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Ivan Nikolic edited this page Apr 21, 2026 · 7 revisions

Jeff

  • TODO bona + jeff
  • TODO review on call
  • TODO map loading / saving (how do frame_ids work here, once you relocalize, which frame is jumping)

Mustafa

  • TODO trajectory controller (path following, series of poses, precision overlay)
  • TODO galaxia integration wrap
  • TODO open arm :o

Paul

  • DONE py API
  • REVIEW tool streaming
  • TODO antim labs
  • TODO mem2 integration

Ruthwik

  • DONE rerun <3
  • DONE angry go2 mode (sdk/webrtc) - how do we switch modes? Config setting for default mode, RPC to switch modes GO2 sdk speed limit?
  • TODO trajectory controller evals
  • TODO "vla stuff" - let's discuss

Andrew

  • DONE native modules rewrite (feeding configs)
  • DONE dtop child process fixes

Ivan

  • TODO reviews
  • TODO logistics

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

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Ruthwik

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