dimensionalOS / dimensionalOS/dimos
Add roboplan as a kinematic backend
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- Dominant language
- Python
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Description
Problem
RoboPlan is the default world and motion-planning backend for DimOS manipulation, but inverse kinematics defaults to Pink. IK therefore runs against a separate kinematics model instead of the RoboPlan scene, planning-group mappings, joint-index semantics, and collision state used by the rest of the planning stack.
DimOS has no RoboPlan-native IK path exposed through the manipulation kinematics contract. Backend selection also does not follow the selected planning world, so a default RoboPlan stack is not fully native and composite planning-group requests cannot use RoboPlan's bundled IK capabilities.
This split makes it harder to keep IK, collision checking, and path planning consistent for single-arm, multi-group, and multi-robot manipulation.
Related implementation: dimensionalOS/dimos#3230
Synced from DIM-1357 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 by reviewing the manipulation kinematics contract and the related implementation in dimensionalOS/dimos#3230; trace how planning-world and backend selection currently choose Pink. Done means RoboPlan is exposed as a native kinematic backend and follows the selected planning world for composite planning-group requests across single-arm, multi-group, and multi-robot manipulation.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- python
- Domain
- backend-api-design, robotics
- Issue type
- Feature
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Quiet
- Clarity
- Mostly clear
- Newbie friendliness
- 42/100