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Ivan Nikolic edited this page Mar 31, 2026 · 1 revision

Next week deliveries

Mustafa

  • Mustafa galaxia (trajectory opportunistic, maybe)

Jeff

  • reasonable verification if native ros nav works
  • merge native ros nav
  • investigate nonros ros transport (if possible)

Ruthwik

  • Rerun backpressure issue potentially reproduce the issue by writing a small script that emits a large number of messages in short time, reproduce mem overflow

  • Maybe trajectory

  • Other small stuff around go2

Paul

  • Ivan plz review security thing!
  • Antim labs tests testing (there was some lidar flakyness)
  • Starting modules, restaring modules - for agent editing?

Stash

  • mac test fixes - don't supress, just ignore
  • test security demo
  • Py api

Ivan

  • Review py API
  • Antim labs demo
  • Mem meeting tomorrow

Deliveries

Paul

Security module waiting for me!

Mustafa

Jeff

Ruthwik

Stash

Tech Threads Overview

Galaxia

  • Integrating bimanual robot, Mustafa visiting their office
  • Bimanal manip structural changes

DimOS Nav — Jeff/Bona

Issue: https://github.com/dimensionalOS/dimos/issues/1651

ROS Docker Nav (priority — merge first)

  • Stash + Mustafa: check if it works the same way without docker, merge if OK
  • Docker PR: get it ready for review

Control

  • Trajectory controller
    • Obstacle avoidance
    • Multistory
    • Integration of third party hardware
    • Self charging
    • Is manip supposed to use this?

Core

  • Process per module? What's the memory footprint?

Agents

What works:

  • Mostly CLI start/stop blueprints

TODOs:

  • Sequential — decorators maybe?
  • Streaming — tool msg streaming?

HumanCLI IS MCP

  • Interface to MCP client — a dumb internal agent loop if people don't want to use OpenClaw/Claude

Delete non-MCP agent (agent3 :D)

PY API — explain why:

  • REPL
  • memory2
  • We are cheating with security demo

Example tasks for a robot:

  • Tell an agent to walk around a car in a circle and take photos of it
  • Security demo without a security module
  • Security demo without a patrol module!
deployed_blueprint = UnitreeGo2Blueprint()

class Module():
    def start()
        robot.detect("person").pipe(robot.cmd_vel)

deployed_blueprint.deploy(Module)

while True:
    deployed_blueprint.camera.detect(PersonDetector)
    deployed_blueprint.follow()
    time.sleep(1)

Memory.navto(car)

while True:
   robot.lidar.freespace()
   # some motion trigonometry
   # print out possible motion
   # agent tells you to execute

# big thing is memory

Halting problem etc — agent will write horrible things, none of them should crash dimos

Manipulation

  • Humanoid
  • Sim

DDS (Go2/G1) — always with backpack

  • High level
  • Low level ctrl for policies
  • TODO: what's up with the internal lidar?

Hardware

Backpack:

  • Need to decide on Jetson
  • DONE Ivan: link your Seeed Studio industrial
  • TODO Mustafa: adopt for Jetson
  • End of week roughly

Charging: TBD

Community Comms

Ruthwik

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