Release v0.0.5: Pre-Launch Release

Test pre-release changelog

What's Changed

• Unitree WebRTC implementation on rebased dev by @leshy in #277
• Update ros_observable_topic timeout to 100s by @leshy in #273
• Updated README, more clear on API key requirements and updated go2_ros2_sdk remote by @spomichter in #272
• Release v0.0.4 Patch: readme changes by @spomichter in #292
• Readme patch v0.0.4 by @spomichter in #293
• Development container & CI by @leshy in #278
• env/devcontainer ruff formatting/typing by @leshy in #294
• Global reformat 100 line length by @spomichter in #300
• Global code reformat with ruff by @leshy in #295
• Position/Vector type cleanup & tests by @leshy in #297
• Linelength100 by @leshy in #301
• Auto-delivery of binary data files for testing, rewrite of dev script by @leshy in #298
• pre-commit hooks in dev container & CI, automatic LFS upload by @leshy in #303
• Removed all submodules - Testing by @spomichter in #306
• Fixed v0.0.4 Unitree ROS runfile broken by WebRTC development, Vector.py fixes by @spomichter in #307
• test/mapper by @leshy in #305
• Reduced CI cleanup frequency to PRs only into dev/main by @spomichter in #312
• DimOS Manipulation Framework, ObjectDetectionStream Changes by @spomichter in #308
• Added auto-license header to pre-commit by @spomichter in #336
• Move thread fix for alex planner by @leshy in #334
• base typing cleanup, sensor reply tests+docs by @leshy in #309
• devcontainer docs by @leshy in #338
• ci docs by @leshy in #339
• Add Cerebras Agent by @joshuajerin in #310
• Repo cleanup by @leshy in #340
• noros builds by @leshy in #341
• Update testing_stream_reply.md by @leshy in #342
• ONNX conversions for YOLOv11 and FastSAM by @mdaiter in #350
• Test cicd fake ros change by @spomichter in #361
• Reverted cleanup workflow frequency to on any PUSH due to CICD docker workflow issues by @spomichter in #360
• Trigger docker ros rerun by @spomichter in #363
• Ros CI change detection by @leshy in #364
• trigger full rebuild by @leshy in #365
• Add CLIP ONNX conversion and support, with passing vision and text tests by @mdaiter in #353
• CI fix 3 by @leshy in #367
• ONNX Support for YOLO, SAM2 + Unit tests for CLIP, YOLO, SAM2 by @spomichter in #345
• LFS moved to utils from testing by @leshy in #368
• Contact graspnet integration on pytorch and pyproject build processes setup with cuda/manipulation tags by @spomichter in #370
• data/* deletions by @leshy in #369
• Ci pre-commit and docker builds run in parallel by @leshy in #372
• Ci shared docker cache by @leshy in #371
• Unitree WebRTC integrated with full functionality, remove all ROS dependency, refactored entire robot base class and connection interface, added explore skill by @alexlin2 in #279
• Unitree WebRTC only implementation, Exploration skills [Staging --> Dev] by @spomichter in #379
• Dask lcm multiprocess by @leshy in #377
• DimOS Packaging & Build Improvements for CPU-only, CUDA, Manipulation installations by @spomichter in #394
• Multitree go2 by @leshy in #381
• better LCM system checks, fixes bin/lfs_push by @leshy in #382
• UnitreeSpeak skill over webrtc, Voice Interface added on localhost, Voice interface on mobile device on network by @spomichter in #400
• FIX: multiprocess by @leshy in #402
• Lcmspy cli by @leshy in #404
• changed position type name to pose by @alexlin2 in #358
• WIP: foxglove bridge stub by @leshy in #411
• Create running_without_devcontainer.md by @leshy in #405
• new LCM class format support by @leshy in #417
• Fixed PoseStamped ros_msgs error in dimos-lcm by @spomichter in #457
• Fixes move stream issue, Odom receive issue by @leshy in #456
• Small stream/type fixes for unitree by @leshy in #460
• Local planner, Global Planner, Explore, SpatialMemory working via LCM/Dask Multiprocess by @spomichter in #467
• Added working runfile to Unitreego2Light class by @spomichter in #474
• Point Cloud Filtering and Segmentation, Full 6DOF Object pose estimation, Grasp generation, ZED driver support, Hosted grasp integration by @spomichter in #458
• Stream fixes, Twist, Pose, Quaternion updates by @leshy in #471
• Added self-hosted runner to full CICD by @spomichter in #484
• Full Unitree (Local planner, Explore, SpatialMemory) FakeRTC/WebRTC LCM modules working in self-hosted devcontainer by @spomichter in #487
• Porting types/ LCM msgs/ new LCM types, Transform visualization by @leshy in #477
• Tracking streams lcm dask refactor by @spomichter in #488
• Pytransforms by @leshy in #491
• Fix python and dev docker builds for CICD by @spomichter in #489
• Remove PIL Image Usage by @alexlin2 in #490
• Added missing init.py's to transforms by @spomichter in #493
• Added tofix pytest tag back to addopts by @spomichter in #494
• Added module docs by @spomichter in #495
• SpatialMemory converted to Dask module, input LCM odom and video streams by @spomichter in #481
• Run modules tests only on 16gb runner by @spomichter in #499
• Trigger CI only on PR or push to main/dev by @spomichter in #500
• Added more aggressive cleanup workflows by @spomichter in #501
• Visual Servoing for Pick and Place Demo by @alexlin2 in #476
• Testing run-tests container pull fix and removed modules tests by @spomichter in #505
• Fix permissions in pre-build-cleanup by @spomichter in #508
• Moved pre-build cleanup to build template by @spomichter in #509
• dimos lcm update to main branch latest commit by @leshy in #498
• RPC Kwargs by @leshy in #503
• Transform system, stream convinience features, type checking by @leshy in #504
• Dimoslcm bump by @leshy in #510
• Testing UV builds in docker by @spomichter in #513
• OccupancyGrid, Path types by @leshy in #511
• subscribing to transports/streams from main loop by @leshy in #524
• Alex Lin's version of ROS Nav2 by @alexlin2 in #514
• Agent refactor conversation history by @spomichter in #541
• Exposed optional memory_limit param in dimos core by @spomichter in #540
• Agent refactor by @spomichter in #535
• Validating transforms with ros examples by @leshy in #538
• rpc timeout by @leshy in #542
• MuJoCo Simulation by @paul-nechifor in #539
• Revert "MuJoCo Simulation" by @spomichter in #548
• perception refactor to be on parity with old architecture by @alexlin2 in #534
• Skill coordinator by @leshy in #536
• WIP Mujoco simulation by @paul-nechifor in #549
• Fix event loop leak by @paul-nechifor in #547
• Correct way to build package directly in non-editable mode, no manife… by @spomichter in #551
• Office environment mujoco by @paul-nechifor in #554
• Less bandwidth usage on LCM, bug fixed with navigation by @alexlin2 in #559
• disabled old agent tests by @leshy in #563
• Camera Module Refactor, added image rectification by @alexlin2 in #566
• long rpc timeout by @leshy in #569
• Twist message for all move command, added keyboard teleop for easy robot control in sim by @alexlin2 in #570
• numerical sort for sensor replay by @leshy in #564
• 2d detection module by @leshy in #567
• Stream timestamp alignment by @leshy in #557
• Sharpness for Images by @leshy in #560
• Jetson humanoid integration by @spomichter in #590
• 2d detection module + Agent2 - yolo demo by @leshy in #582
• jetson.md cleanup by @spomichter in #602
• Unitree b1 integration with continuous cmd_vel Twist interface, joystick control for testing, C++ UDP server for onboard B1 by @spomichter in #601
• Joystick integrated g1 humanoid by @spomichter in #603
• Unitree b1 manipulation pose integration by @spomichter in #604
• use SHM in Foxglove by @paul-nechifor in #607
• CPU isolated shared mem by @mdaiter in #589
• silence unnecessary unitree go 2 tricks by @paul-nechifor in #615
• Pshm to lcm by @paul-nechifor in #616
• Unitree agents2 skill integration paul by @paul-nechifor in #617
• Unitree go2 runfile integration tool call issues by @spomichter in #605
• gstreamer camera by @paul-nechifor in #613
• zed local node by @leshy in #623
• ROS Bridge for Unitree G1 and B1 Navigation, Working G1 navigation by @spomichter in #610
• B1 ros navigation rebase by @spomichter in #626
• Added build directory to gitignore by @yashas-salankimatt in #628
• 2D detection module + Pointcloud localization by @leshy in #583
• Camera calibration loading by @leshy in #629
• Agent2 nav skills by @paul-nechifor in #630
• WIP shared mem again by @paul-nechifor in #650
• Fix leaks by @paul-nechifor in #649
• Fix SHM leak by @paul-nechifor in #652
• Suppress echos with counter by @paul-nechifor in #653
• Removing websocket vis causing crazy lag by @spomichter in #656
• Suppress with UUID by @paul-nechifor in #655
• Modules navigate object bbox by @spomichter in #654
• Ros bridge test fix by @alexlin2 in #660
• video g1 spatial mem + detection - tomerge by @leshy in #651
• Update README.md by @spomichter in #664
• Image upgrades! Impls for CUDA + numpy, along with an abstraction and full backwards compatibility by @mdaiter in #612
• Revert "Image upgrades! Impls for CUDA + numpy, along with an abstraction and full backwards compatibility" by @leshy in #665
• Detection second pass by @leshy in #662
• CudaImage by @spomichter in #671
• Add start/stop to all modules and other resources by @paul-nechifor in #675
• forgotten context managers by @paul-nechifor in #676
• CUDAImage, NumpyImage, Image implementations with robust backend tests for image operations by @spomichter in #680
• CudaImage by @spomichter in #677
• alibaba env var fix by @leshy in #673
• Rename FakeRTC --> ReplayRTC by @spomichter in #681
• Fix websocketvis performance rebase by @spomichter in #682
• Alexl ros nav intergration by @alexlin2 in #632
• detection pipeline rewrite, embedding, vl model standardization, reid system by @leshy in #674
• cli tooling theme by @leshy in #687
• Fix spatial memory bug in g1 by @spomichter in #689
• Add autoconnect back2 by @paul-nechifor in #684
• Add ability to remap module connections name. by @paul-nechifor in #698
• Add transport which encodes images as JPEG to improve performance. by @paul-nechifor in #693
• New Ruff autofixes by @paul-nechifor in #694

New Contributors

• @joshuajerin made their first contribution in #310
• @mdaiter made their first contribution in #350
• @yashas-salankimatt made their first contribution in #628

Full Changelog: https://github.com/dimensionalOS/dimos/commits/v0.0.5