From 037f0c78d215f3460b97f8906a61d5ab93e987df Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Sat, 16 May 2026 01:36:49 -0700 Subject: [PATCH 1/4] - --- dimos/navigation/nav_stack/main.py | 14 ++++++++++---- 1 file changed, 10 insertions(+), 4 deletions(-) diff --git a/dimos/navigation/nav_stack/main.py b/dimos/navigation/nav_stack/main.py index 7fdfa45f17..1b05045478 100644 --- a/dimos/navigation/nav_stack/main.py +++ b/dimos/navigation/nav_stack/main.py @@ -197,6 +197,7 @@ def nav_stack_rerun_config( agentic_debug: bool = False, show_registered_scan: bool = False, vis_throttle: float = 1.0, + default_max_hz: int = 60, ) -> dict[str, Any]: """Return a rerun config dict with nav stack visualization defaults. @@ -206,10 +207,6 @@ def nav_stack_rerun_config( Use ``vis_throttle`` (make smaller) if there is crashing related to Rerun/Dimos-Viewer. """ resolved = dict(user_config or {}) - if vis_throttle != 1.0 and "max_hz" in resolved: - resolved["max_hz"] = { - entity: hz * vis_throttle for entity, hz in resolved["max_hz"].items() - } resolved.setdefault("blueprint", _default_rerun_blueprint) resolved.setdefault("pubsubs", [LCM()]) resolved.setdefault("visual_override", {}) @@ -236,6 +233,8 @@ def nav_stack_rerun_config( visual_override.setdefault("world/contour_polygons", _contour_polygons_colors_debug) visual_override.setdefault("world/graph_nodes", _graph_nodes_colors_debug) visual_override.setdefault("world/graph_edges", _graph_edges_colors_debug) + visual_override.setdefault("world/pgo_graph_nodes", _pgo_graph_nodes_colors_debug) + visual_override.setdefault("world/pgo_graph_edges", _pgo_graph_edges_colors_debug) else: visual_override.setdefault("world/way_point", _waypoint_colors) visual_override.setdefault("world/goal", _goal_colors) @@ -251,6 +250,13 @@ def nav_stack_rerun_config( static_entries = dict(resolved["static"]) static_entries.setdefault("world/floor", _static_floor) resolved["static"] = static_entries + # scale/limit rendering (mostly preveting rerun from crashing) + resolved.setdefault("max_hz", {}) + resolved["max_hz"] = { + each_entity: resolved["max_hz"].get(each_entity, default_max_hz) * vis_throttle + for each_entity in visual_override + } + return resolved From ca977fa1707e2e36204a849f970ae233db97c8e1 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Sat, 16 May 2026 01:39:24 -0700 Subject: [PATCH 2/4] - --- dimos/navigation/nav_stack/main.py | 2 -- 1 file changed, 2 deletions(-) diff --git a/dimos/navigation/nav_stack/main.py b/dimos/navigation/nav_stack/main.py index 1b05045478..2dd3920e1d 100644 --- a/dimos/navigation/nav_stack/main.py +++ b/dimos/navigation/nav_stack/main.py @@ -233,8 +233,6 @@ def nav_stack_rerun_config( visual_override.setdefault("world/contour_polygons", _contour_polygons_colors_debug) visual_override.setdefault("world/graph_nodes", _graph_nodes_colors_debug) visual_override.setdefault("world/graph_edges", _graph_edges_colors_debug) - visual_override.setdefault("world/pgo_graph_nodes", _pgo_graph_nodes_colors_debug) - visual_override.setdefault("world/pgo_graph_edges", _pgo_graph_edges_colors_debug) else: visual_override.setdefault("world/way_point", _waypoint_colors) visual_override.setdefault("world/goal", _goal_colors) From 8d3d7682879bad725440be528d0f4c45a4379cd4 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Sat, 16 May 2026 10:38:14 -0700 Subject: [PATCH 3/4] Update dimos/navigation/nav_stack/main.py Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> --- dimos/navigation/nav_stack/main.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/dimos/navigation/nav_stack/main.py b/dimos/navigation/nav_stack/main.py index 2dd3920e1d..d40db119ed 100644 --- a/dimos/navigation/nav_stack/main.py +++ b/dimos/navigation/nav_stack/main.py @@ -250,7 +250,7 @@ def nav_stack_rerun_config( resolved["static"] = static_entries # scale/limit rendering (mostly preveting rerun from crashing) resolved.setdefault("max_hz", {}) - resolved["max_hz"] = { + # scale/limit rendering (mostly preventing rerun from crashing) each_entity: resolved["max_hz"].get(each_entity, default_max_hz) * vis_throttle for each_entity in visual_override } From abc78e4b6dcbacc040c4502b32e1ceb8a4267983 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Sat, 16 May 2026 10:42:19 -0700 Subject: [PATCH 4/4] fix: address greptile review on nav_stack/main.py max_hz block - Restore missing dict-comprehension assignment target and opening brace (P0: previous code was a SyntaxError, broke import of the whole module). - Iterate over union of visual_override and existing max_hz keys so caller-provided rate limits outside the default entity list survive (P1: previously silently dropped). - Fix typo in comment 'preveting' -> 'preventing' (P2). Addresses greptile comments on PR #2108. --- dimos/navigation/nav_stack/main.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/dimos/navigation/nav_stack/main.py b/dimos/navigation/nav_stack/main.py index d40db119ed..4729233507 100644 --- a/dimos/navigation/nav_stack/main.py +++ b/dimos/navigation/nav_stack/main.py @@ -248,11 +248,11 @@ def nav_stack_rerun_config( static_entries = dict(resolved["static"]) static_entries.setdefault("world/floor", _static_floor) resolved["static"] = static_entries - # scale/limit rendering (mostly preveting rerun from crashing) - resolved.setdefault("max_hz", {}) # scale/limit rendering (mostly preventing rerun from crashing) + resolved.setdefault("max_hz", {}) + resolved["max_hz"] = { each_entity: resolved["max_hz"].get(each_entity, default_max_hz) * vis_throttle - for each_entity in visual_override + for each_entity in set(visual_override) | set(resolved["max_hz"]) } return resolved