g1_onboard import unitree_g1_onboard from dimos.robot.unitree.g1.blueprints.primitive.unitree_g1_vis import unitree_g1_vis +from dimos.robot.unitree.g1.config import G1 + +g1_overhead_safety_margin = 0.2 +g1_overhead_clearance = G1.height_clearance + g1_overhead_safety_margin +g1_max_step_height = 0.10 +g1_rotation_diameter = 0.8 +voxel_resolution = 0.05 unitree_g1_nav_simple = autoconnect( unitree_g1_onboard, - RayTracingVoxelMap.blueprint(voxel_size=0.05), - CostMapper.blueprint(), - ReplanningAStarPlanner.blueprint(), + RayTracingVoxelMap.blueprint(voxel_size=voxel_resolution), + CostMapper.blueprint( + config=HeightCostConfig( + resolution=voxel_resolution, + can_pass_under=g1_overhead_clearance, + can_climb=g1_max_step_height, + ), + initial_safe_radius_meters=G1.width_clearance + 0.6, + ), + ReplanningAStarPlanner.blueprint( + robot_width=G1.width_clearance, + robot_rotation_diameter=g1_rotation_diameter, + ), MovementManager.blueprint(), unitree_g1_vis, ).global_config(n_workers=10, robot_model="unitree_g1") diff --git a/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py b/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py index 1212e60051..8dfeefbcc2 100644 --- a/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py +++ b/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py @@ -15,11 +15,93 @@ from __future__ import annotations +from typing import Any + +import numpy as np + from dimos.core.global_config import global_config +from dimos.msgs.nav_msgs.OccupancyGrid import OccupancyGrid +from dimos.msgs.nav_msgs.Path import Path from dimos.navigation.nav_stack.main import nav_stack_rerun_config from dimos.robot.unitree.g1.g1_rerun import g1_odometry_tf_override, g1_static_robot from dimos.visualization.vis_module import vis_module +_COSTMAP_Z_LIFT = 0.02 +_COSTMAP_MAX_TEXTURE_SIZE = 256 + +_PATH_Z_LIFT = 0.3 +_PATH_COLOR_RGBA = (0, 255, 128, 255) +_PATH_RADIUS_METERS = 0.05 + +# make obstacles red so I can see them +_COLOR_UNKNOWN = (0, 0, 0, 0) +_COLOR_FREE = (72, 73, 129, 255) +_COLOR_OCCUPIED = (255, 140, 0, 255) +_COLOR_LETHAL = (220, 30, 30, 255) + +_COST_TO_RGBA = np.empty((102, 4), dtype=np.uint8) +_COST_TO_RGBA[0] = _COLOR_UNKNOWN +_COST_TO_RGBA[1] = _COLOR_FREE +_COST_TO_RGBA[2:101] = _COLOR_OCCUPIED +_COST_TO_RGBA[101] = _COLOR_LETHAL + + +def _g1_global_costmap_colors(occupancy_grid: OccupancyGrid) -> Any: + import rerun as rr + + if occupancy_grid.grid.size == 0: + return rr.Mesh3D(vertex_positions=[]) + + grid = occupancy_grid.grid[::-1] + if grid.shape[0] > _COSTMAP_MAX_TEXTURE_SIZE or grid.shape[1] > _COSTMAP_MAX_TEXTURE_SIZE: + row_stride = max(1, grid.shape[0] // _COSTMAP_MAX_TEXTURE_SIZE) + column_stride = max(1, grid.shape[1] // _COSTMAP_MAX_TEXTURE_SIZE) + grid = grid[::row_stride, ::column_stride] + + rgba_texture = np.ascontiguousarray(_COST_TO_RGBA[np.clip(grid + 1, 0, 101)]) + + origin_x = occupancy_grid.origin.position.x + origin_y = occupancy_grid.origin.position.y + width_meters = occupancy_grid.width * occupancy_grid.resolution + height_meters = occupancy_grid.height * occupancy_grid.resolution + + vertices = np.array( + [ + [origin_x, origin_y, _COSTMAP_Z_LIFT], + [origin_x + width_meters, origin_y, _COSTMAP_Z_LIFT], + [origin_x + width_meters, origin_y + height_meters, _COSTMAP_Z_LIFT], + [origin_x, origin_y + height_meters, _COSTMAP_Z_LIFT], + ], + dtype=np.float32, + ) + triangle_indices = np.array([[0, 1, 2], [0, 2, 3]], dtype=np.uint32) + texture_coords = np.array( + [[0.0, 1.0], [1.0, 1.0], [1.0, 0.0], [0.0, 0.0]], + dtype=np.float32, + ) + + return rr.Mesh3D( + vertex_positions=vertices, + triangle_indices=triangle_indices, + vertex_texcoords=texture_coords, + albedo_texture=rgba_texture, + ) + + +def _g1_path_colors(path: Path) -> Any: + # Returning a single archetype (not a multi-tuple) lets the rerun bridge + # auto-attach this entity to tf#/ — bypassing nav_stack's + # default _path_colors override which hardcodes parent_frame="tf#/sensor" + # (a frame the unitree_g1_nav_simple blueprint never publishes). + import rerun as rr + + if not path.poses: + return None + + points = [[pose.x, pose.y, pose.z + _PATH_Z_LIFT] for pose in path.poses] + return rr.LineStrips3D([points], colors=[_PATH_COLOR_RGBA], radii=_PATH_RADIUS_METERS) + + unitree_g1_vis = vis_module( viewer_backend=global_config.viewer, rerun_config=nav_stack_rerun_config( @@ -29,6 +111,8 @@ "world/lidar": None, "world/local_map": None, "world/global_map_fastlio": None, + "world/global_costmap": _g1_global_costmap_colors, + "world/path": _g1_path_colors, }, "static": {"world/tf/robot": g1_static_robot}, "memory_limit": "1GB", From 34df7db9b84d9fc6d17f641384856ba48a0ffeff Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 1 Jun 2026 11:39:12 +0800 Subject: [PATCH 12/23] fix stuck measure --- dimos/navigation/replanning_a_star/global_planner.py | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/dimos/navigation/replanning_a_star/global_planner.py b/dimos/navigation/replanning_a_star/global_planner.py index 7cfca4b3b5..bd2b598237 100644 --- a/dimos/navigation/replanning_a_star/global_planner.py +++ b/dimos/navigation/replanning_a_star/global_planner.py @@ -242,13 +242,18 @@ def _thread_entrypoint(self) -> None: last_stuck_check = time.perf_counter() continue - _, new_id = self._local_planner.get_unique_state() + local_planner_state, new_id = self._local_planner.get_unique_state() if new_id != last_id: last_id = new_id last_stuck_check = time.perf_counter() continue + # dont treat rotation as stuck + if local_planner_state in ("initial_rotation", "final_rotation"): + last_stuck_check = time.perf_counter() + continue + if ( time.perf_counter() - last_stuck_check > self._stuck_time_window and self._position_tracker.is_stuck() From a1296297d790407c8fa1259994a14f19d36ea49b Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 1 Jun 2026 11:44:56 +0800 Subject: [PATCH 13/23] - --- dimos/hardware/sensors/lidar/fastlio2/module.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/dimos/hardware/sensors/lidar/fastlio2/module.py b/dimos/hardware/sensors/lidar/fastlio2/module.py index 14d056bdc3..7c7ff59ff8 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/module.py +++ b/dimos/hardware/sensors/lidar/fastlio2/module.py @@ -61,7 +61,7 @@ from dimos.msgs.geometry_msgs.Vector3 import Vector3 from dimos.msgs.nav_msgs.Odometry import Odometry from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2 -from dimos.navigation.nav_stack.frames import FRAME_BODY +from dimos.navigation.nav_stack.frames import FRAME_BODY, FRAME_ODOM from dimos.spec import mapping, perception from dimos.utils.generic import get_local_ips from dimos.utils.logging_config import setup_logger @@ -172,7 +172,7 @@ def _on_odom_for_tf(self, msg: Odometry) -> None: self.tf.publish( Transform( frame_id=self.frame_id, - child_frame_id=self.child_frame_id, + child_frame_id=self.config.child_frame_id, translation=Vector3( msg.pose.position.x, msg.pose.position.y, From 739785b6b2a3e460b3317c17784621ee3cdd0286 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 1 Jun 2026 13:24:46 +0800 Subject: [PATCH 14/23] fix deadzone --- .../g1/effectors/high_level/dds_sdk.py | 21 ++++++++++++++++--- 1 file changed, 18 insertions(+), 3 deletions(-) diff --git a/dimos/robot/unitree/g1/effectors/high_level/dds_sdk.py b/dimos/robot/unitree/g1/effectors/high_level/dds_sdk.py index 8ad34c95bf..462b48d959 100644 --- a/dimos/robot/unitree/g1/effectors/high_level/dds_sdk.py +++ b/dimos/robot/unitree/g1/effectors/high_level/dds_sdk.py @@ -79,6 +79,17 @@ class G1HighLevelDdsSdkConfig(ModuleConfig): motion_switcher_timeout: float = 5.0 loco_client_timeout: float = 10.0 cmd_vel_timeout: float = 0.2 + # deadzone compensation + min_effective_linear_velocity: float = 0.05 # m/s + min_effective_angular_velocity: float = 0.2 # radians/s + + +def _boost_above_deadzone(value: float, min_effective_magnitude: float) -> float: + if value == 0.0 or min_effective_magnitude <= 0.0: + return value + if abs(value) >= min_effective_magnitude: + return value + return min_effective_magnitude if value > 0 else -min_effective_magnitude class G1HighLevelDdsSdk(Module, HighLevelG1Spec): @@ -150,9 +161,13 @@ def stop(self) -> None: @rpc def move(self, twist: Twist, duration: float = 0.0) -> bool: assert self.loco_client is not None - vx = twist.linear.x - vy = twist.linear.y - vyaw = twist.angular.z + raw_vx = twist.linear.x + raw_vy = twist.linear.y + raw_vyaw = twist.angular.z + + vx = _boost_above_deadzone(raw_vx, self.config.min_effective_linear_velocity) + vy = _boost_above_deadzone(raw_vy, self.config.min_effective_linear_velocity) + vyaw = _boost_above_deadzone(raw_vyaw, self.config.min_effective_angular_velocity) if self._stop_timer: self._stop_timer.cancel() From bbd69f7107024b05b8786a9369f1c892a4951002 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 1 Jun 2026 13:27:03 +0800 Subject: [PATCH 15/23] _g1_path_colors --- .../unitree/g1/blueprints/primitive/unitree_g1_vis.py | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py b/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py index 8dfeefbcc2..0160aecff3 100644 --- a/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py +++ b/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py @@ -89,14 +89,13 @@ def _g1_global_costmap_colors(occupancy_grid: OccupancyGrid) -> Any: def _g1_path_colors(path: Path) -> Any: - # Returning a single archetype (not a multi-tuple) lets the rerun bridge - # auto-attach this entity to tf#/ — bypassing nav_stack's - # default _path_colors override which hardcodes parent_frame="tf#/sensor" - # (a frame the unitree_g1_nav_simple blueprint never publishes). + # Single archetype (not multi-tuple) so the bridge auto-attaches to + # tf#/ instead of nav_stack's hardcoded tf#/sensor. import rerun as rr + # Empty geometry instead of None so the stale path actually clears. if not path.poses: - return None + return rr.LineStrips3D([]) points = [[pose.x, pose.y, pose.z + _PATH_Z_LIFT] for pose in path.poses] return rr.LineStrips3D([points], colors=[_PATH_COLOR_RGBA], radii=_PATH_RADIUS_METERS) From 557dd21d436e556958f196d01935b905e65e7672 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 1 Jun 2026 13:52:13 +0800 Subject: [PATCH 16/23] restore --- dimos/navigation/replanning_a_star/global_planner.py | 7 +------ 1 file changed, 1 insertion(+), 6 deletions(-) diff --git a/dimos/navigation/replanning_a_star/global_planner.py b/dimos/navigation/replanning_a_star/global_planner.py index bd2b598237..7cfca4b3b5 100644 --- a/dimos/navigation/replanning_a_star/global_planner.py +++ b/dimos/navigation/replanning_a_star/global_planner.py @@ -242,18 +242,13 @@ def _thread_entrypoint(self) -> None: last_stuck_check = time.perf_counter() continue - local_planner_state, new_id = self._local_planner.get_unique_state() + _, new_id = self._local_planner.get_unique_state() if new_id != last_id: last_id = new_id last_stuck_check = time.perf_counter() continue - # dont treat rotation as stuck - if local_planner_state in ("initial_rotation", "final_rotation"): - last_stuck_check = time.perf_counter() - continue - if ( time.perf_counter() - last_stuck_check > self._stuck_time_window and self._position_tracker.is_stuck() From 593846cb612fa9bbf6ab6fce3c5f7813f6b9b8d6 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 1 Jun 2026 14:05:49 +0800 Subject: [PATCH 17/23] clean --- dimos/msgs/nav_msgs/Odometry.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/dimos/msgs/nav_msgs/Odometry.py b/dimos/msgs/nav_msgs/Odometry.py index 128eced187..cdcc490551 100644 --- a/dimos/msgs/nav_msgs/Odometry.py +++ b/dimos/msgs/nav_msgs/Odometry.py @@ -24,6 +24,7 @@ import numpy as np from dimos.msgs.geometry_msgs.Pose import Pose +from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped from dimos.msgs.geometry_msgs.PoseWithCovariance import PoseWithCovariance from dimos.msgs.geometry_msgs.Twist import Twist from dimos.msgs.geometry_msgs.TwistWithCovariance import TwistWithCovariance @@ -132,9 +133,6 @@ def yaw(self) -> float: return self.pose.yaw def to_pose_stamped(self) -> PoseStamped: - """Convert to PoseStamped, dropping twist and covariance.""" - from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped - return PoseStamped( ts=self.ts, frame_id=self.frame_id, From bf46f085664f98b7fbca63d53247a354110e5169 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 1 Jun 2026 14:05:56 +0800 Subject: [PATCH 18/23] improve --- pyproject.toml | 9 +- uv.lock | 494 ++++++++++++++++++++++++++----------------------- 2 files changed, 265 insertions(+), 238 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index eb9be00687..3b639348c3 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -248,7 +248,7 @@ manipulation = [ # Hardware SDKs "piper-sdk", - "pyrealsense2; sys_platform != 'darwin' and platform_machine != 'aarch64'", + "pyrealsense2-extended; sys_platform != 'darwin'", "xarm-python-sdk>=1.17.0", "a750-control; sys_platform == 'linux' and platform_machine == 'x86_64'", @@ -288,7 +288,7 @@ psql = [ sim = [ # Simulation "mujoco>=3.3.4", - "playground>=0.0.5; platform_system != 'Linux' or platform_machine != 'aarch64'", + "playground>=0.0.5", "pygame>=2.6.1", ] @@ -453,10 +453,7 @@ tests-self-hosted = [ required-version = ">=0.9.17" default-groups = ["tests"] exclude-newer = "7 days" -exclude-newer-package = { dimos-viewer = false } -required-environments = [ - "sys_platform == 'linux' and platform_machine == 'aarch64'", -] +exclude-newer-package = { dimos-viewer = false, pyrealsense2-extended = false } override-dependencies = [ # moondream pins pillow<11 but we need >=12.2.0 for security fixes # (CVE-2026-25990, CVE-2026-40192, CVE-2026-42311). diff --git a/uv.lock b/uv.lock index 9aa19c0411..242584d89e 100644 --- a/uv.lock +++ b/uv.lock @@ -38,15 +38,13 @@ resolution-markers = [ "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'darwin'", ] -required-markers = [ - "platform_machine == 'aarch64' and sys_platform == 'linux'", -] [options] -exclude-newer = "2026-05-20T07:27:12.417458117Z" +exclude-newer = "2026-05-25T06:05:13.543908152Z" exclude-newer-span = "P7D" [options.exclude-newer-package] +pyrealsense2-extended = false dimos-viewer = false [manifest] @@ -520,31 +518,31 @@ name = "brax" version = "0.14.1" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "absl-py", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, - { name = "etils", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, - { name = "flask", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, - { name = "flask-cors", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, - { name = "flax", version = "0.10.7", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, - { name = "flax", version = "0.12.4", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, - { name = "jax", version = "0.6.2", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, - { name = "jax", version = "0.9.0.1", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, - { name = "jaxlib", version = "0.6.2", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, - { name = "jaxlib", version = "0.9.0.1", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, - { name = "jaxopt", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, - { name = "jinja2", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, - { name = "ml-collections", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, - { name = "mujoco", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, - { name = "mujoco-mjx", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, - { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, - { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, - { name = "optax", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, - { name = "orbax-checkpoint", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, - { name = "pillow", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, - { name = "scipy", version = "1.15.3", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, - { name = "scipy", version = "1.17.0", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, - { name = "tensorboardx", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, - { name = 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registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, + { name = "jaxopt" }, + { name = "jinja2" }, + { name = "ml-collections" }, + { name = "mujoco" }, + { name = "mujoco-mjx" }, + { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, + { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, + { name = "optax" }, + { name = "orbax-checkpoint" }, + { name = "pillow" }, + { name = "scipy", version = "1.15.3", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, + { name = "scipy", version = "1.17.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, + { name = "tensorboardx" }, + { name = "trimesh" }, + { name = "typing-extensions" }, ] sdist = { url = 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!= 'win32'", "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'darwin'", @@ -859,12 +862,12 @@ resolution-markers = [ "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'darwin'", ] dependencies = [ - { name = "absl-py", marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, - { name = "jax", version = "0.9.0.1", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, - { name = "jaxlib", version = "0.9.0.1", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, - { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, 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"python_full_version >= '3.11'" }, + { name = "typing-extensions", marker = "python_full_version >= '3.11'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/5b/7d/812f01e7b2ddf28a0caa8dde56bd951a2c8f691c9bbfce38d469458d1502/chex-0.1.91.tar.gz", hash = "sha256:65367a521415ada905b8c0222b0a41a68337fcadf79a1fb6fc992dbd95dd9f76", size = 90302, upload-time = "2025-09-01T21:49:32.834Z" } wheels = [ @@ -1754,8 +1757,8 @@ name = "dataclasses-json" version = "0.6.7" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "marshmallow", marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, - { name = "typing-inspect", marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" }, + { name = "marshmallow", marker = "python_full_version >= '3.11'" }, + { name = "typing-inspect", marker = "python_full_version >= '3.11'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/64/a4/f71d9cf3a5ac257c993b5ca3f93df5f7fb395c725e7f1e6479d2514173c3/dataclasses_json-0.6.7.tar.gz", hash = "sha256:b6b3e528266ea45b9535223bc53ca645f5208833c29229e847b3f26a1cc55fc0", size = 32227, upload-time = "2024-06-09T16:20:19.103Z" } wheels = [ @@ -1955,7 +1958,7 @@ all = [ { name = "opencv-python-headless" }, { name = "pillow" }, { name = "piper-sdk" }, - { name = "playground", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "playground" }, { name = "plotly" }, { name = "plum-dispatch" }, { name = "portal" }, @@ -1965,7 +1968,7 @@ all = [ { name = "pydantic-settings" }, { name = "pygame" }, { name = "pymavlink" }, - { name = "pyrealsense2", marker = "platform_machine != 'aarch64' and sys_platform != 'darwin'" }, + { name = "pyrealsense2-extended", marker = "sys_platform != 'darwin'" }, { name = "python-multipart" }, { name = "pyturbojpeg" }, { name = "pyyaml" }, @@ -2081,7 +2084,7 @@ manipulation = [ { name = "piper-sdk" }, { name = "plotly" }, { name = "pycollada" }, - { name = "pyrealsense2", marker = "platform_machine != 'aarch64' and sys_platform != 'darwin'" }, + { name = "pyrealsense2-extended", marker = "sys_platform != 'darwin'" }, { name = "pyyaml" }, { name = "trimesh" }, { name = "xacro" }, @@ -2131,7 +2134,7 @@ psql = [ ] sim = [ { name = "mujoco" }, - { name = "playground", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "playground" }, { name = "pygame" }, ] unitree = [ @@ -2436,7 +2439,7 @@ requires-dist = [ { name = "pillow", marker = "extra == 'perception'" }, { name = "pin", specifier = ">=3.3.0" }, { name = "piper-sdk", marker = "extra == 'manipulation'" }, - { name = "playground", marker = "(platform_machine != 'aarch64' and extra == 'sim') or (sys_platform != 'linux' and extra == 'sim')", specifier = ">=0.0.5" }, + { name = "playground", marker = "extra == 'sim'", specifier = ">=0.0.5" }, { name = "plotext", specifier = "==5.3.2" }, { name = "plotly", marker = "extra == 'manipulation'", specifier = ">=5.9.0" }, { name = "plum-dispatch", specifier = "==2.5.7" }, @@ -2452,7 +2455,7 @@ requires-dist = [ { name = "pydantic-settings", marker = "extra == 'docker'", specifier = ">=2.11.0,<3" }, { name = "pygame", marker = "extra == 'sim'", specifier = ">=2.6.1" }, { name = "pymavlink", marker = "extra == 'drone'" }, - { name = "pyrealsense2", marker = "platform_machine != 'aarch64' and sys_platform != 'darwin' and extra == 'manipulation'" }, + { name = "pyrealsense2-extended", marker = "sys_platform != 'darwin' and extra == 'manipulation'" }, { name = "python-dotenv" }, { name = "python-multipart", marker = "extra == 'misc'", specifier = ">=0.0.27" }, { name = "pyturbojpeg", specifier = "==1.8.2" }, @@ -2900,7 +2903,7 @@ epath = [ { name = "zipp" }, ] epy = [ - { name = "typing-extensions", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "typing-extensions" }, ] [[package]] @@ -3186,8 +3189,8 @@ name = "flask-cors" version = "6.0.2" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "flask", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, - { name = "werkzeug", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "flask" }, + { name = "werkzeug" }, ] sdist = { url = "https://files.pythonhosted.org/packages/70/74/0fc0fa68d62f21daef41017dafab19ef4b36551521260987eb3a5394c7ba/flask_cors-6.0.2.tar.gz", hash = "sha256:6e118f3698249ae33e429760db98ce032a8bf9913638d085ca0f4c5534ad2423", size = 13472, upload-time = "2025-12-12T20:31:42.861Z" } wheels = [ @@ -3223,20 +3226,21 @@ resolution-markers = [ "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'win32'", "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform != 'darwin' and sys_platform != 'win32'", "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'darwin'", + "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'linux'", "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'win32'", "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'darwin'", ] dependencies = [ - { name = "jax", version = "0.6.2", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, - { name = "msgpack", marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, - { name = "optax", marker = "(python_full_version < '3.11' and platform_machine != 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"typing-extensions", marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" }, + { name = "jax", version = "0.6.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, + { name = "msgpack", marker = "python_full_version < '3.11'" }, + { name = "optax", marker = "python_full_version < '3.11'" }, + { name = "orbax-checkpoint", marker = "python_full_version < '3.11'" }, + { name = "pyyaml", marker = "python_full_version < '3.11'" }, + { name = "rich", marker = "python_full_version < '3.11'" }, + { name = "tensorstore", version = "0.1.78", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, + { name = "treescope", marker = "python_full_version < '3.11'" }, + { name = "typing-extensions", marker = "python_full_version < '3.11'" }, ] sdist = { url = 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== 'win32'", "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", "python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", "python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", "python_full_version == '3.12.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'", + "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'linux'", "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'win32'", "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform != 'darwin' and sys_platform != 'linux' and 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"nav-record": "dimos.navigation.nav_stack.modules.nav_record.nav_record.NavRecord", "navigation-skill-container": "dimos.agents.skills.navigation.NavigationSkillContainer", From 7056733fbc77b3285949517c59eff498f0c7397c Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 1 Jun 2026 14:12:56 +0800 Subject: [PATCH 20/23] un inline --- .../unitree/g1/blueprints/primitive/unitree_g1_vis.py | 7 +------ 1 file changed, 1 insertion(+), 6 deletions(-) diff --git a/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py b/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py index 0160aecff3..a719ce0a98 100644 --- a/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py +++ b/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py @@ -18,6 +18,7 @@ from typing import Any import numpy as np +import rerun as rr from dimos.core.global_config import global_config from dimos.msgs.nav_msgs.OccupancyGrid import OccupancyGrid @@ -47,8 +48,6 @@ def _g1_global_costmap_colors(occupancy_grid: OccupancyGrid) -> Any: - import rerun as rr - if occupancy_grid.grid.size == 0: return rr.Mesh3D(vertex_positions=[]) @@ -89,10 +88,6 @@ def _g1_global_costmap_colors(occupancy_grid: OccupancyGrid) -> Any: def _g1_path_colors(path: Path) -> Any: - # Single archetype (not multi-tuple) so the bridge auto-attaches to - # tf#/ instead of nav_stack's hardcoded tf#/sensor. - import rerun as rr - # Empty geometry instead of None so the stale path actually clears. if not path.poses: return rr.LineStrips3D([]) From c20302626bea28d302c0de42f3984f481575bfc9 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 1 Jun 2026 18:47:26 -0700 Subject: [PATCH 21/23] costmap colors --- dimos/mapping/costmapper.py | 22 +++++++ dimos/msgs/nav_msgs/OccupancyGrid.py | 6 +- .../navigation/unitree_g1_nav_simple.py | 2 +- .../primitive/unitree_g1_primitive_no_nav.py | 13 +--- .../g1/blueprints/primitive/unitree_g1_vis.py | 60 +------------------ .../agentic/unitree_go2_security.py | 12 +--- .../go2/blueprints/basic/unitree_go2_basic.py | 12 +--- 7 files changed, 35 insertions(+), 92 deletions(-) diff --git a/dimos/mapping/costmapper.py b/dimos/mapping/costmapper.py index b7fa2b6878..127c903733 100644 --- a/dimos/mapping/costmapper.py +++ b/dimos/mapping/costmapper.py @@ -14,6 +14,7 @@ from dataclasses import asdict import time +from typing import Any import numpy as np from pydantic import Field @@ -33,6 +34,27 @@ logger = setup_logger() +_COLOR_UNKNOWN = (0, 0, 0, 0) +_COLOR_FREE = (72, 73, 129, 255) +_COLOR_OCCUPIED = (255, 140, 0, 255) +_COLOR_LETHAL = (220, 30, 30, 255) + +# Indexed by grid value + 1: 0 = unknown, 1 = free, 2..101 = cost 1..100. +_COSTMAP_COLOR_LOOKUP_TABLE = np.empty((102, 4), dtype=np.uint8) +_COSTMAP_COLOR_LOOKUP_TABLE[0] = _COLOR_UNKNOWN +_COSTMAP_COLOR_LOOKUP_TABLE[1] = _COLOR_FREE +_COSTMAP_COLOR_LOOKUP_TABLE[2:101] = _COLOR_OCCUPIED +_COSTMAP_COLOR_LOOKUP_TABLE[101] = _COLOR_LETHAL + +_COSTMAP_Z_OFFSET = 0.02 + + +def costmap_to_rerun(grid: OccupancyGrid) -> Any: + return grid.to_rerun( + color_lookup_table=_COSTMAP_COLOR_LOOKUP_TABLE, + z_offset=_COSTMAP_Z_OFFSET, + ) + class Config(ModuleConfig): algo: str = "height_cost" diff --git a/dimos/msgs/nav_msgs/OccupancyGrid.py b/dimos/msgs/nav_msgs/OccupancyGrid.py index b468bbcac0..bad3fc9ab2 100644 --- a/dimos/msgs/nav_msgs/OccupancyGrid.py +++ b/dimos/msgs/nav_msgs/OccupancyGrid.py @@ -485,6 +485,7 @@ def to_rerun( opacity: float = 1.0, cost_range: tuple[int, int] | None = None, background: str | None = None, + color_lookup_table: np.ndarray | None = None, ) -> Archetype: """Convert to 3D textured mesh overlay on floor plane. @@ -504,8 +505,9 @@ def to_rerun( step_w = max(1, grid.shape[1] // max_tex) grid = grid[::step_h, ::step_w] - lut = _build_occupancy_lut(colormap, opacity, background) - rgba = np.ascontiguousarray(lut[np.clip(grid + 1, 0, 101)]) + if color_lookup_table is None: + color_lookup_table = _build_occupancy_lut(colormap, opacity, background) + rgba = np.ascontiguousarray(color_lookup_table[np.clip(grid + 1, 0, 101)]) # Apply cost_range filter on downsampled grid if cost_range is not None: diff --git a/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py b/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py index 12c64659cb..0b6534a1b1 100644 --- a/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py +++ b/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py @@ -13,7 +13,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -"""Basic G1 stack: base sensors plus real robot connection and ROS nav.""" +"""Simple G1 nav stack: onboard sensors, raytracing costmap, and A* replanning.""" from dimos.core.coordination.blueprints import autoconnect from dimos.mapping.costmapper import CostMapper diff --git a/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_primitive_no_nav.py b/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_primitive_no_nav.py index f9c4a82468..3a115d4607 100644 --- a/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_primitive_no_nav.py +++ b/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_primitive_no_nav.py @@ -25,7 +25,7 @@ from dimos.hardware.sensors.camera.module import CameraModule from dimos.hardware.sensors.camera.webcam import Webcam from dimos.hardware.sensors.camera.zed import compat as zed -from dimos.mapping.costmapper import CostMapper +from dimos.mapping.costmapper import CostMapper, costmap_to_rerun from dimos.mapping.voxels import VoxelGridMapper from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped from dimos.msgs.geometry_msgs.Quaternion import Quaternion @@ -50,15 +50,6 @@ def _convert_camera_info(camera_info: Any) -> Any: ) -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( @@ -95,7 +86,7 @@ def _g1_rerun_blueprint() -> Any: "blueprint": _g1_rerun_blueprint, "visual_override": { "world/camera_info": _convert_camera_info, - "world/navigation_costmap": _convert_navigation_costmap, + "world/navigation_costmap": costmap_to_rerun, }, "static": { "world/tf/base_link": _static_base_link, diff --git a/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py b/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py index a719ce0a98..43dfe90991 100644 --- a/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py +++ b/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py @@ -17,75 +17,19 @@ from typing import Any -import numpy as np import rerun as rr from dimos.core.global_config import global_config -from dimos.msgs.nav_msgs.OccupancyGrid import OccupancyGrid +from dimos.mapping.costmapper import costmap_to_rerun from dimos.msgs.nav_msgs.Path import Path from dimos.navigation.nav_stack.main import nav_stack_rerun_config from dimos.robot.unitree.g1.g1_rerun import g1_odometry_tf_override, g1_static_robot from dimos.visualization.vis_module import vis_module -_COSTMAP_Z_LIFT = 0.02 -_COSTMAP_MAX_TEXTURE_SIZE = 256 - _PATH_Z_LIFT = 0.3 _PATH_COLOR_RGBA = (0, 255, 128, 255) _PATH_RADIUS_METERS = 0.05 -# make obstacles red so I can see them -_COLOR_UNKNOWN = (0, 0, 0, 0) -_COLOR_FREE = (72, 73, 129, 255) -_COLOR_OCCUPIED = (255, 140, 0, 255) -_COLOR_LETHAL = (220, 30, 30, 255) - -_COST_TO_RGBA = np.empty((102, 4), dtype=np.uint8) -_COST_TO_RGBA[0] = _COLOR_UNKNOWN -_COST_TO_RGBA[1] = _COLOR_FREE -_COST_TO_RGBA[2:101] = _COLOR_OCCUPIED -_COST_TO_RGBA[101] = _COLOR_LETHAL - - -def _g1_global_costmap_colors(occupancy_grid: OccupancyGrid) -> Any: - if occupancy_grid.grid.size == 0: - return rr.Mesh3D(vertex_positions=[]) - - grid = occupancy_grid.grid[::-1] - if grid.shape[0] > _COSTMAP_MAX_TEXTURE_SIZE or grid.shape[1] > _COSTMAP_MAX_TEXTURE_SIZE: - row_stride = max(1, grid.shape[0] // _COSTMAP_MAX_TEXTURE_SIZE) - column_stride = max(1, grid.shape[1] // _COSTMAP_MAX_TEXTURE_SIZE) - grid = grid[::row_stride, ::column_stride] - - rgba_texture = np.ascontiguousarray(_COST_TO_RGBA[np.clip(grid + 1, 0, 101)]) - - origin_x = occupancy_grid.origin.position.x - origin_y = occupancy_grid.origin.position.y - width_meters = occupancy_grid.width * occupancy_grid.resolution - height_meters = occupancy_grid.height * occupancy_grid.resolution - - vertices = np.array( - [ - [origin_x, origin_y, _COSTMAP_Z_LIFT], - [origin_x + width_meters, origin_y, _COSTMAP_Z_LIFT], - [origin_x + width_meters, origin_y + height_meters, _COSTMAP_Z_LIFT], - [origin_x, origin_y + height_meters, _COSTMAP_Z_LIFT], - ], - dtype=np.float32, - ) - triangle_indices = np.array([[0, 1, 2], [0, 2, 3]], dtype=np.uint32) - texture_coords = np.array( - [[0.0, 1.0], [1.0, 1.0], [1.0, 0.0], [0.0, 0.0]], - dtype=np.float32, - ) - - return rr.Mesh3D( - vertex_positions=vertices, - triangle_indices=triangle_indices, - vertex_texcoords=texture_coords, - albedo_texture=rgba_texture, - ) - def _g1_path_colors(path: Path) -> Any: # Empty geometry instead of None so the stale path actually clears. @@ -105,7 +49,7 @@ def _g1_path_colors(path: Path) -> Any: "world/lidar": None, "world/local_map": None, "world/global_map_fastlio": None, - "world/global_costmap": _g1_global_costmap_colors, + "world/global_costmap": costmap_to_rerun, "world/path": _g1_path_colors, }, "static": {"world/tf/robot": g1_static_robot}, diff --git a/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_security.py b/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_security.py index 1d64b7920e..632429483d 100644 --- a/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_security.py +++ b/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_security.py @@ -17,6 +17,7 @@ from dimos.core.coordination.blueprints import autoconnect from dimos.core.global_config import global_config +from dimos.mapping.costmapper import costmap_to_rerun from dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_agentic import unitree_go2_agentic from dimos.visualization.vis_module import vis_module @@ -28,15 +29,6 @@ def _convert_camera_info(camera_info: Any) -> Any: ) -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( @@ -75,7 +67,7 @@ def _go2_rerun_blueprint() -> Any: "blueprint": _go2_rerun_blueprint, "visual_override": { "world/camera_info": _convert_camera_info, - "world/navigation_costmap": _convert_navigation_costmap, + "world/navigation_costmap": costmap_to_rerun, }, "static": { "world/tf/base_link": _static_base_link, diff --git a/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_basic.py b/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_basic.py index 96a291163d..928b2dc23a 100644 --- a/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_basic.py +++ b/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_basic.py @@ -21,6 +21,7 @@ from dimos.core.coordination.blueprints import autoconnect from dimos.core.global_config import global_config from dimos.core.transport import pSHMTransport +from dimos.mapping.costmapper import costmap_to_rerun from dimos.msgs.sensor_msgs.Image import Image from dimos.robot.unitree.go2.connection import GO2Connection from dimos.visualization.vis_module import vis_module @@ -50,15 +51,6 @@ def _convert_global_map(grid: Any) -> Any: return grid.to_rerun(bottom_cutoff=0) -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( @@ -106,7 +98,7 @@ def _go2_rerun_blueprint() -> Any: "world/camera_info": _convert_camera_info, "world/global_map": _convert_global_map, "world/merged_map": _convert_global_map, - "world/navigation_costmap": _convert_navigation_costmap, + "world/navigation_costmap": costmap_to_rerun, }, "max_hz": { "world/global_map": 0, # publishes at ~7.8 Hz From 30ab7c5a2ba9d336c76ea890106dd36d64849fe3 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 1 Jun 2026 22:38:37 -0700 Subject: [PATCH 22/23] make unitree_g1_onboard a private sub-blueprint Prefix with _ so it is not registered as a standalone runnable blueprint; it stays a shared composition for nav-simple and nav-onboard. unitree-g1-nav-simple is the only new blueprint. --- .gitignore | 1 + dimos/robot/all_blueprints.py | 1 - .../g1/blueprints/navigation/unitree_g1_nav_onboard.py | 4 ++-- .../g1/blueprints/navigation/unitree_g1_nav_simple.py | 4 ++-- .../unitree/g1/blueprints/primitive/unitree_g1_onboard.py | 6 ++---- 5 files changed, 7 insertions(+), 9 deletions(-) diff --git a/.gitignore b/.gitignore index ffc1c4f31f..3820969afe 100644 --- a/.gitignore +++ b/.gitignore @@ -72,6 +72,7 @@ yolo11n.pt /results results/ **/cpp/result +**/rust/result CLAUDE.MD /assets/teleop_certs/ diff --git a/dimos/robot/all_blueprints.py b/dimos/robot/all_blueprints.py index 9266eb715f..253c13cfed 100644 --- a/dimos/robot/all_blueprints.py +++ b/dimos/robot/all_blueprints.py @@ -94,7 +94,6 @@ "unitree-g1-nav-onboard": "dimos.robot.unitree.g1.blueprints.navigation.unitree_g1_nav_onboard:unitree_g1_nav_onboard", "unitree-g1-nav-sim": "dimos.robot.unitree.g1.blueprints.navigation.unitree_g1_nav_sim:unitree_g1_nav_sim", "unitree-g1-nav-simple": "dimos.robot.unitree.g1.blueprints.navigation.unitree_g1_nav_simple:unitree_g1_nav_simple", - "unitree-g1-onboard": "dimos.robot.unitree.g1.blueprints.primitive.unitree_g1_onboard:unitree_g1_onboard", "unitree-g1-primitive-no-nav": "dimos.robot.unitree.g1.blueprints.primitive.unitree_g1_primitive_no_nav:unitree_g1_primitive_no_nav", "unitree-g1-shm": "dimos.robot.unitree.g1.blueprints.perceptive.unitree_g1_shm:unitree_g1_shm", "unitree-g1-sim": "dimos.robot.unitree.g1.blueprints.perceptive.unitree_g1_sim:unitree_g1_sim", diff --git a/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_onboard.py b/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_onboard.py index 3806c34c07..1fe25fb40d 100644 --- a/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_onboard.py +++ b/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_onboard.py @@ -20,7 +20,7 @@ from dimos.hardware.sensors.lidar.fastlio2.module import FastLio2 from dimos.navigation.movement_manager.movement_manager import MovementManager from dimos.navigation.nav_stack.main import create_nav_stack, nav_stack_rerun_config -from dimos.robot.unitree.g1.blueprints.primitive.unitree_g1_onboard import unitree_g1_onboard +from dimos.robot.unitree.g1.blueprints.primitive.unitree_g1_onboard import _unitree_g1_onboard from dimos.robot.unitree.g1.config import G1, G1_LOCAL_PLANNER_PRECOMPUTED_PATHS from dimos.robot.unitree.g1.g1_rerun import ( g1_odometry_tf_override, @@ -30,7 +30,7 @@ unitree_g1_nav_onboard = ( autoconnect( - unitree_g1_onboard, + _unitree_g1_onboard, create_nav_stack( planner="simple", vehicle_height=G1.height_clearance, diff --git a/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py b/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py index 0b6534a1b1..f9221123f9 100644 --- a/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py +++ b/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py @@ -21,7 +21,7 @@ from dimos.mapping.ray_tracing.module import RayTracingVoxelMap from dimos.navigation.movement_manager.movement_manager import MovementManager from dimos.navigation.replanning_a_star.module import ReplanningAStarPlanner -from dimos.robot.unitree.g1.blueprints.primitive.unitree_g1_onboard import unitree_g1_onboard +from dimos.robot.unitree.g1.blueprints.primitive.unitree_g1_onboard import _unitree_g1_onboard from dimos.robot.unitree.g1.blueprints.primitive.unitree_g1_vis import unitree_g1_vis from dimos.robot.unitree.g1.config import G1 @@ -32,7 +32,7 @@ voxel_resolution = 0.05 unitree_g1_nav_simple = autoconnect( - unitree_g1_onboard, + _unitree_g1_onboard, RayTracingVoxelMap.blueprint(voxel_size=voxel_resolution), CostMapper.blueprint( config=HeightCostConfig( diff --git a/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_onboard.py b/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_onboard.py index f6a407c706..96f97146b1 100644 --- a/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_onboard.py +++ b/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_onboard.py @@ -23,7 +23,8 @@ from dimos.robot.unitree.g1.config import G1 from dimos.robot.unitree.g1.effectors.high_level.dds_sdk import G1HighLevelDdsSdk -unitree_g1_onboard = autoconnect( +# Underscore-prefixed: a shared sub-blueprint, not a runnable blueprint of its own. +_unitree_g1_onboard = autoconnect( FastLio2.blueprint( host_ip=os.getenv("LIDAR_HOST_IP", "192.168.123.164"), lidar_ip=os.getenv("LIDAR_IP", "192.168.123.120"), @@ -34,6 +35,3 @@ G1HighLevelDdsSdk.blueprint(), unitree_g1_vis, ).global_config(n_workers=12, robot_model="unitree_g1") - - -__all__ = ["unitree_g1_onboard"] From 22ab4893f9735e34371bc306f664c4ae943dea54 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 1 Jun 2026 23:18:14 -0700 Subject: [PATCH 23/23] fix(g1): narrow optional clearance types for mypy --- .../g1/blueprints/navigation/unitree_g1_nav_simple.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py b/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py index f9221123f9..e1c3bd7ba4 100644 --- a/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py +++ b/dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py @@ -25,11 +25,14 @@ from dimos.robot.unitree.g1.blueprints.primitive.unitree_g1_vis import unitree_g1_vis from dimos.robot.unitree.g1.config import G1 +assert G1.height_clearance is not None and G1.width_clearance is not None + g1_overhead_safety_margin = 0.2 g1_overhead_clearance = G1.height_clearance + g1_overhead_safety_margin g1_max_step_height = 0.10 g1_rotation_diameter = 0.8 voxel_resolution = 0.05 +g1_safe_radius_margin = 0.6 unitree_g1_nav_simple = autoconnect( _unitree_g1_onboard, @@ -40,7 +43,7 @@ can_pass_under=g1_overhead_clearance, can_climb=g1_max_step_height, ), - initial_safe_radius_meters=G1.width_clearance + 0.6, + initial_safe_radius_meters=G1.width_clearance + g1_safe_radius_margin, ), ReplanningAStarPlanner.blueprint( robot_width=G1.width_clearance,