chore: delete some dead code

[paul-nechifor]

Problem

We still have lots of dead code.

Solution

This deletes some of it.

[greptile-apps]

Greptile Summary

This PR removes 27 Python files that appear to be unused throughout the codebase — covering web servers, stream processing utilities, navigation helpers, manipulation specs, testing helpers, and exception classes.

• All 27 deleted files were verified to have no live imports in the remaining codebase, and none appear in any __init__.py re-exports.
• The deleted dimos/web/fastapi_server.py and dimos/web/flask_server.py are separate from the actively-used dimos/web/dimos_interface/api/server.py; robot_web_interface.py continues to import FastAPIServer from the latter.

Confidence Score: 5/5

Safe to merge — all 27 deleted files are confirmed unreferenced across the entire codebase.

Every deleted module was checked for imports, init.py re-exports, and symbol references. Nothing in the remaining codebase depends on any of the removed files. The legacy FastAPIServer and FlaskServer in the deleted dimos/web/ files are distinct from the active FastAPIServer in dimos/web/dimos_interface/api/server.py, which continues to be used correctly.

No files require special attention — all deletions are clean.

Important Files Changed

Filename	Overview
dimos/web/fastapi_server.py	Deleted legacy FastAPIServer — superseded by dimos/web/dimos_interface/api/server.py; no remaining imports.
dimos/web/flask_server.py	Deleted legacy FlaskServer — no remaining imports across the codebase.
dimos/stream/video_operators.py	Deleted VideoOperators and Operators utility classes (605 lines) — no remaining imports.
dimos/stream/rtsp_video_provider.py	Deleted RtspVideoProvider ffmpeg-backed stream class — no remaining imports.
dimos/stream/frame_processor.py	Deleted FrameProcessor (optical flow, JPEG export) — no remaining imports.
dimos/stream/data_provider.py	Deleted AbstractDataProvider, ROSDataProvider, and QueryDataProvider — no remaining imports.
dimos/exceptions/agent_memory_exceptions.py	Deleted AgentMemory exception hierarchy — no remaining imports.
dimos/robot/catalog/panda.py	Deleted Franka Panda robot configuration helper — no remaining imports despite all export.
dimos/utils/metrics.py	Deleted timed and log_timing_to_rerun decorators — no remaining imports.
dimos/robot/unitree/testing/helpers.py	Deleted Open3D visualization testing helpers — no remaining imports.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    subgraph DELETED["Deleted (dead code)"]
        direction TB
        A[dimos/web/fastapi_server.py\nFastAPIServer legacy]
        B[dimos/web/flask_server.py\nFlaskServer legacy]
        C[dimos/stream/video_operators.py\nVideoOperators / Operators]
        D[dimos/stream/frame_processor.py\nFrameProcessor]
        E[dimos/stream/rtsp_video_provider.py\nRtspVideoProvider]
        F[dimos/stream/data_provider.py\nAbstractDataProvider etc.]
        G[dimos/exceptions/agent_memory_exceptions.py]
        H[dimos/utils/metrics.py\ntimed / log_timing_to_rerun]
        I[dimos/robot/catalog/panda.py]
    end
    subgraph ACTIVE["Still Active"]
        Q[dimos/web/dimos_interface/api/server.py\nFastAPIServer - current]
        R[dimos/web/robot_web_interface.py]
    end
    R -->|imports FastAPIServer| Q

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_{Reviews (1): Last reviewed commit: "chore: delete dead code" | Re-trigger Greptile}

[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
2107	1	2106	81

View the top 1 failed test(s) by shortest run time

dimos.e2e_tests.test_dimsim_path_replaning::test_path_replanning

Stack Traces | 244s run time

lcm_spy = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7d0b09a162d0>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7d0b08834fe0>
dim_sim = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x7d0b09e2bb30>
direct_cmd_vel_explorer = <dimos.simulation.mujoco.direct_cmd_vel_explorer.DirectCmdVelExplorer object at 0x7d0b09c349e0>
spawn_wall_on_pose = <function spawn_wall_on_pose.<locals>.spawn at 0x7d0b08835e40>

    @pytest.mark.self_hosted_large
    def test_path_replanning(
        lcm_spy, start_blueprint, dim_sim, direct_cmd_vel_explorer, spawn_wall_on_pose
    ) -> None:
        start_blueprint(
            "--dimsim-scene=empty",
            "run",
            "unitree-go2-agentic",
            simulator="dimsim",
        )
        lcm_spy.save_topic(".../McpClient/on_system_modules/res")
        lcm_spy.wait_for_saved_topic(".../McpClient/on_system_modules/res", timeout=1200.0)
    
        # robot spawns at (3, 2)
    
        # side wall
        dim_sim.add_wall(2, -2.5, 12, -2.5)
        # other side wall
        dim_sim.add_wall(2, 3.5, 12, 3.5)
        # back wall (behind robot)
        dim_sim.add_wall(2, -2.5, 2, 3.5)
        # forward wall (far end)
        dim_sim.add_wall(12, -2.5, 12, 3.5)
        # dividing wall at x=7 with doors at y=[-1.5,-0.5] and y=[1.5,2.5]
        dim_sim.add_wall(7, -2.5, 7, -1.5)
        dim_sim.add_wall(7, -0.5, 7, 1.5)
        dim_sim.add_wall(7, 2.5, 7, 3.5)
    
        direct_cmd_vel_explorer.linear_speed = 0.8
        direct_cmd_vel_explorer.follow_points([(10, 2), (2.5, 2), (3, 2)])
    
        # When the robot comes within 1.5 m of the left door's centre, drop a wall
        # in the opening so the planner has to bail out and route through the
        # right door at y=-1 instead.
        spawn_wall_on_pose(
            point=(7, 2),
            threshold=1.5,
            wall=(7, 1.5, 7, 2.5),
        )
    
        dim_sim.publish_goal(10.913, 0.588)
    
>       lcm_spy.wait_until_odom_position(10.913, 0.588, threshold=1, timeout=120)

dim_sim    = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x7d0b09e2bb30>
direct_cmd_vel_explorer = <dimos.simulation.mujoco.direct_cmd_vel_explorer.DirectCmdVelExplorer object at 0x7d0b09c349e0>
lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7d0b09a162d0>
spawn_wall_on_pose = <function spawn_wall_on_pose.<locals>.spawn at 0x7d0b08835e40>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7d0b08834fe0>

dimos/e2e_tests/test_dimsim_path_replaning.py:60: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/e2e_tests/lcm_spy.py:182: in wait_until_odom_position
    self.wait_for_message_result(
        predicate  = <function LcmSpy.wait_until_odom_position.<locals>.predicate at 0x7d0b08836840>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7d0b09a162d0>
        threshold  = 1
        timeout    = 120
        x          = 10.913
        y          = 0.588
dimos/e2e_tests/lcm_spy.py:168: in wait_for_message_result
    self.wait_until(
        event      = <threading.Event at 0x7d0b093d1dc0: unset>
        fail_message = 'Failed to get to position x=10.913, y=0.588'
        listener   = <function LcmSpy.wait_for_message_result.<locals>.listener at 0x7d0b088368e0>
        predicate  = <function LcmSpy.wait_until_odom_position.<locals>.predicate at 0x7d0b08836840>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7d0b09a162d0>
        timeout    = 120
        topic      = '/odom#geometry_msgs.PoseStamped'
        type       = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7d0b09a162d0>

    def wait_until(
        self,
        *,
        condition: Callable[[], bool],
        timeout: float,
        error_message: str,
        poll_interval: float = 0.1,
    ) -> None:
        start_time = time.time()
        while time.time() - start_time < timeout:
            if condition():
                return
            time.sleep(poll_interval)
>       raise TimeoutError(error_message)
E       TimeoutError: Failed to get to position x=10.913, y=0.588

condition  = <bound method Event.is_set of <threading.Event at 0x7d0b093d1dc0: unset>>
error_message = 'Failed to get to position x=10.913, y=0.588'
poll_interval = 0.1
self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7d0b09a162d0>
start_time = 1780790284.2720766
timeout    = 120

dimos/e2e_tests/lcm_spy.py:105: TimeoutError

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