Spec/ivan/trajectory

[leshy]

No description provided.

[greptile-apps]

Greptile Summary

This PR adds dimos/spec/nav.py, a new specification file that defines two Protocol classes for the navigation stack. All previously-flagged import issues (In/Out, Twist, Odometry) have been resolved in this version.

• TrajectoryController accepts odometry and a desired path as inputs and emits velocity commands, a goal_reached signal, and a stop_movement control input.
• LocalPlanner accepts lidar point-cloud data, odometry, and a path, and outputs a collision-safe path — intended for force-based or geometry-aware obstacle avoidance.
• The name LocalPlanner conflicts with an existing LocalPlanner Protocol in dimos/spec/control.py that carries a different interface (cmd_vel only); whether the old one should be retired or renamed is unclear from the diff.

Confidence Score: 5/5

Safe to merge — this is a new spec-only file with no runtime logic, and all imports resolve to existing modules.

The change adds a pure Protocol definition file with no executable logic. All imports were verified against the actual module tree and exist. The only notable issue is a name collision with an existing Protocol in control.py, which is a documentation/clarity concern rather than a functional defect.

dimos/spec/control.py should be reviewed alongside this change to decide whether the old LocalPlanner Protocol should be renamed or retired.

Important Files Changed

Filename	Overview
dimos/spec/nav.py	New file adding TrajectoryController and LocalPlanner Protocol specs for navigation; all imports are valid. LocalPlanner name duplicates an existing Protocol in control.py.

Sequence Diagram

%%{init: {'theme': 'neutral'}}%%
sequenceDiagram
    participant Lidar as Lidar (PointCloud2)
    participant Odometry as Odometry
    participant PathSource as Path Source
    participant LP as LocalPlanner
    participant TC as TrajectoryController
    participant Output as Robot Actuators

    Lidar->>LP: lidar: In[PointCloud2]
    Odometry->>LP: odometry: In[Odometry]
    PathSource->>LP: path: In[Path]
    LP-->>TC: safe_path: Out[Path]

    Odometry->>TC: odometry: In[Odometry]
    TC-->>Output: cmd_vel: Out[Twist]
    TC-->>Output: goal_reached: Out[bool]
    PathSource->>TC: stop_movement: In[bool]

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%%{init: {'theme': 'base', 'themeVariables': {"darkMode": true, "background": "#0d1117", "primaryColor": "#21262d", "primaryTextColor": "#e6edf3", "primaryBorderColor": "#8b949e", "lineColor": "#8b949e", "textColor": "#e6edf3", "edgeLabelBackground": "#161b22", "actorBkg": "#21262d", "actorBorder": "#8b949e", "actorTextColor": "#e6edf3", "actorLineColor": "#8b949e", "signalColor": "#8b949e", "signalTextColor": "#e6edf3", "noteBkgColor": "#373320", "noteBorderColor": "#d4a72c", "noteTextColor": "#f0e6c0", "labelBoxBkgColor": "#21262d", "labelBoxBorderColor": "#8b949e", "labelTextColor": "#e6edf3", "loopTextColor": "#e6edf3", "activationBkgColor": "#30363d", "activationBorderColor": "#8b949e"}}}%%
sequenceDiagram
    participant Lidar as Lidar (PointCloud2)
    participant Odometry as Odometry
    participant PathSource as Path Source
    participant LP as LocalPlanner
    participant TC as TrajectoryController
    participant Output as Robot Actuators

    Lidar->>LP: lidar: In[PointCloud2]
    Odometry->>LP: odometry: In[Odometry]
    PathSource->>LP: path: In[Path]
    LP-->>TC: safe_path: Out[Path]

    Odometry->>TC: odometry: In[Odometry]
    TC-->>Output: cmd_vel: Out[Twist]
    TC-->>Output: goal_reached: Out[bool]
    PathSource->>TC: stop_movement: In[bool]

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_{Reviews (3): Last reviewed commit: "fix nav spec imports: add Twist, fix bro..." | Re-trigger Greptile}

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ All tests successful. No failed tests found.

@@           Coverage Diff           @@
##             main    #2646   +/-   ##
=======================================
  Coverage   71.10%   71.10%           
=======================================
  Files         897      897           
  Lines       80290    80290           
  Branches     7183     7183           
=======================================
+ Hits        57089    57094    +5     
+ Misses      21319    21315    -4     
+ Partials     1882     1881    -1     

Flag	Coverage Δ
OS-ubuntu-24.04-arm	63.52% <ø> (+<0.01%)	⬆️
OS-ubuntu-latest	66.24% <ø> (+<0.01%)	⬆️
Py-3.10	66.22% <ø> (-0.01%)	⬇️
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Py-3.12	66.22% <ø> (-0.02%)	⬇️
Py-3.13	66.23% <ø> (+0.01%)	⬆️
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Py-3.14t	66.22% <ø> (-0.01%)	⬇️
SelfHosted-Large	30.12% <ø> (+0.02%)	⬆️
SelfHosted-Linux	37.48% <ø> (ø)
SelfHosted-macOS	36.31% <ø> (-0.04%)	⬇️

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