feat: livox replay by aclauer · Pull Request #2089 · dimensionalOS/dimos

aclauer · 2026-05-14T23:03:10Z

Problem

Replay recorded livox mid360 for offline and reproducible testing

Closes DIM-XXX

Solution

Introduce FastLioReplay blueprint. Can be dropped in place of FastLio to play back recorded data.

How to Test

dimos run mid360-fastlio-memory to record sample
dimos run mid360-fastlio-replay to play back

Contributor License Agreement

I have read and approved the CLA.

# Conflicts: # data/.lfs/go2_hongkong_office.db.tar.gz # data/.lfs/go2_short.db.tar.gz

greptile-apps · 2026-05-14T23:07:32Z

Greptile Summary

This PR introduces FastlioReplay, a drop-in replacement for FastLio2 that plays back a recorded Livox Mid-360 session from a SQLite database, and FastlioMemory, a Recorder subclass that records lidar + odometry while also publishing odometry transforms to TF. Supporting infrastructure includes Transform.from_odometry(), frame-ID resolution improvements in Recorder._port_to_stream, and a _native_ignore_fields() helper on NativeModuleConfig.

FastlioMemory wraps Recorder with a live odometry→TF subscription so recorded messages carry correct robot-pose anchors.
FastlioReplay drives two independent timed_playback observables (lidar + odometry) from the same SQLite store, republishing both streams and TF transforms for downstream consumers.
_native_ignore_fields refines which config fields to_cli_args and to_config_dict expose by tracking which NativeModuleConfig fields are re-declared (rather than inherited) in a subclass.

Confidence Score: 4/5

Safe to merge for the replay functionality itself; the native-module CLI-arg exposure bug in native_module.py is a pre-existing concern that was already raised and is not introduced by this PR.

The recording and replay paths are well-structured and the individual components (timed_playback, from_odometry, frame-ID resolution) are correct. The one lingering concern is that _native_ignore_fields() causes FastLio2Config's infrastructure fields (cwd, executable, build_command, cli_exclude) to leak into to_cli_args() output, which was flagged in a prior review round. That issue predates this PR's additions and fastlio-replay/memory don't call to_cli_args() at all, so replay functionality is unaffected. Everything new in this PR is sound.

dimos/core/native_module.py — the _native_ignore_fields logic interacts with FastLio2Config's redeclared infrastructure fields in a way that was flagged previously and remains unresolved.

Important Files Changed

Filename	Overview
dimos/hardware/sensors/lidar/fastlio2/fastlio_blueprints.py	Adds FastlioMemory and FastlioReplay classes plus four new blueprints; tf subscription is now properly registered as a disposable; two replay blueprints share the same robot_model (acknowledged as intentional)
dimos/core/native_module.py	Introduces _native_ignore_fields() to expose only redeclared subclass fields; FastLio2Config redeclares cwd/executable/build_command/cli_exclude causing those infrastructure fields to be appended as binary CLI args (previously flagged)
dimos/memory2/module.py	Improves frame-ID resolution in _port_to_stream: prefers child_frame_id for transform messages (Odometry), falls back to frame_id, and overrides "world" with default_frame_id
dimos/msgs/geometry_msgs/Transform.py	Adds Transform.from_odometry() classmethod that extracts frame names and pose from an Odometry message; cleanly avoids circular imports via TYPE_CHECKING guard
dimos/protocol/tf/tf.py	Raises ValueError on same-frame tf.get() calls to catch caller bugs; breaks the None-returning contract of the rest of get() — callers without try/except will surface an unhandled exception (previously flagged, acknowledged as deferred)
dimos/robot/all_blueprints.py	Registers three new blueprint/module entries for fastlio-memory, fastlio-replay, and fastlio-replay-voxels
dimos/hardware/sensors/lidar/fastlio2/module.py	One-line comment update clarifying when config_path is resolved; no logic changes

_{Reviews (5): Last reviewed commit: "Merge branch 'main' into ivan/feat/livox..." | Re-trigger Greptile}

codecov · 2026-05-14T23:10:15Z

❌ 2 Tests Failed:

Tests completed	Failed	Passed	Skipped
1741	2	1739	27

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

dimos.core.test_native_module::test_manual

Stack Traces | 6.48s run time

dimos_cluster = <dimos.core.coordination.module_coordinator.ModuleCoordinator object at 0x7f066ab98e30>
args_file = '.../popen-gw1/test_manual0/native_echo_args.json'

    def test_manual(dimos_cluster: ModuleCoordinator, args_file: str) -> None:
        native_module = dimos_cluster.deploy(
            StubNativeModule,
            some_param=2.5,
            output_file=args_file,
        )
    
        native_module.set_transport("pointcloud", LCMTransport("........./my/custom/lidar", PointCloud2))
        native_module.set_transport("cmd_vel", LCMTransport("/cmd_vel", Twist))
        native_module.start()
        time.sleep(1)
        native_module.stop()
    
>       assert read_json_file(args_file) == {
            "cmd_vel": "/cmd_vel#geometry_msgs.Twist",
            "pointcloud": "........./my/custom/lidar#sensor_msgs.PointCloud2",
            "output_file": args_file,
            "some_param": "2.5",
        }
E       AssertionError: assert {'cmd_vel': '...tCloud2', ...} == {'cmd_vel': '...param': '2.5'}
E         
E         Omitting 4 identical items, use -vv to show
E         Left contains 1 more item:
E         #x1B[0m{#x1B[33m'#x1B[39;49;00m#x1B[33mexecutable#x1B[39;49;00m#x1B[33m'#x1B[39;49;00m: #x1B[33m'#x1B[39;49;00m#x1B[.../core/tests/native_echo.py#x1B[39;49;00m#x1B[33m'#x1B[39;49;00m}#x1B[90m#x1B[39;49;00m
E         
E         Full diff:
E         #x1B[0m#x1B[90m #x1B[39;49;00m {#x1B[90m#x1B[39;49;00m
E         #x1B[90m #x1B[39;49;00m     'cmd_vel': '/cmd_vel#geometry_msgs.Twist',#x1B[90m#x1B[39;49;00m
E         #x1B[92m+     'executable': '.../core/tests/native_echo.py',#x1B[39;49;00m#x1B[90m#x1B[39;49;00m
E         #x1B[90m #x1B[39;49;00m     'output_file': '.../popen-gw1/test_manual0/native_echo_args.json',#x1B[90m#x1B[39;49;00m
E         #x1B[90m #x1B[39;49;00m     'pointcloud': '........./my/custom/lidar#sensor_msgs.PointCloud2',#x1B[90m#x1B[39;49;00m
E         #x1B[90m #x1B[39;49;00m     'some_param': '2.5',#x1B[90m#x1B[39;49;00m
E         #x1B[90m #x1B[39;49;00m }#x1B[90m#x1B[39;49;00m

args_file  = '.../popen-gw1/test_manual0/native_echo_args.json'
dimos_cluster = <dimos.core.coordination.module_coordinator.ModuleCoordinator object at 0x7f066ab98e30>
native_module = <dimos.core.rpc_client.RPCClient object at 0x7f066ab98d40>

dimos/core/test_native_module.py:140: AssertionError

dimos.core.test_native_module::test_autoconnect

Stack Traces | 7.52s run time

args_file = '.../popen-gw1/test_autoconnect0/native_echo_args.json'

    def test_autoconnect(args_file: str) -> None:
        """autoconnect passes correct topic args to the native subprocess."""
        blueprint = autoconnect(
            StubNativeModule.blueprint(
                some_param=2.5,
                output_file=args_file,
            ),
            StubConsumer.blueprint(),
            StubProducer.blueprint(),
        ).transports(
            {
                ("pointcloud", PointCloud2): LCMTransport("............/my/custom/lidar", PointCloud2),
            },
        )
    
        coordinator = ModuleCoordinator.build(blueprint.global_config(viewer="none"))
        try:
            # Validate blueprint wiring: all modules deployed
            native = coordinator.get_instance(StubNativeModule)
            consumer = coordinator.get_instance(StubConsumer)
            producer = coordinator.get_instance(StubProducer)
            assert native is not None
            assert consumer is not None
            assert producer is not None
    
            # Out→In topics match between connected modules
            assert native.pointcloud.transport.topic == consumer.pointcloud.transport.topic
            assert native.imu.transport.topic == consumer.imu.transport.topic
            assert producer.cmd_vel.transport.topic == native.cmd_vel.transport.topic
    
            # Custom transport was applied
            assert native.pointcloud.transport.topic.topic == "............/my/custom/lidar"
    
            # Wait for the native subprocess to write the output file
            for _ in range(50):
                if Path(args_file).exists():
                    break
                time.sleep(_WATCHDOG_POLL_INTERVAL)
        finally:
            coordinator.stop()
    
>       assert read_json_file(args_file) == {
            "cmd_vel": "/cmd_vel#geometry_msgs.Twist",
            "pointcloud": "............/my/custom/lidar#sensor_msgs.PointCloud2",
            "imu": "/imu#sensor_msgs.Imu",
            "output_file": args_file,
            "some_param": "2.5",
        }
E       AssertionError: assert {'cmd_vel': '...gs.json', ...} == {'cmd_vel': '...tCloud2', ...}
E         
E         Omitting 5 identical items, use -vv to show
E         Left contains 1 more item:
E         #x1B[0m{#x1B[33m'#x1B[39;49;00m#x1B[33mexecutable#x1B[39;49;00m#x1B[33m'#x1B[39;49;00m: #x1B[33m'#x1B[39;49;00m#x1B[.../core/tests/native_echo.py#x1B[39;49;00m#x1B[33m'#x1B[39;49;00m}#x1B[90m#x1B[39;49;00m
E         
E         Full diff:
E         #x1B[0m#x1B[90m #x1B[39;49;00m {#x1B[90m#x1B[39;49;00m
E         #x1B[90m #x1B[39;49;00m     'cmd_vel': '/cmd_vel#geometry_msgs.Twist',#x1B[90m#x1B[39;49;00m
E         #x1B[92m+     'executable': '.../core/tests/native_echo.py',#x1B[39;49;00m#x1B[90m#x1B[39;49;00m
E         #x1B[90m #x1B[39;49;00m     'imu': '/imu#sensor_msgs.Imu',#x1B[90m#x1B[39;49;00m
E         #x1B[90m #x1B[39;49;00m     'output_file': '.../popen-gw1/test_autoconnect0/native_echo_args.json',#x1B[90m#x1B[39;49;00m
E         #x1B[90m #x1B[39;49;00m     'pointcloud': '............/my/custom/lidar#sensor_msgs.PointCloud2',#x1B[90m#x1B[39;49;00m
E         #x1B[90m #x1B[39;49;00m     'some_param': '2.5',#x1B[90m#x1B[39;49;00m
E         #x1B[90m #x1B[39;49;00m }#x1B[90m#x1B[39;49;00m

_          = 1
args_file  = '.../popen-gw1/test_autoconnect0/native_echo_args.json'
blueprint  = Blueprint(blueprints=(BlueprintAtom(kwargs={'some_param': 2.5, 'output_file': '.../pytest-of-runner/pytest-0/popen-gw...lobal_config_overrides=mappingproxy({}), remapping_map=mappingproxy({}), requirement_checks=(), configurator_checks=())
consumer   = <dimos.core.rpc_client.RPCClient object at 0x7f0654609040>
coordinator = <dimos.core.coordination.module_coordinator.ModuleCoordinator object at 0x7f0654dea030>
native     = <dimos.core.rpc_client.RPCClient object at 0x7f0654debd10>
producer   = <dimos.core.rpc_client.RPCClient object at 0x7f065460b260>

dimos/core/test_native_module.py:189: AssertionError

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greptile-apps · 2026-05-14T23:41:50Z

+        for klass in self.__class__.__mro__:
+            if klass is NativeModuleConfig:
+                break
+            ignore -= set(getattr(klass, "__annotations__", {}))


_native_ignore_fields exposes infrastructure fields as binary CLI args

FastLio2Config re-declares cwd, executable, build_command, and cli_exclude in its class body (to set different defaults). Because those names appear in both NativeModuleConfig.model_fields and FastLio2Config.__annotations__, the new logic removes them from ignore_fields. to_cli_args() then appends --executable result/bin/fastlio2_native --cwd cpp --build_command "nix build .#fastlio2_native" --cli_exclude "frozenset({'config', 'mount'})" to the subprocess command, which the binary will likely reject as unrecognised arguments. The old code was safe because ignore_fields retained every NativeModuleConfig field (with only an explicit frame_id carve-out). A targeted fix would add "cwd", "executable", "build_command", "cli_exclude", and "cli_name_override" to FastLio2Config.cli_exclude, or restrict _native_ignore_fields to only strip fields that are not control/infrastructure fields of the base config.

paul-nechifor · 2026-05-15T00:51:29Z

        return self.inverse()

+    @classmethod
+    def from_odometry(cls, odom: Odometry) -> Transform:  # type: ignore[name-defined]


What is the type: ignore for? Looks like Odometry and Transform are imported.

paul-nechifor · 2026-05-15T00:57:48Z

+        parent_frame = args[0] if args else kwargs.get("parent_frame")
+        child_frame = args[1] if len(args) > 1 else kwargs.get("child_frame")


This is an odd way of parsing arguments. Just replace *args, **kwargs with what get_transform wants:

parent_frame: str, child_frame: str, time_point: float | None = None, time_tolerance: float | None = None,

paul-nechifor · 2026-05-15T01:00:41Z

+    speed: float = 1.0
+
+
+class FastlioReplay(MemoryModule):


This file, fastlio_blueprints, implies it's just for blueprints. Move these new modules to fastlio_modules.py or similar.

paul-nechifor · 2026-05-15T01:07:33Z

Looks good. Added some small comments.

But I'm not sure how this works with @leshy 's replay stuff: #1976

For example, instead of using different blueprints to record:

dimos run mid360-fastlio-memory #to record sample
dimos run mid360-fastlio-replay #to play back

That uses the same blueprint with some arguments.

# 1) Start a stack and record all configured output streams
dimos --record-path /tmp/recording.db run unitree-go2

# 2) Stop the run, then replay the same file
dimos --replay-file /tmp/recording.db --viewer rerun-web run unitree-go2

leshy · 2026-05-15T03:54:31Z

Looks good. Added some small comments.

But I'm not sure how this works with @leshy 's replay stuff: #1976

For example, instead of using different blueprints to record:
dimos run mid360-fastlio-memory #to record sample
dimos run mid360-fastlio-replay #to play back
That uses the same blueprint with some arguments.
# 1) Start a stack and record all configured output streams
dimos --record-path /tmp/recording.db run unitree-go2

# 2) Stop the run, then replay the same file
dimos --replay-file /tmp/recording.db --viewer rerun-web run unitree-go2

yeah this is temporary before replay stuff is mature

leshy and others added 15 commits May 6, 2026 14:52

new hong kong office recording

215f337

recordings fixed

8d8b028

new recording

36ebc5f

by default we run go2_short recording

bb3427f

trimmed short recording

bec4833

recording fixes

54dc893

switched example analysis over to new recording

2669672

Merge remote-tracking branch 'origin/dev' into ivan/fix/go2recording

3b3c670

# Conflicts: # data/.lfs/go2_hongkong_office.db.tar.gz # data/.lfs/go2_short.db.tar.gz

recorder module refactor

68cce39

undo memory docs

6e62fd4

undo transform changes

b385513

fastlio memory

961c9e4

fastlio experiments

6d60368

Merge remote-tracking branch 'origin/main' into ivan/feat/livox_recorder

12110e2

Render spheres

0574778

aclauer changed the title ~~Ivan/feat/livox recorder~~ feat: livox recorder May 14, 2026

aclauer changed the title ~~feat: livox recorder~~ feat: livox replay May 14, 2026

aclauer marked this pull request as ready for review May 14, 2026 23:03

greptile-apps Bot reviewed May 14, 2026

View reviewed changes

Comment thread dimos/memory2/module.py Outdated

Comment thread dimos/hardware/sensors/lidar/fastlio2/fastlio_blueprints.py

Comment thread dimos/protocol/tf/tf.py

Remove unused code

c118caf

greptile-apps Bot reviewed May 14, 2026

View reviewed changes

Comment thread dimos/hardware/sensors/lidar/fastlio2/fastlio_blueprints.py Outdated

aclauer added 2 commits May 14, 2026 16:29

Fix

fd7311e

Mypy

9e02acd

greptile-apps Bot reviewed May 14, 2026

View reviewed changes

paul-nechifor reviewed May 15, 2026

View reviewed changes

aclauer added 2 commits May 15, 2026 09:57

Merge branch 'main' into ivan/feat/livox_recorder

0cd82a7

Merge branch 'main' into ivan/feat/livox_recorder

2d492d8

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feat: livox replay#2089

feat: livox replay#2089
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		parent_frame = args[0] if args else kwargs.get("parent_frame")
		child_frame = args[1] if len(args) > 1 else kwargs.get("child_frame")

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Greptile Summary

Confidence Score: 4/5

Important Files Changed

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❌ 2 Tests Failed:

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