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Ivan Nikolic edited this page Jun 9, 2026 · 14 revisions

high priority NAV, TELEOP, PHYSICAL CI

FDE

let's quickly meet and review this

Pim (manip humanoid) ACT end of May grabbing boxes off tables

  • REVIEW PR Groot policy (ready, sorting comments)
  • TODO PR Reachability
g1.point_to(PoseStamped)
  • ... sim work (we want to load textured meshes)

Krishna

  • Lerobot leader arms
  • DONE X2 recordings
  • DONE FDE GO2 Firmware task!
  • REVIEW Readme task (G1 what's alpha/experimental make it clear in the readme)
  • DONE data recording support
  • DONE remove docker, manip stuff
  • Mustafa tuning of wheel base
  • TODO FDE label
  • TODO Hip issue with G1

Tom/CC (manip general)

  • TODO bimanual teleop stuff, more next week related to teleop, act

    multi blueprints .. (Ivan & Paul)

Sam

  • For Ivan make sure his issues are written & he's working on it

  • TODO CI cleanup (flakey tests)

  • TODO for ivan - reduce hours to 20h a week

  • TODO ARM CI

  • TODO full CI for installation instructions! Run nightly or Main merge?

  • TODO bigger runner for actual heavy/sim tests Paul give sample to Sam, mujoco and dimsim Run nightly or Main merge?

Eric & Ivan

  • TODO dds connection module for go2?
  • DONE wifi setup oh my god
  • FPS Mode
  • hacked go2, pulled out all original policies
  • full isaacsim training environment
  • training env work
  • distilled go2 models into Dimensional model
  • DONE prod roomba
  • TODO dimensional go2 training env
  • TODO let's see how we pub this?

Dan

  • DONE April tag moving to detection stack (detection3d msgs), april detectors as mem2 transforms
  • DONE Stream temporal alignment
  • REVIEW Perception/detection rewrite
  • TODO Come to China!!!

Jeff

RUSTLIO?!

  • TODO Recording
  • TODO g1 simple go2 like nav
self.tf.publish(Transform(...))
  • MEET static transforms (REVIEW IVAN PLZ)

Mustafa

  • TODO "galaxia stuff"
  • TODO go2 mid360 package
  • TODO trajectory control
  • TODO obstacle avoidance body aware?
  • MEET on controllers & obstacles with Ivan
  • TODO manip bimanual, VLA stuff

Paul

  • REVIEW Extracting connections to separate modules (testing PR) (IVAN PLZ REVIEW - redoing this)

  • ONGOING antim labs ping-pong help us with antim labs review! :) Ivan Review and let's merge it

  • TODO Zenoh <3 Chat about this with Ivan offline

Agent Stuff

  • connection module hot reloading Probably connection.py needs to retry connection as it's flakey

  • DONE parallel/serial skill exec PR

  • DONE nav skills long running updates for tasks

  • DONE for virtualbox full installation

  • TODO fix lidar plz stash

    Ask the robot to look at itself in the mirror, implement API for color change

    Ask the robot to control the front light

    Ask the claude to implement battery charge state

Stash

  • agent harness chat?

Ruthwik

ros msgs -> dimos-lcm -> dimos.msgs
custom_msg -> dimos-lcm
dimos.msgs.custom.... let's discuss
  • REVIEW - Ivan reviews teleop PR
  • TODO Teleop with Stash maybe compare latency to raw UDP/TCP
  • DONE on teleop
  • Three legged unitree
  • TODO teleop data collection? mem2?
  • TODO deploy Dimensional satellite with Mustafa

Andrew

  • REVIEW 3D path planning <3
  • TODO raycaster evals :)
  • TODO LoGlo on Go2?

Ezen & Jakob

  • TODO done guys are vibing demos

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