feat: include DimSim

.gitattributes

@@ -18,3 +18,6 @@
 *.foxe filter=lfs diff=lfs merge=lfs -text binary
 docs/capabilities/memory/assets/** filter=lfs diff=lfs merge=lfs -text
 docs/capabilities/memory/assets/.gitattributes -filter -diff -merge text
+# DimSim scene data and agent model
+misc/DimSim/public/sims/*.json filter=lfs diff=lfs merge=lfs -text
+misc/DimSim/public/agent-model/*.glb filter=lfs diff=lfs merge=lfs -text

.github/workflows/dimsim-check.yml

@@ -0,0 +1,58 @@
+name: dimsim-check
+
+on:
+  push:
+    branches: [main]
+    paths:
+      - 'misc/DimSim/**'
+      - '.github/workflows/dimsim-check.yml'
+  pull_request:
+    paths:
+      - 'misc/DimSim/**'
+      - '.github/workflows/dimsim-check.yml'
+
+permissions: {}
+
+jobs:
+  check:
+    timeout-minutes: 15
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+    defaults:
+      run:
+        working-directory: misc/DimSim
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          lfs: true
+
+      - uses: actions/setup-node@v4
+        with:
+          node-version: 20
+
+      - uses: denoland/setup-deno@v2
+        with:
+          deno-version: v2.x
+
+      - name: Install npm deps
+        run: npm ci
+
+      - name: Build frontend
+        run: npm run build
+
+      - name: Type-check CLI
+        run: cd dimos-cli && deno check cli.ts mod.ts setup.ts
+
+      - name: Validate scenes template
+        run: |
+          for scene in $(jq -r '.scenes | keys[]' scenes.template.json); do
+            DESC=$(jq -r ".scenes.\"$scene\".description" scenes.template.json)
+            SIZE=$(jq -r ".scenes.\"$scene\".size" scenes.template.json)
+            if [ "$DESC" = "null" ] || [ "$SIZE" = "null" ]; then
+              echo "::error::Scene '$scene' missing description or size in scenes.template.json"
+              exit 1
+            fi
+            echo "  $scene: $DESC (${SIZE} bytes)"
+          done
+          echo "Template valid."

.gitignore

@@ -39,8 +39,8 @@ __pycache__
 
 # node env (used by devcontainers cli)
 node_modules
-package.json
-package-lock.json
+/package.json
+/package-lock.json
 
 # Ignore build artifacts
 dist/

dimos/simulation/dimsim/dimsim_process.py

@@ -19,7 +19,6 @@
 import time
 from typing import IO
 
-from dimos.constants import STATE_DIR
 from dimos.core.global_config import GlobalConfig
 from dimos.simulation.dimsim.deno_utils import ensure_deno, ensure_playwright_chromium
 from dimos.utils.logging_config import setup_logger
@@ -28,8 +27,7 @@
 
 _VIDEO_RATE = 50
 _LIDAR_RATE = 1000
-_DIMSIM_REPO_URL = "https://github.com/paul-nechifor/DimSim.git"
-_DIMSIM_REPO_BRANCH = "run-from-repo"
+_DIMSIM_DIR = Path(__file__).resolve().parents[3] / "misc" / "DimSim"
 
 
 class DimSimProcess:
@@ -39,8 +37,7 @@ def __init__(self, global_config: GlobalConfig) -> None:
 
     def start(self) -> None:
         deno_path = ensure_deno()
-        repo_dir = _ensure_repo()
-        base_cmd = _deno_cmd(deno_path, repo_dir)
+        base_cmd = _deno_cmd(deno_path, _DIMSIM_DIR)
 
         scene = self.global_config.dimsim_scene
         port = self.global_config.dimsim_port
@@ -126,28 +123,6 @@ def _kill_port_holder(port: int) -> None:
         logger.warning(f"Failed to check/kill port {port}: {e}")
 
 
-def _ensure_repo() -> Path:
-    repo_dir = STATE_DIR / "dimsim_repo"
-    if (repo_dir / ".git").exists():
-        return repo_dir
-    STATE_DIR.mkdir(parents=True, exist_ok=True)
-    logger.info(f"Cloning DimSim into {repo_dir}")
-    subprocess.run(
-        [
-            "git",
-            "clone",
-            "--depth",
-            "1",
-            "--branch",
-            _DIMSIM_REPO_BRANCH,
-            _DIMSIM_REPO_URL,
-            str(repo_dir),
-        ],
-        check=True,
-    )
-    return repo_dir
-
-
 def _deno_cmd(deno_path: str, repo_dir: Path) -> list[str]:
     cli_ts = repo_dir / "dimos-cli" / "cli.ts"
     return [deno_path, "run", "--allow-all", "--unstable-net", str(cli_ts)]

misc/DimSim/.gitignore

@@ -0,0 +1,7 @@
+node_modules/
+*.tar.gz
+dist/
+.DS_Store
+**/.DS_Store
+.deno/
+scenes.json

misc/DimSim/README.md

@@ -0,0 +1,55 @@
+# DimSim
+
+Standalone 3D simulation runner for SimStudio scenes. Load a scene, spawn AI agents, run tasks — with full sensor support (RGB-D, LiDAR).
+
+## Setup
+
+```bash
+npm install    # installs everything (frontend + backend)
+```
+
+## Run
+
+Terminal 1:
+```bash
+npm run server         # Node.js VLM backend on :8000
+```
+
+Terminal 2:
+```bash
+npm run dev            # Frontend on :5173
+```
+
+## Architecture
+
+```
+DimSim/
+├── index.html              ← Sim-mode UI (scene dropdown + full sensor controls)
+├── server.js               ← VLM backend (Express + OpenAI SDK)
+├── src/
+│   ├── main.js             ← Entry point (imports engine.js)
+│   ├── engine.js           ← Full SimStudio engine (synced via copy-sources.sh)
+│   ├── style.css           ← Synced from SimStudio
+│   ├── AiAvatar.js         ← Agent class (synced)
+│   └── ai/                 ← VLM modules (synced)
+├── public/
+│   ├── sims/               ← Scene JSON files + manifest.json
+│   └── agent-model/        ← Robot GLB models
+├── vlm-server/
+│   └── asset-library.json  ← Persisted asset library data
+├── copy-sources.sh         ← Sync engine from SimStudio
+└── update-sims.sh          ← Rebuild scene manifest
+```
+
+## Sync from SimStudio
+
+```bash
+npm run sync
+```
+
+## Add/remove scenes
+
+Drop `.json` files in `public/sims/`, then:
+```bash
+npm run update-sims
+```

misc/DimSim/dimos-cli/README.md

@@ -0,0 +1,58 @@
+# DimSim
+
+3D simulation environment for the [dimos](https://github.com/dimensionalOS/dimos) robotics stack.
+
+Browser-based Three.js + Rapier simulator with LCM transport, sensor publishing (RGB, depth, LiDAR, odometry), and an eval harness for automated testing of navigation and perception pipelines.
+
+## Install
+
+```sh
+deno install -gAf --unstable-net jsr:@antim/dimsim
+```
+
+## Setup
+
+Download core assets (~22 MB) and install a scene:
+
+```sh
+dimsim setup
+dimsim scene install apt
+```
+
+## Run
+
+Start the dev server and open the URL it prints:
+
+```sh
+dimsim dev --scene apt
+```
+
+Run headless evals in CI:
+
+```sh
+dimsim eval --headless --env apt --workflow reach-vase
+```
+
+## Programmatic API
+
+```ts
+import { startBridgeServer } from "@antim/dimsim";
+
+startBridgeServer({ port: 8090, distDir: "./dist", scene: "apt" });
+```
+
+## Commands
+
+| Command | Description |
+|---------|-------------|
+| `dimsim setup` | Download core assets |
+| `dimsim scene install <name>` | Install a scene |
+| `dimsim scene list` | List available and installed scenes |
+| `dimsim scene remove <name>` | Remove a scene |
+| `dimsim dev [--scene <name>]` | Dev server (open browser manually) |
+| `dimsim eval --headless` | Run eval workflows in CI |
+| `dimsim agent` | Launch dimos Python agent |
+
+## License
+
+MIT