M20 3D nav testing, bug reports and validation

BUGS:

OPEN QUESTION: Latency issue when operating rerun

a) hardware side?

-- less lickely

b) software side? which side, deeprobotic | dimos
-- most likely

--- poor integration

--- zenoh ?

c) compute issue?

--less lickely

Testing

Blueprints

Two blueprints we have:

• (A) m20-nav-3d

location: dimos/dimos/robot/deeprobotics/m20/blueprints/basic.py (Ivan made)

• (B) m20-simple-nav (we tried this in the office, it worked)

location: dimos/dimos/robot/deeprobotics/m20/nav/m20_simple_nav.py

Try to find a safe location. Better to have laptop and

use free hangar next to the office, if not ensure safety.

pre-tests

1. Try both blueprints with:

dimos run <A | B>
2. Use simple testing

• a) check camera, lidar info present
• b) check QWEASD keyboard teleop
• c) check cliking on the map and response

3. Make logs for both

• describe failures if any
• if m20-nav-3d works same as m20-simple-nav, use m20-nav-3d
• if not, use m20-simple-nav (we know it works)

main testing:

• Every testing must be recorded into memory
• Use like 10 cliks for each recoding session
• Do not do stairs for now when clicking. Only flat

A) Manuall

• find a clear space where you can actually click on the map with safety
• no obstacles around

1. Click on the map and test how it moves
2. The second guy always with the remote to stop the m20 when needed

B) Programmed

• ask an agent to write you a new blueprint based on the current you use
• ask to ingect synthetic paths instead of receiving a click
• MLSPlanner needed to be removed
• ask the agent to produce 4 straight lines and 4 curves
• you need to give agent the environment and some specs:

-- write four lines 4 metre each, fwd <-> bkw

-- write a circle (a different test)

The expected outcome is:

• you run: dimos run m20-test-lines (some blueprint)
• the dog comes up and runs what the agent prepared
• Always check safety, remote check, and if something wrong, Ctrl+c.

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Basically the goal is to test these bluprints

• m20-nav-3d (should work, if not you may pass logs to agent)
• m20-simple-nav (we know it works)

Objective

1. Collect evidence of how the robot moves for each working bluprint
2. Inspect recordings later, check for:

• how well m20 tracks the path
• how well tha path is produced (like, should be straight, but is curved)
• how well the map is produced

Make a China Office recording

1. Two people:

• one behind the laptop or computer, recording
• the other with remote teleoperating the dog

SAFETY

1. Try to make a simple recording first, check if all is good

and the recording goes well

2. Maintain safety when operating the m20

The dog is large; plan your route in advance.

3. DO NOT CLICK ON THE MAP, use plain teleop and record

The planner may give you unexpected route, m20 may be hard to control

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Synced from DIM-1084 by ivan

Start with the two named blueprints: dimos/dimos/robot/deeprobotics/m20/blueprints/basic.py and dimos/dimos/robot/deeprobotics/m20/nav/m20_simple_nav.py. Run both with dimos run, perform the listed camera, lidar, teleop, and navigation checks in a safe location, and record logs and sessions. Done means collecting evidence for each blueprint and inspecting path tracking, path shape, and map quality.