generate simple irl trajectory

[leshy]

rerun-bridge
pytest dimos/control/test_trajectory.py

shows you an actual path on a costmap

doesn't generate actual posestamped with useful timings (to go slow around obstacles)

but you have all the data required to make this happen, once precision of control is known,

you can do something like

path_with_speed = calculate_speed(precision_vs_speed_graph, path, costmap)

idk how you want to encode speed, since timings are absolute, feels weird to have them on a long path due to cummulative error.

also deletes a weird unitree shim
https://discord.com/channels/1341146487186391173/1357833666751107174/1476833497074106439

[greptile-apps]

Greptile Summary

This PR adds a test file that generates realistic trajectories on a costmap using A* pathfinding and smooth path resampling.

• Integrates voxel mapping, occupancy grid generation, and navigation systems
• Uses unitree_go2_bigoffice dataset for realistic IRL trajectory testing
• Publishes generated maps and paths via LCM for visualization with rerun-bridge
• As noted in the PR description, timing information is not yet implemented but data is available for future speed calculation based on precision requirements

Confidence Score: 4/5

• This PR is safe to merge with minimal risk - it only adds a test file with no production code changes
• Score reflects that this is a test-only addition with minor style issues but no logical errors or bugs. The code correctly integrates existing systems and provides useful visualization capability for trajectory validation.
• No files require special attention - the style improvements suggested are minor and optional

Important Files Changed

Filename	Overview
dimos/control/test_trajectory.py	Adds test for trajectory generation on costmap with A* pathfinding and smooth resampling; minor unused parameter issue

_{Last reviewed commit: 1800508}

[greptile-apps]

_{1 file reviewed, 2 comments}

_{Edit Code Review Agent Settings | Greptile}

[greptile-apps]

seek parameter is unused

Suggested change

	def moment_provider(seek=10.0) -> Moment:
	def moment_provider() -> Moment:

[greptile-apps]

use t.stop() instead of directly accessing t.lcm.stop() to maintain proper encapsulation

Suggested change

	t.lcm.stop()
	t.stop()

_{Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!}

[paul-nechifor]

Instead of reconstructing the point cloud, you can get it from this existing fixture (which you might have to move):

@pytest.fixture
def big_office() -> PointCloud:
    return read_pointcloud(get_data("big_office.ply"))

It was created from unitree_go2_bigoffice.

It's in dimos/mapping/pointclouds/test_occupancy.py

[leshy]

yup mustafa can rewrite if he needs to, just wanted to sketch for him getting a path, good to know, didn't know we store a full pcd