alfred-mls-nav on the single DimSlam module by jeff-hykin · Pull Request #3597 · dimensionalOS/dimos

jeff-hykin · 2026-08-21T08:20:37Z

Stacked on jeff/feat/dim_slam and jeff/fix/ray_tracing_tf; final branch of the stack.

alfred-mls-nav runs the single DimSlam module: cuVSLAM on the D455 IR pair + ESKF over visual, wheel odometry and the D455 IMU, in one process
merges the robot-proven alfred work from jeff/feat/alfred-mls-nav: rerun camera layout, D455 mount transform, world_frame="odom" on the voxel map, effector event-loop fix, 2 s replay buffer
CuvslamOdometry + OdometryFusion blueprint pair replaced by one DimSlam.blueprint; alfred_cuvslam.py and odometry_fusion.py removed
demo-cuvslam-replay moves to dimos/mapping/dim_slam and drives DimSlam

codecov · 2026-08-21T08:27:38Z

❌ 2 Tests Failed:

Tests completed	Failed	Passed	Skipped
3794	2	3792	175

View the top 2 failed test(s) by shortest run time

dimos.codebase_checks.test_blueprint_kwargs::test_blueprint_atom_kwargs_match_module_config[alfred-mls-nav]

Stack Traces | 0.021s run time

blueprint_name = 'alfred-mls-nav'

    @pytest.mark.parametrize("blueprint_name", _blueprint_params())
    def test_blueprint_atom_kwargs_match_module_config(blueprint_name: str) -> None:
        """Fail when blueprint kwargs cannot be consumed by their target module."""
>       blueprint = _get_blueprint_or_skip(blueprint_name)

blueprint_name = 'alfred-mls-nav'

dimos/codebase_checks/test_blueprint_kwargs.py:91: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/codebase_checks/test_blueprint_kwargs.py:36: in _get_blueprint_or_skip
    return get_blueprint_by_name(blueprint_name)
        blueprint_name = 'alfred-mls-nav'
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'alfred_mls_nav'
        module_path = 'dimos.robot.diy.alfred.blueprints.alfred_mls_nav'
        name       = 'alfred-mls-nav'
.../alfred/blueprints/alfred_mls_nav.py:50: in <module>
    from dimos.robot.diy.alfred.effector_high_level import AlfredHighLevel
        DanHolonomicTC = <class 'dimos.navigation.dannav.holonomic_tc.module.DanHolonomicTC'>
        DanLocalPlanner = <class 'dimos.navigation.dannav.local_planner.module.DanLocalPlanner'>
        DimSlam    = <class 'dimos.mapping.dim_slam.dim_slam.DimSlam'>
        GoalRelay  = <class 'dimos.navigation.nav_3d.mls_planner.goal_relay.GoalRelay'>
        MLSPlannerNative = <class 'dimos.navigation.nav_3d.mls_planner.mls_planner_native.MLSPlannerNative'>
        MovementManager = <class 'dimos.navigation.movement_manager.movement_manager.MovementManager'>
        Path       = <class 'pathlib.Path'>
        Quaternion = <class 'dimos.msgs.geometry_msgs.Quaternion.Quaternion'>
        RayTracingVoxelMap = <class 'dimos.mapping.ray_tracing.module.RayTracingVoxelMap'>
        RealSenseCamera = <class 'dimos.hardware.sensors.camera.realsense.camera.RealSenseCamera'>
        Transform  = <class 'dimos.msgs.geometry_msgs.Transform.Transform'>
        Vector3    = <class 'dimos.msgs.geometry_msgs.Vector3.Vector3'>
        __builtins__ = <builtins>
        __cached__ = '.../blueprints/__pycache__/alfred_mls_nav.cpython-312.pyc'
        __doc__    = 'Alfred running MLS planning off the D455 alone, with no Mid-360.\n\n    dimos run alfred-mls-nav\n\n``alfred_nav`` ne...many voxels\nas ray tracing and ate the walls MLS needs to plan around (IoU 0.076 vs 0.107, recall\n0.200 vs 0.292).\n'
        __file__   = '/home/runner/work/dimos/dimos/.../alfred/blueprints/alfred_mls_nav.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff796529a4b0>
        __name__   = 'dimos.robot.diy.alfred.blueprints.alfred_mls_nav'
        __package__ = 'dimos.robot.diy.alfred.blueprints'
        __spec__   = ModuleSpec(name='dimos.robot.diy.alfred.blueprints.alfred_mls_nav', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff796529a4b0>, origin='/home/runner/work/dimos/dimos/.../alfred/blueprints/alfred_mls_nav.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xff7a36b99e40>
        global_config = GlobalConfig(robot_ip=None, robot_ips=None, unitree_aes_128_key=None, xarm7_ip=None, xarm6_ip=None, can_port=None, dev..._host='127.0.0.1', dimsim_scene='apartment', dimsim_port=8090, dimsim_headless=True, local_relay=False, relay_url=None)
        partial    = <class 'functools.partial'>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # 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.
    
    """Alfred high-level control via Portal RPC.
    
    Subscribes to ``cmd_vel`` and forwards each Twist to the Alfred controller
    as a holonomic target velocity. The controller performs the wheel-level
    kinematics on-board, so this module hands off ``(vx, vy, wz)`` rather than
    computing per-wheel speeds locally.
    
    Frame convention: Alfred uses an inverted Y-axis vs. ROS, so ``vy`` and
    ``wz`` are negated before being sent to the hardware.
    
      Standard (ROS):     Alfred:
          +Y                -Y
          ↑                  ↑
       ───┼──→ +X         ───┼──→ +X
          |                  |
    """
    
    from __future__ import annotations
    
    import asyncio
    from collections.abc import AsyncGenerator
    import math
    import time
    from typing import Any
    
    import numpy as np
>   import portal
E   ModuleNotFoundError: No module named 'portal'

Any        = typing.Any
AsyncGenerator = <class 'collections.abc.AsyncGenerator'>
__builtins__ = <builtins>
__cached__ = '.../alfred/__pycache__/effector_high_level.cpython-312.pyc'
__doc__    = 'Alfred high-level control via Portal RPC.\n\nSubscribes to ``cmd_vel`` and forwards each Twist to the Alfred controll...      +Y                -Y\n      ↑                  ↑\n   ───┼──→ +X         ───┼──→ +X\n      |                  |\n'
__file__   = '.../diy/alfred/effector_high_level.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff7965806f60>
__name__   = 'dimos.robot.diy.alfred.effector_high_level'
__package__ = 'dimos.robot.diy.alfred'
__spec__   = ModuleSpec(name='dimos.robot.diy.alfred.effector_high_level', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff7965806f60>, origin='.../diy/alfred/effector_high_level.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
asyncio    = <module 'asyncio' from '.../usr/lib/python3.12/asyncio/__init__.py'>
math       = <module 'math' (built-in)>
np         = <module 'numpy' from '.../dimos/dimos/.venv/lib/python3.12.../site-packages/numpy/__init__.py'>
time       = <module 'time' (built-in)>

.../diy/alfred/effector_high_level.py:41: ModuleNotFoundError

dimos.robot.test_all_blueprints::test_blueprint_is_valid[alfred-mls-nav]

Stack Traces | 0.022s run time

blueprint_name = 'alfred-mls-nav'

    @pytest.mark.parametrize("blueprint_name", UBUNTU_BLUEPRINTS)
    def test_blueprint_is_valid(blueprint_name: str) -> None:
        """Validate blueprints that should import on the ubuntu-latest runner."""
>       _check_blueprint(blueprint_name)

blueprint_name = 'alfred-mls-nav'

dimos/robot/test_all_blueprints.py:106: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/test_all_blueprints.py:82: in _check_blueprint
    blueprint = get_blueprint_by_name(blueprint_name)
        blueprint_name = 'alfred-mls-nav'
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'alfred_mls_nav'
        module_path = 'dimos.robot.diy.alfred.blueprints.alfred_mls_nav'
        name       = 'alfred-mls-nav'
.../alfred/blueprints/alfred_mls_nav.py:50: in <module>
    from dimos.robot.diy.alfred.effector_high_level import AlfredHighLevel
        DanHolonomicTC = <class 'dimos.navigation.dannav.holonomic_tc.module.DanHolonomicTC'>
        DanLocalPlanner = <class 'dimos.navigation.dannav.local_planner.module.DanLocalPlanner'>
        DimSlam    = <class 'dimos.mapping.dim_slam.dim_slam.DimSlam'>
        GoalRelay  = <class 'dimos.navigation.nav_3d.mls_planner.goal_relay.GoalRelay'>
        MLSPlannerNative = <class 'dimos.navigation.nav_3d.mls_planner.mls_planner_native.MLSPlannerNative'>
        MovementManager = <class 'dimos.navigation.movement_manager.movement_manager.MovementManager'>
        Path       = <class 'pathlib.Path'>
        Quaternion = <class 'dimos.msgs.geometry_msgs.Quaternion.Quaternion'>
        RayTracingVoxelMap = <class 'dimos.mapping.ray_tracing.module.RayTracingVoxelMap'>
        RealSenseCamera = <class 'dimos.hardware.sensors.camera.realsense.camera.RealSenseCamera'>
        Transform  = <class 'dimos.msgs.geometry_msgs.Transform.Transform'>
        Vector3    = <class 'dimos.msgs.geometry_msgs.Vector3.Vector3'>
        __builtins__ = <builtins>
        __cached__ = '.../blueprints/__pycache__/alfred_mls_nav.cpython-312.pyc'
        __doc__    = 'Alfred running MLS planning off the D455 alone, with no Mid-360.\n\n    dimos run alfred-mls-nav\n\n``alfred_nav`` ne...many voxels\nas ray tracing and ate the walls MLS needs to plan around (IoU 0.076 vs 0.107, recall\n0.200 vs 0.292).\n'
        __file__   = '/home/runner/work/dimos/dimos/.../alfred/blueprints/alfred_mls_nav.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff31bc8f84a0>
        __name__   = 'dimos.robot.diy.alfred.blueprints.alfred_mls_nav'
        __package__ = 'dimos.robot.diy.alfred.blueprints'
        __spec__   = ModuleSpec(name='dimos.robot.diy.alfred.blueprints.alfred_mls_nav', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff31bc8f84a0>, origin='/home/runner/work/dimos/dimos/.../alfred/blueprints/alfred_mls_nav.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xff328e4f1e40>
        global_config = GlobalConfig(robot_ip=None, robot_ips=None, unitree_aes_128_key=None, xarm7_ip=None, xarm6_ip=None, can_port=None, dev..._host='127.0.0.1', dimsim_scene='apartment', dimsim_port=8090, dimsim_headless=True, local_relay=False, relay_url=None)
        partial    = <class 'functools.partial'>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # 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.
    
    """Alfred high-level control via Portal RPC.
    
    Subscribes to ``cmd_vel`` and forwards each Twist to the Alfred controller
    as a holonomic target velocity. The controller performs the wheel-level
    kinematics on-board, so this module hands off ``(vx, vy, wz)`` rather than
    computing per-wheel speeds locally.
    
    Frame convention: Alfred uses an inverted Y-axis vs. ROS, so ``vy`` and
    ``wz`` are negated before being sent to the hardware.
    
      Standard (ROS):     Alfred:
          +Y                -Y
          ↑                  ↑
       ───┼──→ +X         ───┼──→ +X
          |                  |
    """
    
    from __future__ import annotations
    
    import asyncio
    from collections.abc import AsyncGenerator
    import math
    import time
    from typing import Any
    
    import numpy as np
>   import portal
E   ModuleNotFoundError: No module named 'portal'

Any        = typing.Any
AsyncGenerator = <class 'collections.abc.AsyncGenerator'>
__builtins__ = <builtins>
__cached__ = '.../alfred/__pycache__/effector_high_level.cpython-312.pyc'
__doc__    = 'Alfred high-level control via Portal RPC.\n\nSubscribes to ``cmd_vel`` and forwards each Twist to the Alfred controll...      +Y                -Y\n      ↑                  ↑\n   ───┼──→ +X         ───┼──→ +X\n      |                  |\n'
__file__   = '.../diy/alfred/effector_high_level.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff31bc315130>
__name__   = 'dimos.robot.diy.alfred.effector_high_level'
__package__ = 'dimos.robot.diy.alfred'
__spec__   = ModuleSpec(name='dimos.robot.diy.alfred.effector_high_level', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff31bc315130>, origin='.../diy/alfred/effector_high_level.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
asyncio    = <module 'asyncio' from '.../usr/lib/python3.12/asyncio/__init__.py'>
math       = <module 'math' (built-in)>
np         = <module 'numpy' from '.../dimos/dimos/.venv/lib/python3.12.../site-packages/numpy/__init__.py'>
time       = <module 'time' (built-in)>

.../diy/alfred/effector_high_level.py:41: ModuleNotFoundError

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The camera pointcloud was a 5 fps stand-in on the lidar stream and needed colour streaming to assemble at all. DimSlam's depth_cloud follows the depth frame rate and carries the range gate, so RayTracingVoxelMap consumes it directly and the camera stops assembling a pointcloud nothing reads.

…intcloud" This reverts commit c55bb83.

The camera's python pointcloud assembly tops out near 5 Hz regardless of pointcloud_fps, and the full-resolution depth_cloud drowned the mapper. DimSlam now publishes the cloud range-gated at 6 m and 3x3-median decimated (42 mm pitch at the gate, under the 50 mm voxel), and RayTracingVoxelMap consumes it in place of the camera pointcloud.

jeff-hykin force-pushed the jeff/feat/alfred_dim_slam branch from 338aa41 to 2259bc2 Compare August 21, 2026 10:48

jeff-hykin changed the base branch from jeff/feat/dim_slam to jeff/fix/ray_tracing_tf August 21, 2026 10:48

jeff-hykin had a problem deploying to cachix August 21, 2026 10:49 — with GitHub Actions Error

jeff-hykin deployed to cachix August 21, 2026 19:19 — with GitHub Actions Active

jeff-hykin deployed to cachix August 21, 2026 22:17 — with GitHub Actions Active

jeff-hykin force-pushed the jeff/fix/ray_tracing_tf branch from c8e8540 to c256a9e Compare August 21, 2026 22:47

jeff-hykin added 7 commits August 21, 2026 15:47

dim_slam: cuvslam replay demo and the OdometryHist path trace

f9f94fb

alfred: publish the drive train's integrated wheel odometry

ad17e1c

alfred: MLS navigation blueprint on DimSlam

cded6a5

Revert "alfred: map from the tracker's depth cloud, not the camera po…

259fe34

…intcloud" This reverts commit c55bb83.

alfred: lift the camera pointcloud cap to the sensor's 30 fps

b1d271b

jeff-hykin force-pushed the jeff/feat/alfred_dim_slam branch from b0e9b0b to c75734b Compare August 21, 2026 22:48

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alfred-mls-nav on the single DimSlam module - #3597

alfred-mls-nav on the single DimSlam module#3597
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codecov Bot commented Aug 21, 2026 •

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