Feat/ivan/go2 color

[leshy]

bidirectional projection (from 3d into 2d and from 2d into 3d)
memory2 stream alignment system

sloptimized:

experiment projecting camera image onto pointcloud on go2
vibed colored global mapper

[codecov]

❌ 3 Tests Failed:

Tests completed	Failed	Passed	Skipped
2110	3	2107	71

View the top 3 failed test(s) by shortest run time

dimos.perception.test_lidar_color_module::test_color_pointcloud_fill_invalid_returns_all_points

Stack Traces | 0.002s run time

def test_color_pointcloud_fill_invalid_returns_all_points():
        """``fill_invalid`` keeps out-of-FOV points and gives them the fill colour."""
        info = _info(640, 480)
        img = _solid_image(640, 480, 10, 20, 30)
        pts = np.array(
            [
                [0.0, 0.0, 2.0],  # in front, on axis -> colored from image
                [0.0, 0.0, -1.0],  # behind camera     -> filled gray
                [100.0, 0.0, 1.0],  # off-axis          -> filled gray
            ],
            dtype=np.float32,
        )
        GRAY = (128, 128, 128)
>       positions, colors = color_pointcloud(
            pts, img, info, T_camera_lidar=np.eye(4), fill_invalid=GRAY
        )
E       TypeError: color_pointcloud() got an unexpected keyword argument 'fill_invalid'

GRAY       = (128, 128, 128)
img        = Image(shape=(480, 640, 3), format=RGB, dtype=uint8, frame_id='', ts=1779540189.4841087)
info       = CameraInfo(height=480, width=640, distortion_model='plumb_bob', frame_id='', ts=1779540189.483719)
pts        = array([[          0,           0,           2],
       [          0,           0,          -1],
       [        100,           0,           1]], dtype=float32)

dimos/perception/test_lidar_color_module.py:192: TypeError

dimos.project.test_no_sections::test_no_section_markers

Stack Traces | 0.609s run time

def test_no_section_markers():
        """
        Fail if any file contains section-style comment markers.
    
        If a file is too complicated to be understood without sections, then the
        sections should be files. We don't need "subfiles".
        """
        violations = find_section_markers()
        if violations:
            report_lines = [
                f"Found {len(violations)} section marker(s). "
                "If a file is too complicated to be understood without sections, "
                'then the sections should be files. We don\'t need "subfiles".',
                "",
            ]
            for path, lineno, text in violations:
                report_lines.append(f"  {path}:{lineno}: {text.strip()}")
>           raise AssertionError("\n".join(report_lines))
E           AssertionError: Found 15 section marker(s). If a file is too complicated to be understood without sections, then the sections should be files. We don't need "subfiles".
E           
E             dimos/perception/test_lidar_color_module.py:83: # --- color_pointcloud pure helper -------------------------------------------
E             dimos/perception/lidar_color_module.py:196: # --- subscribers ---
E             dimos/perception/lidar_color_module.py:291: # --- rerun rendering (debug aid) ---
E             .../perception/pointcloud/test_projection.py:69: # --- fixtures: three distortion variants -------------------------------------
E             .../perception/pointcloud/test_projection.py:85: # --- 1-3. Round-trip identity across models ----------------------------------
E             .../perception/pointcloud/test_projection.py:139: # --- 4. Center pixel sanity --------------------------------------------------
E             .../perception/pointcloud/test_projection.py:151: # --- 5. Pinhole closed-form match -------------------------------------------
E             .../perception/pointcloud/test_projection.py:163: # --- 6. Behind-camera rejection ---------------------------------------------
E             .../perception/pointcloud/test_projection.py:172: # --- 7. Outside-image rejection ---------------------------------------------
E             .../perception/pointcloud/test_projection.py:185: # --- 8. CameraInfo respect (the "must change projection" invariant) ---------
E             .../perception/pointcloud/test_projection.py:201: # --- 9. Pose respect --------------------------------------------------------
E             .../perception/pointcloud/test_projection.py:230: # --- 10. Cross-check vs raw cv2 ---------------------------------------------
E             .../perception/pointcloud/test_projection.py:248: # --- 11. Distortion is actually applied -------------------------------------
E             .../perception/pointcloud/test_projection.py:263: # --- 12. Unit-norm direction -------------------------------------------------
E             .../perception/pointcloud/test_projection.py:280: # --- bonus: project_point convenience ----------------------------------------

lineno     = 280
path       = '.../perception/pointcloud/test_projection.py'
report_lines = ['Found 15 section marker(s). If a file is too complicated to be understood without sections, then the sections should...ointcloud/test_projection.py:69: # --- fixtures: three distortion variants -------------------------------------', ...]
text       = '# --- bonus: project_point convenience ----------------------------------------'
violations = [('dimos/perception/test_lidar_color_module.py', 83, '# --- color_pointcloud pure helper -----------------------------...loud/test_projection.py', 139, '# --- 4. Center pixel sanity --------------------------------------------------'), ...]

dimos/project/test_no_sections.py:145: AssertionError

dimos.robot.test_all_blueprints_generation::test_all_blueprints_is_current

Stack Traces | 2.96s run time

def test_all_blueprints_is_current() -> None:
        root = DIMOS_PROJECT_ROOT / "dimos"
        all_blueprints, all_modules = _scan_for_blueprints(root)
    
        common = set(all_blueprints.keys()) & set(all_modules.keys())
        assert not common, (
            f"Names must be unique across blueprints and modules, "
            f"but these appear in both: {sorted(common)}"
        )
    
        generated_content = _generate_all_blueprints_content(all_blueprints, all_modules)
    
        file_path = root / "robot" / "all_blueprints.py"
    
        if "CI" in os.environ:
            if not file_path.exists():
                pytest.fail(f"all_blueprints.py does not exist at {file_path}")
    
            current_content = file_path.read_text()
            if current_content != generated_content:
                diff = difflib.unified_diff(
                    current_content.splitlines(keepends=True),
                    generated_content.splitlines(keepends=True),
                    fromfile="all_blueprints.py (current)",
                    tofile="all_blueprints.py (generated)",
                )
                diff_str = "".join(diff)
>               pytest.fail(
                    f"all_blueprints.py is out of date. Run "
                    f"`pytest dimos/robot/test_all_blueprints_generation.py` locally to update.\n\n"
                    f"Diff:\n{diff_str}"
                )
E               Failed: all_blueprints.py is out of date. Run `pytest dimos/robot/test_all_blueprints_generation.py` locally to update.
E               
E               Diff:
E               --- all_blueprints.py (current)
E               +++ all_blueprints.py (generated)
E               @@ -162,6 +162,7 @@
E                    "joystick-module": "dimos.robot.unitree.b1.joystick_module.JoystickModule",
E                    "keyboard-teleop": "dimos.robot.unitree.keyboard_teleop.KeyboardTeleop",
E                    "keyboard-teleop-module": "dimos.teleop.keyboard.keyboard_teleop_module.KeyboardTeleopModule",
E               +    "lidar-color-module": "dimos.perception.lidar_color_module.LidarColorModule",
E                    "local-planner": "dimos.navigation.nav_stack.modules.local_planner.local_planner.LocalPlanner",
E                    "manipulation-module": "dimos.manipulation.manipulation_module.ManipulationModule",
E                    "map": "dimos.robot.unitree.type.map.Map",

all_blueprints = {'alfred-nav': 'dimos.robot.diy.alfred.blueprints.alfred_nav:alfred_nav', 'coordinator-basic': 'dimos.control.blueprin...sian_ik_mock', 'coordinator-cartesian-ik-piper': 'dimos.control.blueprints.teleop:coordinator_cartesian_ik_piper', ...}
all_modules = {'alfred-high-level': 'dimos.robot.diy.alfred.effector_high_level.AlfredHighLevel', 'arm-teleop-module': 'dimos.teleop..._navigation.BBoxNavigationModule', 'b1-connection-module': 'dimos.robot.unitree.b1.connection.B1ConnectionModule', ...}
common     = set()
current_content = '# Copyright 2025-2026 Dimensional Inc.\n#\n# Licensed under the Apache License, Version 2.0 (the "License");\n# you m...ebsocket_vis_module.WebsocketVisModule",\n    "zed-camera": "dimos.hardware.sensors.camera.zed.camera.ZEDCamera",\n}\n'
diff       = <generator object unified_diff at 0x7fba9a98ec20>
diff_str   = '--- all_blueprints.py (current)\n+++ all_blueprints.py (generated)\n@@ -162,6 +162,7 @@\n     "joystick-module": "dim...dule": "dimos.manipulation.manipulation_module.ManipulationModule",\n     "map": "dimos.robot.unitree.type.map.Map",\n'
file_path  = PosixPath('.../dimos/robot/all_blueprints.py')
generated_content = '# Copyright 2025-2026 Dimensional Inc.\n#\n# Licensed under the Apache License, Version 2.0 (the "License");\n# you m...ebsocket_vis_module.WebsocketVisModule",\n    "zed-camera": "dimos.hardware.sensors.camera.zed.camera.ZEDCamera",\n}\n'
root       = PosixPath('.../dimos/dimos/dimos')

dimos/robot/test_all_blueprints_generation.py:66: Failed

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