dimensionalOS / dimensionalOS/dimos
PimSim: xArm physical pick/place skill gate
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- Dominant language
- Python
- Stars
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Description
Prove one physical manipulation skill before adding arms or object breadth.
Acceptance
- Ordinary DimOS xArm simulation runs through PimSim mechanics
- Viser target, preview, plan, execute, reset, and gripper controls remain usable
- Scene-truth mode proves contact, retained lift, release, settled pose, and reset
- RGB-D mode repeats the workflow without semantic truth entering robot observations
- Independent verifier and retained trace decide success
Synced from DIM-1376 by pim
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
Begin by locating the PimSim xArm simulation entry point and the Viser target, preview, plan, execute, reset, and gripper workflow. Trace the scene-truth and RGB-D modes, then identify how the independent verifier and retained trace establish contact, lift, release, settled pose, and reset success.
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
- Needs clarification
- Newbie friendliness
- 35/100