dimensionalOS / dimensionalOS/dimos
Add ROS2-style tf2 tree for manipulation
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infra
manipulation
- Dominant language
- Python
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Description
Add a ROS2/tf2-style transform tree for manipulation frames.
Context:
- Existing internal TF:
dimos/protocol/tf/tf.py - Manipulation currently publishes frames in
dimos/manipulation/manipulation_module.py - ROS tf2 reference: https://wiki.ros.org/tf2
Scope:
- Define manipulation frame conventions (
world, base, links, EE, extra links). - Support tf2-like publish and lookup across chained frames.
- Add static transform support or an explicit equivalent.
- Prefer adapting the existing TF system over replacing it.
Acceptance:
- Manipulation publishes a complete configured frame tree.
- Consumers can query transforms between manipulation frames.
- Tests cover chained lookup, missing frames, and static/dynamic transforms.
Synced from DIM-1022 by che
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start with dimos/protocol/tf/tf.py and dimos/manipulation/manipulation_module.py, then consult the linked ROS tf2 reference for the proposed frame conventions. Trace how manipulation currently publishes frames before defining the chained lookup and static-transform behavior. Done means a complete configured frame tree is published, consumers can query between manipulation frames, and tests cover chained lookup, missing frames, and static/dynamic transforms.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- python
- Domain
- robotics
- Issue type
- Feature
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Quiet
- Clarity
- Mostly clear
- Newbie friendliness
- 45/100