fix(mls-planner): macOS fix, link pyo3 cdylib

[jeff-hykin]

mls planner doesn't build on macos, needs a flag

[greptile-apps]

Greptile Summary

This PR adds a .cargo/config.toml for the MLS planner's Rust crate to fix macOS builds. When PyO3 cdylib extensions are built with plain cargo build (as used by NativeModule), macOS's linker doesn't apply -undefined dynamic_lookup automatically — unlike maturin or setuptools-rust — causing Python symbol resolution to fail at link time.

• Adds rustflags = ["-C", "link-arg=-undefined", "-C", "link-arg=dynamic_lookup"] scoped to cfg(target_os = "macos"), which covers both x86_64-apple-darwin and aarch64-apple-darwin without requiring separate target triples.
• The Cargo.toml declares crate-type = ["cdylib", "rlib"] with pyo3 extension-module, confirming this flag is the correct solution for the described failure mode.
• No other .cargo/config.toml exists in the repo, so there is no inheritance conflict.

Confidence Score: 5/5

Safe to merge — adds a single, well-scoped linker flag that is the standard PyO3 recommendation for macOS cdylib builds.

The change is a new .cargo/config.toml that applies -undefined dynamic_lookup only on macOS, exactly as documented by PyO3. The cfg-based selector covers all Apple targets without duplication, no other config files exist in the repo to conflict with, and the flag is benign for non-cdylib targets in the same workspace.

No files require special attention.

Important Files Changed

Filename	Overview
dimos/navigation/nav_3d/mls_planner/rust/.cargo/config.toml	New file adding macOS-specific rustflags to inject -undefined dynamic_lookup for the PyO3 cdylib; uses cfg-based target selector, correctly scoped, no conflicts with other config files.

Sequence Diagram

%%{init: {'theme': 'neutral'}}%%
sequenceDiagram
    participant NM as NativeModule (Python)
    participant Cargo as cargo build --release
    participant Linker as macOS Linker (ld)
    participant PyO3 as PyO3 cdylib (.so)
    participant Python as Python Runtime

    NM->>Cargo: cargo build --release
    Cargo->>Linker: compile cdylib + binary
    Note over Linker: .cargo/config.toml injects<br/>-undefined dynamic_lookup
    Linker->>PyO3: link with deferred Python symbol resolution
    PyO3-->>NM: dimos_mls_planner.so ready
    NM->>Python: import dimos_mls_planner
    Python->>PyO3: resolve Python symbols at load time

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sequenceDiagram
    participant NM as NativeModule (Python)
    participant Cargo as cargo build --release
    participant Linker as macOS Linker (ld)
    participant PyO3 as PyO3 cdylib (.so)
    participant Python as Python Runtime

    NM->>Cargo: cargo build --release
    Cargo->>Linker: compile cdylib + binary
    Note over Linker: .cargo/config.toml injects<br/>-undefined dynamic_lookup
    Linker->>PyO3: link with deferred Python symbol resolution
    PyO3-->>NM: dimos_mls_planner.so ready
    NM->>Python: import dimos_mls_planner
    Python->>PyO3: resolve Python symbols at load time

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_{Reviews (4): Last reviewed commit: "Update dimos/navigation/nav_3d/mls_plann..." | 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    #2836   +/-   ##
=======================================
  Coverage   72.21%   72.22%           
=======================================
  Files        1001     1001           
  Lines       89755    89755           
  Branches     8196     8196           
=======================================
+ Hits        64818    64824    +6     
+ Misses      22718    22713    -5     
+ Partials     2219     2218    -1     

Flag	Coverage Δ
OS-ubuntu-24.04-arm	65.09% <ø> (-0.02%)	⬇️
OS-ubuntu-latest	67.51% <ø> (+0.01%)	⬆️
Py-3.10	67.49% <ø> (+<0.01%)	⬆️
Py-3.11	67.48% <ø> (-0.01%)	⬇️
Py-3.12	67.50% <ø> (+0.01%)	⬆️
Py-3.13	67.48% <ø> (-0.01%)	⬇️
Py-3.14	67.49% <ø> (-0.02%)	⬇️
Py-3.14t	67.49% <ø> (+<0.01%)	⬆️
SelfHosted-Large	30.06% <ø> (ø)
SelfHosted-Linux	37.40% <ø> (ø)
SelfHosted-macOS	35.81% <ø> (ø)

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see 3 files with indirect coverage changes

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