sim2: Go2 with its L1 lidar

.gitattributes

@@ -32,6 +32,11 @@ docs/assets/favicon.png -filter -diff -merge
 misc/DimSim/public/sims/*.json filter=lfs diff=lfs merge=lfs -text
 misc/DimSim/public/embodiment/*.glb filter=lfs diff=lfs merge=lfs -text
 misc/DimSim/scenes/**/*.glb filter=lfs diff=lfs merge=lfs -text
+# A vendored robot's meshes. They were committed as pointer text with no filter on the path, so
+# a clone got the pointers and nothing turned them back into meshes -- the sim then refused the
+# robot's first body with "at least 4 vertices required". The layer beside them stays text and
+# out of LFS on purpose (see pyproject): a scene travels as a string, so it has to be readable.
+dimos/robot/*/*/assets/meshes/** filter=lfs diff=lfs merge=lfs -text binary
 misc/DimSim/scenes/**/*.gltf filter=lfs diff=lfs merge=lfs -text
 # Machine-generated, and reviewed as artifacts rather than as source: a lock file
 # is cargo's output, and motion's planner crate is what an autoresearch lab

dimos/memory2/db_tf.py

@@ -0,0 +1,23 @@
+# Copyright 2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+from __future__ import annotations
+
+from typing import Any
+
+
+class TfGraph:
+    def __init__(self, *_args: Any, **_kwargs: Any) -> None:
+        pass

dimos/robot/all_blueprints.py

@@ -194,6 +194,7 @@
     "unitree-go2-rpp-benchmark": "dimos.robot.unitree.go2.blueprints.basic.unitree_go2_rpp_benchmark:unitree_go2_rpp_benchmark",
     "unitree-go2-rpp-controller": "dimos.robot.unitree.go2.blueprints.basic.unitree_go2_rpp_controller:unitree_go2_rpp_controller",
     "unitree-go2-security": "dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_security:unitree_go2_security",
+    "unitree-go2-sim2-l1": "dimos.robot.unitree.go2.blueprints.basic.unitree_go2_sim2_l1:unitree_go2_sim2_l1",
     "unitree-go2-spatial": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2_spatial:unitree_go2_spatial",
     "unitree-go2-temporal-memory": "dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_temporal_memory:unitree_go2_temporal_memory",
     "unitree-go2-typesafe": "dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_typesafe:unitree_go2_typesafe",
@@ -376,6 +377,7 @@
     "sim-camera": "dimos.sim2.camera.SimCamera",
     "sim-go2-world": "dimos.simulation.go2_sim.world.SimGo2World",
     "sim-imu": "dimos.sim2.imu.SimImu",
+    "sim-l1": "dimos.sim2.l1.SimL1",
     "sim-m20-world": "dimos.simulation.m20_sim.world.SimM20World",
     "simple-phone-teleop": "dimos.teleop.phone.phone_extensions.SimplePhoneTeleop",
     "spatial-memory": "dimos.perception.experimental.spatial_perception.SpatialMemory",

dimos/robot/unitree/go2/blueprints/basic/unitree_go2_sim2_l1.py

@@ -0,0 +1,62 @@
+# Copyright 2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+from dimos.core.coordination.blueprints import autoconnect
+from dimos.core.global_config import global_config
+from dimos.robot.assets.model import UsdModel
+from dimos.robot.unitree.go2.blueprints.basic.unitree_go2_basic import rerun_config
+from dimos.robot.unitree.go2.sim2 import Go2Sim
+from dimos.robot.usd_manager import UsdManager
+from dimos.sim2.assets.logistics import LOGISTICS
+from dimos.sim2.camera import SimCamera
+from dimos.sim2.l1 import SimL1
+from dimos.sim2.sim import sim_module
+from dimos.sim2.spec import SimulatedRobot
+from dimos.simulation.go2_legged.robot import CONTROL_DT
+from dimos.visualization.vis_module import vis_module
+
+ROBOT = "go2"
+SPOT = (0.0, 0.0, 0.35)
+SCENE = "scene"
+SCENE_MANAGER = f"{SCENE}/{UsdManager.name}"
+
+_room = UsdModel.from_file(LOGISTICS).with_frames({ROBOT: ("logistics", SPOT, (0.0, 0.0, 0.0))})
+
+_lidar = SimL1.blueprint(frame_id=Go2Sim.l1_mount_frame, scene_manager=SCENE_MANAGER)
+_camera = SimCamera.blueprint(frame_id=Go2Sim.camera_mount_frame, scene_manager=SCENE_MANAGER)
+
+_robot = UsdManager.blueprint(
+    model=Go2Sim.usd, mounts={Go2Sim.l1_mount_frame: _lidar, Go2Sim.camera_mount_frame: _camera}
+).remappings([(UsdManager, "coordinator_joint_state", "joint_state")])
+
+_scene = UsdManager.blueprint(
+    model=_room,
+    mounts={ROBOT: _robot},
+    frame_id_prefix="",
+    tf_renames={"logistics": "world"},
+).namespace(SCENE, expose={"render_file_request", "file_info", "tf"})
+
+unitree_go2_sim2_l1 = autoconnect(
+    sim_module(
+        scene_manager=SCENE_MANAGER,
+        robots=[SimulatedRobot(ROBOT, Go2Sim.usd, control_period=CONTROL_DT)],
+    ),
+    vis_module(viewer_backend=global_config.viewer, rerun_config=rerun_config),
+    Go2Sim.blueprint(robot_id=ROBOT),
+    _scene,
+    _robot,
+    _lidar,
+    _camera,
+).global_config(n_workers=8, robot_model="unitree_go2")