dev planning

Pim ACT end of May grabbing boxes off tables

• TODO Pointing G1

g1.point_to(PoseStamped)

• groot policy
• G1

Ivan

• TODO release notes for stash TODAY
• TODO dev -> main/master
• TODO mem2 second pass on docs
• TODO REVIEW tool streaming
• TODO review antim labs sim, record something
• TODO agents review - mem2 integration, module writing?

Jeff

• TODO - merge! nav, hoping by end of Tue
• TODO map loading / saving follow up meeting on nav (how do frame_ids work here, once you relocalize, which frame is jumping)

Mustafa

• TODO - share with Ivan to test on live go2
• TODO - benchmarks - share with Ivan
• TODO - trajectory controller work
• TODO galaxia integration work - visiting them again
• DONE open arm

Paul

• DONE py API
• TODO async modules, RPC?
• TODO antim labs CI issue?
• TODO agents review - mem2 integration, module writing?

Ruthwik

• DONE rerun <3
• DONE GO2 speed limit is 2.5 now
• TODO "vla stuff" - write spec - mustafa plans/review - we sync when ready wrt mem2
• TODO memory2 tron cyberpunk matrix solve crimes - maybe put in experimental/

Andrew ??

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Control

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

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Core

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

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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

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Manipulation

• Humanoid
• Sim

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DDS (Go2/G1) — always with backpack

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

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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

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Community Comms

Ruthwik