feat(vis): default viewer backend to rerun-web by spomichter · Pull Request #1324 · dimensionalOS/dimos

spomichter · 2026-02-20T22:40:49Z

Summary

Switch default viewer_backend from rerun (native) to rerun-web for broader compatibility without requiring a native rerun viewer install.

One-line change in dimos/core/global_config.py.

greptile-apps · 2026-02-20T22:43:19Z

Greptile Summary

Changed the default viewer_backend from "rerun" (native desktop viewer) to "rerun-web" (browser-based viewer) in the global configuration. This improves the default user experience by eliminating the requirement for users to have the native rerun viewer installed, making the system work out-of-the-box in headless environments and browsers.

Single line change in dimos/core/global_config.py:33
Both backends are fully supported through the existing infrastructure in dimos/robot/unitree/go2/blueprints/basic/unitree_go2_basic.py:85-92
The web backend uses rr.serve_web_viewer() while native uses rr.spawn() as configured in dimos/visualization/rerun/bridge.py:263-267
Documentation in docs/usage/visualization.md already describes both options, though it currently states native is the default (line 10)

Confidence Score: 5/5

This PR is safe to merge with minimal risk
Single-line configuration change with full existing support infrastructure for both viewer backends. The change improves default compatibility without breaking any functionality since users can still opt into native viewer via CLI args or environment variables.
No files require special attention

Important Files Changed

Filename	Overview
dimos/core/global_config.py	Changed default `viewer_backend` from `rerun` (native) to `rerun-web` (browser-based) for broader compatibility

_{Last reviewed commit: c26c799}

greptile-apps

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greptile-apps · 2026-02-20T22:43:22Z

dimos/core/global_config.py

    simulation: bool = False
    replay: bool = False
-    viewer_backend: ViewerBackend = "rerun"
+    viewer_backend: ViewerBackend = "rerun-web"


Check that docs/usage/visualization.md:10 is updated to reflect rerun-web as the new default (currently states native rerun is default)

jeff-hykin

The greptile feedback is right, want me to make the change to visualization.md?

Change Line 4 to:

# Rerun web viewer (default) - teleop panel at http://localhost:7779

I'm approving anyways in case the answer is no

Switch default viewer_backend from 'rerun' (native) to 'rerun-web' for broader compatibility without a native viewer install.

@jca0

Release v0.0.10: Manipulation Stack, MuJoCo Simulation, DDS Transport, Web and Native Visualization via Rerun ## Highlights 88+ commits, 20 contributors, 700+ files changed. The TLDR: **a complete manipulation stack**, **MuJoCo simulation**, **DDS transport**, and **a rewritten visualization pipeline**. Agents are no longer bolted on top — they're refactored as native modules with direct stream access. The entire ROS message dependency has been removed from core DimOS, and we've added VR, phone, and arm teleoperation stacks. You can now vibecode a pick-and-place task from natural language to motor commands. Installation has been significantly streamlined — no more direnv, simpler setup, and the web viewer is now the default. --- ## 🚀 New Features ### Simulation - **MuJoCo simulation module** — Run any DimOS blueprint in simulation with no hardware. Supports xArm and Unitree embodiments, parses MJCF/URDF for robot properties, monotonic clock timing (no `time.sleep`). `dimos --simulation run unitree-go2` ([#1035](#1035)) by @jca0 - **Simulation teleop blueprints** — Added simulation teleop blueprints for Piper, xArm6, and xArm7. ([#1308](#1308)) by @mustafab0 ### Manipulation - **Modular manipulation stack** — Full planning stack with Drake: FK/IK solvers (Jacobian + Drake optimization), RRT path planning, world model with obstacle monitoring, multi-robot management. xArm6/7 and Piper support. ([#1079](#1079)) by @mustafab0 - **Joint servo and cartesian controllers** — Joint position/velocity controllers and cartesian IK task with Pinocchio solver. PoseStamped stream input for real-time control. ([#1116](#1116)) by @mustafab0 - **GraspGen integration** — Grasp generation via Docker-hosted GPU model. Lazy container startup, thread-safe init, RPC `generate_grasps()` returns ranked PoseArray. ([#1119](#1119), [#1234](#1234)) by @JalajShuklaSS - **Gripper control** — Gripper RPC methods on control coordinator, exposed adapter property for custom implementations. ([#1213](#1213)) by @mustafab0 - **Detection3D and Object support** — Object input topics, TF support on manipulation module, pointcloud-to-convex-hull for Drake imports. ([#1236](#1236)) by @mustafab0 - **Agentic pick and place** — Reimplemented manipulation skills for agent-driven pick-and-place workflows. ([#1237](#1237)) by @mustafab0 ### Teleoperation - **Quest VR teleoperation** — Full WebXR + Deno bridge stack. Quest controller data (pose, trigger, grip) streamed to DimOS modules. Monitor-style locking for control loops. ([#1215](#1215)) by @ruthwikdasyam - **Phone teleoperation** — Control Go2 from your phone with a web-based teleop interface. ([#1280](#1280)) by @ruthwikdasyam - **Arm teleop with Pinocchio IK** — Single and dual arm teleoperation using Pinocchio inverse kinematics. Blueprints for xArm, Piper, and dual configurations. ([#1246](#1246)) by @ruthwikdasyam ### Transports & Infrastructure - **DDS transport protocol** — CycloneDDS transport with configurable QoS (high-throughput and reliable profiles). Optional install, benchmark integration. ([#1174](#1174)) by @Kaweees - **Pubsub pattern subscriptions** — Glob and regex pattern matching for topic subscriptions. `subscribe_all()` for bridge-style consumers. Topic type encoding in channel strings (`/topic#module.ClassName`). ([#1114](#1114)) by @leshy - **LCM raw bytes passthrough** — Skip `lcm_encode()` when message is already bytes. ([#1223](#1223)) by @leshy - **Unified TimeSeriesStore** — Pluggable backends (InMemory, SQLite, Pickle, PostgreSQL) with SortedKeyList for O(log n) operations. Replaces the old replay system and TimestampedCollection. Collection API with slice, range, and streaming methods. ([#1080](#1080)) by @leshy - **DimosROS benchmark tests** — Benchmark suite for ROS transport performance. ([#1087](#1087)) by @leshy ### Navigation - **FASTLIO2 support** — Hardware-verified localization with arm64 support. Docker deployment with FAR Planner, terrain analysis, and bagfile playback mode. Builds or-tools from source on arm64. ([#1149](#1149)) by @baishibona - **Native Livox + FASTLIO2 module** — First-class DimOS native module for Livox Mid-360 lidar with FASTLIO2 localization. ([#1235](#1235)) by @leshy ### Visualization - **RerunBridge module and CLI** — New bridge that subscribes to all LCM messages and logs those with `to_rerun()` to Rerun viewer. GlobalConfig singleton, web viewer support. Replaces the old rerun initialization system. ([#1154](#1154)) by @leshy - **Webcam rerun visualization** — Camera module logs to Rerun with pinhole projection for 3D visualization. ([#1117](#1117)) by @ruthwikdasyam - **Default viewer switched to rerun-web** — Browser-based viewer is now the default for broader compatibility. No native viewer install needed. ([#1324](#1324)) by @spomichter ### Agents - **Agent refactor** — Restructured agent module with cleaner imports and global config integration. ([#1211](#1211)) by @paul-nechifor - **Timestamp knowledge** — Agents now have timestamp awareness in prompts for temporal reasoning. ([#1093](#1093)) by @ClaireBookworm - **Observe skill** — Go2 can now observe (capture and describe) its environment via agent skill. ([#1109](#1109)) by @paul-nechifor ### Platform & Hardware - **G1 without ROS** — Unitree G1 blueprints decoupled from ROS dependency. Lazy imports for fast startup. ([#1221](#1221)) by @jeff-hykin - **ARM (aarch64) support** — DimOS runs on ARM hardware. Platform-conditional dependencies, open3d source builds for arm64. ([#1229](#1229)) by @jeff-hykin - **Universal joint/hardware schema** — `HardwareComponent` dataclass with `JointState`, `JointName` type aliases. Backend registry with auto-discovery for SDK adapters. ([#1040](#1040), [#1067](#1067)) by @mustafab0 --- ## 🔧 Improvements - **Optional Dask** — Start without Dask using `--no-dask` flag. Startup time reduced from ~60s to ~45s. ([#1111](#1111), [#1232](#1232)) by @paul-nechifor - **RPC rework** — Renamed `ModuleBlueprint` → `_BlueprintAtom`, `ModuleBlueprintSet` → `Blueprint`, `ModuleConnection` → `Stream`. Added `ModuleRef`, improved type hints throughout. ([#1143](#1143)) by @jeff-hykin - **Image class simplification** — Rewritten as pure NumPy dataclass. Removed CUDA backend, unused methods (solve_pnp, csrt_tracker), and image_impls/ directory. ([#1161](#1161)) by @leshy - **Odometry message cleanup** — Simplified Odometry message type. ([#1256](#1256)) by @leshy - **Remove all ROS message dependencies** — Purged ROS message types from core DimOS. Refactored rosnav to use ROSTransport. Removed dead ROS bridge code. ([#1230](#1230)) by @alexlin2 - **Removed bad function serialization** — Eliminated unnecessary serialization of Python functions. ([#1121](#1121)) by @paul-nechifor - **Benchmark IEC units** — Switched bandwidth benchmarks from SI to IEC units for accuracy. ([#1147](#1147)) by @leshy - **Pubsub typing improvements** — Thread-safety locks on `subscribe_new_topics` and `subscribe_all`. Proper type params across pubsub stack. ([#1153](#1153)) by @leshy - **Autogenerated blueprint list** — Blueprints are now auto-discovered and listed. ([#1100](#1100)) by @paul-nechifor - **Generic Buttons message** — Renamed `QuestButtons` to `Buttons` with generic field names for cross-platform teleop. ([#1261](#1261)) by @ruthwikdasyam - **Dev container uses ros-dev image** — `./bin/dev` now runs the ROS-enabled dev image. ([#1170](#1170)) by @leshy - **LSP support** — Added python-lsp-server and python-lsp-ruff to dev dependencies. ([#1169](#1169)) by @leshy - **Lazy-load pyrealsense2** — RealSense camera module uses lazy imports to avoid errors in simulation environments without the SDK. ([#1309](#1309)) by @spomichter - **Removed unused mmcv and mmengine** — Dead Detic dependencies removed, eliminating slow source builds from install. ([#1319](#1319)) by @spomichter - **Simplified installation** — Removed direnv requirement, streamlined install instructions across all platforms. ([#1315](#1315)) by @spomichter - **DDS extra excluded from --all-extras** — `cyclonedds` requires a source build, so `dds` is now excluded from `uv sync --all-extras` by default. ([#1318](#1318)) by @spomichter - **Nix pre-commit skip** — Skip pre-commit install if hooks already exist. ([#1162](#1162)) by @leshy - **Removed base-requirements** — Consolidated dependency management. ([#1098](#1098)) by @paul-nechifor - **Removed old graspnet** — Cleaned up deprecated graspnet version. ([#1248](#1248)) by @paul-nechifor - **Code cleanup** — Removed `tofix` markers ([#1216](#1216)), fixed ruff issues ([#1112](#1112)), removed old README_installation.md ([#1101](#1101)) by @paul-nechifor --- ## 🐛 Bug Fixes - Fix LFS updating (move from .local to venv) ([#1090](#1090)) by @jeff-hykin - Launch hotfixes: git clone HTTPS, get_data main branch ([#1091](#1091)) by @spomichter - Fix camera demo not showing in Rerun ([#1148](#1148)) by @jeff-hykin - Default to rerun native viewer ([#1099](#1099)) by @Nabla7 - Fix exploration blocking agent loop ([#1258](#1258)) by @paul-nechifor - Fix person-follow blocking agent loop ([#1278](#1278)) by @paul-nechifor - Skip metric3d tests on unsupported xformers GPUs (Blackwell compute capability >9.0) ([#1225](#1225)) by @leshy - Fix manipulation tests ([#1218](#1218), [#1247](#1247)) by @jeff-hykin, @paul-nechifor - Fix control coordinator e2e test ([#1212](#1212)) by @mustafab0 - Fix xarm7-sim broken e2e tests ([#1294](#1294)) by @paul-nechifor - Pin langchain to restore supported providers ([#1241](#1241)) by @spomichter - Fix missing library dependencies in Nix flake ([#1240](#1240)) by @Kaweees - Fix discord invite link ([#1122](#1122)) by @spomichter - macOS edgecase fix ([#1096](#1096)) by @jeff-hykin - Fix second N in logo ([#1250](#1250)) by @jeff-hykin - Fix Unitree Go2 minor issues ([#1307](#1307)) by @paul-nechifor - Fix broken tests ([#1305](#1305)) by @ruthwikdasyam - Fix `uv sync` for some macOS systems ([#1322](#1322)) by @jeff-hykin - Fix mmcv install ([#1313](#1313)) by @paul-nechifor - Fix mypy issues ([#1150](#1150), [#1167](#1167), [#1257](#1257)) by @leshy, @paul-nechifor, @jeff-hykin - Fix Nix install uv pip extras ([#1321](#1321)) by @spomichter --- ## 📚 Documentation - **Major docs overhaul** — New README with feature grid, hardware table, quickstart. Navigation, transports, data streams, and agent docs. ([#1295](#1295)) by @leshy - **Day 1 docs** — Comprehensive getting started guide, development docs, contributing guide, architecture overview. Executable blueprint docs via md-babel-py. ([#1064](#1064)) by @jeff-hykin - **Arm integration guide** — How-to for integrating new robotic arms with DimOS. ([#1238](#1238)) by @mustafab0 - **MCP documentation update** — Updated MCP install and usage instructions. ([#1251](#1251)) by @Kaweees - **Docker docs** — First pass on Docker deployment documentation. ([#1151](#1151)) by @leshy - **Transports documentation** — Encode/decode mixins, SHM examples, ROS/DDS transport docs. ([#1107](#1107)) by @leshy - **Rerun API examples** — Updated examples for the new RerunBridge API. ([#1262](#1262)) by @jeff-hykin - **PR template** added ([#1172](#1172)) by @christiefhyang - **Simplified install instructions** — Removed direnv, streamlined across all platforms. ([#1315](#1315)) by @spomichter - **Python example restored** — Added back the Python usage example. ([#1317](#1317)) by @jeff-hykin - **Nix install updated** — Replaced uv with pip for Nix compatibility. ([#1326](#1326)) by @ruthwikdasyam - **README improvements** ([#1311](#1311)) by @paul-nechifor - **Simplified writing docs** — Consolidated writing_docs to a single markdown file. ([#1254](#1254)) by @jeff-hykin --- ## 🏗️ CI & Build - **ci-complete gate** — Dynamic branch protection via single aggregated status check. MD-only PRs no longer blocked. ([#1279](#1279)) by @spomichter - **Path-based test filtering** — Test jobs fully skip (no container spin-up) when no relevant code changed. ([#1284](#1284), [#1286](#1286)) by @spomichter - **Navigation docker build workflow** — CI builds for the ROS navigation stack. ([#1259](#1259)) by @spomichter - **CUDA test marker** — `@pytest.mark.cuda` for GPU-dependent tests. ([#1220](#1220)) by @jeff-hykin - **e2e test marker** — Marked end-to-end tests for selective CI runs. ([#1110](#1110)) by @paul-nechifor - **pytest stdin fix** — Added `-s` to default addopts for LCM autoconf compatibility. ([#1320](#1320)) by @spomichter --- ## ⚠️ Breaking Changes - **RPC renames**: `ModuleBlueprint` → `_BlueprintAtom`, `ModuleBlueprintSet` → `Blueprint`, `ModuleConnection` → `Stream` ([#1143](#1143)) - **Image class rewrite**: `CudaImage` and `NumpyImage` removed. Image is now a pure NumPy dataclass. Methods like `solve_pnp`, `csrt_tracker`, `from_depth`, `to_depth_meters` removed. ([#1161](#1161)) - **ROS messages removed from core**: All `to_ros`/`from_ros` conversion methods removed. Use `ROSTransport` instead. ([#1230](#1230)) - **QuestButtons → Buttons**: Renamed with generic field names. ([#1261](#1261)) - **RerunBridge replaces old rerun init**: `dimos.dashboard.rerun_init` removed. Use `RerunBridgeModule` or the `rerun-bridge` CLI. ([#1154](#1154)) - **Unitree directory restructuring**: `unitree_go2` → `unitree/go2`, `unitree_g1` → `unitree/g1`. Blueprint names updated. ([#1221](#1221)) - **Default viewer is now rerun-web**: Use `--viewer-backend rerun` to restore native viewer. ([#1324](#1324)) --- ## Quickstart ```bash # Install uv pip install dimos[base,unitree] # Try it (no hardware needed) # NOTE: First run downloads ~2.4 GB from LFS dimos --replay run unitree-go2 # Simulate uv pip install dimos[base,unitree,sim] dimos --simulation run unitree-go2 ``` --- ## New Contributors 🎉 - @ruthwikdasyam — Quest VR teleoperation, phone teleop, arm teleop, webcam rerun viz - @JalajShuklaSS — GraspGen integration - @jca0 — MuJoCo simulation module - @christiefhyang — PR template --- **Full Changelog**: [v0.0.9...v0.0.10](v0.0.9...v0.0.10)

greptile-apps bot reviewed Feb 20, 2026

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jeff-hykin previously approved these changes Feb 20, 2026

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paul-nechifor previously approved these changes Feb 20, 2026

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spomichter dismissed stale reviews from paul-nechifor and jeff-hykin via cc6b4aa February 20, 2026 22:56

spomichter force-pushed the fix/default-viewer-rerun-web branch from c26c799 to cc6b4aa Compare February 20, 2026 22:56

feat(vis): default viewer backend to rerun-web

04428a4

Switch default viewer_backend from 'rerun' (native) to 'rerun-web' for broader compatibility without a native viewer install.

spomichter force-pushed the fix/default-viewer-rerun-web branch from cc6b4aa to 04428a4 Compare February 20, 2026 23:01

paul-nechifor approved these changes Feb 20, 2026

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spomichter merged commit 97f74f9 into dev Feb 20, 2026
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spomichter deleted the fix/default-viewer-rerun-web branch February 20, 2026 23:02

spomichter mentioned this pull request Feb 21, 2026

Release v0.0.10: Manipulation Stack, MuJoCo Simulation, DDS Transport, Web and Native Visualization via Rerun #1336

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feat(vis): default viewer backend to rerun-web#1324

feat(vis): default viewer backend to rerun-web#1324
spomichter merged 1 commit intodevfrom
fix/default-viewer-rerun-web

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spomichter commented Feb 20, 2026

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Greptile Summary

Confidence Score: 5/5

Important Files Changed

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