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feat(web): PR 3 - Python client - #3044

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feat(web): PR 3 - Python client#3044
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paul/feat/web-3-python-client

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@greptile-apps

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Greptile Summary

This PR adds a Python client for the WebTransport relay. The main changes are:

  • Python wire-protocol models and framing.
  • WebTransport session and client helpers.
  • Relay-client and protocol test coverage.
  • The aioquic web dependency.

Confidence Score: 5/5

This looks safe to merge.

  • No blocking issues found in the changed code.

Important Files Changed

Filename Overview
dimos/web/relay_bridge/protocol.py Adds strict protocol models plus control, datagram, and data-frame encoding and decoding.
dimos/web/relay_bridge/_wt_session.py Adds the aioquic session implementation for relay control messages and frame streams.
dimos/web/relay_bridge/wt_client.py Adds the asynchronous relay client, frame sending, and latest-wins delivery support.
dimos/web/relay_bridge/test_protocol.py Adds protocol fixture, framing, validation, and non-finite-number coverage.
pyproject.toml Adds aioquic to the optional web dependency set.

Reviews (5): Last reviewed commit: "update" | Re-trigger Greptile

Comment thread dimos/web/relay_bridge/locate.py
Comment thread dimos/web/relay_bridge/protocol.py Outdated
Comment thread dimos/web/relay_bridge/protocol.py Outdated
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Codecov Report

❌ Patch coverage is 72.49240% with 181 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines Patch % Lines
dimos/web/relay_bridge/_wt_session.py 24.16% 91 Missing ⚠️
dimos/web/relay_bridge/wt_client.py 58.04% 70 Missing and 3 partials ⚠️
dimos/web/relay_bridge/locate.py 48.00% 11 Missing and 2 partials ⚠️
dimos/web/relay_bridge/test_wt_client.py 95.12% 2 Missing and 2 partials ⚠️
@@            Coverage Diff             @@
##             main    #3044      +/-   ##
==========================================
- Coverage   73.84%   73.83%   -0.02%     
==========================================
  Files        1099     1105       +6     
  Lines      102535   103193     +658     
  Branches     9402     9463      +61     
==========================================
+ Hits        75718    76193     +475     
- Misses      24128    24304     +176     
- Partials     2689     2696       +7     
Flag Coverage Δ
OS-ubuntu-24.04-arm 67.38% <72.49%> (+0.02%) ⬆️
OS-ubuntu-latest 69.34% <72.49%> (+0.01%) ⬆️
Py-3.10 69.33% <72.49%> (+0.01%) ⬆️
Py-3.11 69.34% <72.49%> (+0.02%) ⬆️
Py-3.12 69.33% <72.49%> (+0.01%) ⬆️
Py-3.13 69.33% <72.49%> (+0.01%) ⬆️
Py-3.14 69.34% <72.49%> (+0.01%) ⬆️
Py-3.14t 69.34% <72.49%> (+0.02%) ⬆️
SelfHosted-Large 29.76% <31.61%> (+0.01%) ⬆️
SelfHosted-Linux 36.38% <31.61%> (-0.04%) ⬇️
SelfHosted-macOS 35.39% <31.61%> (-0.03%) ⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines Coverage Δ
dimos/web/relay_bridge/protocol.py 100.00% <100.00%> (ø)
dimos/web/relay_bridge/test_protocol.py 100.00% <100.00%> (ø)
dimos/web/relay_bridge/test_wt_client.py 95.12% <95.12%> (ø)
dimos/web/relay_bridge/locate.py 48.00% <48.00%> (ø)
dimos/web/relay_bridge/wt_client.py 58.04% <58.04%> (ø)
dimos/web/relay_bridge/_wt_session.py 24.16% <24.16%> (ø)

... and 3 files with indirect coverage changes

🚀 New features to boost your workflow:
  • 📦 JS Bundle Analysis: Save yourself from yourself by tracking and limiting bundle sizes in JS merges.

@paul-nechifor paul-nechifor added the backport:skip Skip creating a backport to any release branches label Jul 18, 2026
@paul-nechifor
paul-nechifor force-pushed the paul/feat/web-2-relay branch from c4ce7c0 to 9caa233 Compare July 18, 2026 22:15
@paul-nechifor
paul-nechifor force-pushed the paul/feat/web-3-python-client branch from fe724ae to a7cf9ae Compare July 18, 2026 22:17
@github-actions github-actions Bot added the ready-to-merge Required CI checks have passed on this PR label Jul 18, 2026
Comment thread dimos/web/relay_bridge/_wt_session.py
Comment thread dimos/web/relay_bridge/protocol.py Outdated
Comment thread dimos/web/relay_bridge/protocol.py Outdated
Comment thread dimos/web/relay_bridge/protocol.py Outdated
Comment thread dimos/web/relay_bridge/protocol.py Outdated
Comment thread dimos/web/relay_bridge/protocol.py Outdated
Comment thread dimos/web/relay_bridge/protocol.py Outdated
Comment thread dimos/web/relay_bridge/protocol.py Outdated
Comment thread dimos/web/relay_bridge/protocol.py
@paul-nechifor
paul-nechifor force-pushed the paul/feat/web-2-relay branch 2 times, most recently from 0b59692 to ee410a7 Compare July 23, 2026 01:19
@paul-nechifor
paul-nechifor force-pushed the paul/feat/web-3-python-client branch from a7cf9ae to fe762a3 Compare July 23, 2026 01:23
@github-actions github-actions Bot removed the ready-to-merge Required CI checks have passed on this PR label Jul 23, 2026
Comment thread dimos/web/relay_bridge/locate.py
@github-actions github-actions Bot added ready-to-merge Required CI checks have passed on this PR and removed ready-to-merge Required CI checks have passed on this PR labels Jul 23, 2026
@leshy leshy mentioned this pull request Jul 23, 2026
leshy
leshy previously approved these changes Jul 23, 2026

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Sam is right about the security issue, but also paul has lots on his plate now, so I'd like to let him merge and we should revisit web dir discovery

Base automatically changed from paul/feat/web-2-relay to main July 23, 2026 20:36
@paul-nechifor
paul-nechifor dismissed leshy’s stale review July 23, 2026 20:36

The base branch was changed.

Split 3/4 of the web project setup: dimos/web/relay_bridge/ protocol.py
(validated against the shared golden fixtures), aioquic WT session and
RelayClient, locate helpers. Stacked on paul/feat/web-2-relay.
@paul-nechifor
paul-nechifor force-pushed the paul/feat/web-3-python-client branch from c6c46dc to f57c44a Compare July 23, 2026 23:24
@github-actions github-actions Bot removed the ready-to-merge Required CI checks have passed on this PR label Jul 23, 2026
@paul-nechifor
paul-nechifor enabled auto-merge July 24, 2026 01:34
@paul-nechifor
paul-nechifor added this pull request to the merge queue Jul 24, 2026
@github-actions github-actions Bot added the ready-to-merge Required CI checks have passed on this PR label Jul 24, 2026
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paul-nechifor added this pull request to the merge queue Jul 24, 2026
Merged via the queue into main with commit 1dbb6c2 Jul 24, 2026
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@paul-nechifor
paul-nechifor deleted the paul/feat/web-3-python-client branch July 24, 2026 06:47
T-Markus-Liang added a commit to T-Markus-Liang/dimos_m20 that referenced this pull request Jul 25, 2026
* fix: better save path for nav recordings (dimensionalOS#2796)

* feat(transport): rust zenoh support and api refactor (dimensionalOS#2753)

* feat(arduino): add ArduinoModule with full arduino sim (and real arduino) support (dimensionalOS#1879)

* Swastika/docs chore/cleanup and fix links (dimensionalOS#2832)

* Velocity API (dimensionalOS#2859)

* holonomic trajectory controller (dimensionalOS#2697)

Co-authored-by: danvi <bogdan@dimensionalos.com>
Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com>
Co-authored-by: leshy <lesh@sysphere.org>

* fix(config): merge nested module overrides (dimensionalOS#2829)

* fix(mls-planner): macOS fix, link pyo3 cdylib (dimensionalOS#2836)

* revert(voxels): drop unused time_window mode from VoxelGrid (dimensionalOS#2845)

* Revert "feat(arduino): add ArduinoModule with full arduino sim (and r… (dimensionalOS#2868)

* feat: external blueprint registration (dimensionalOS#2517)

* Fix test_basic_deployment in CI (dimensionalOS#2767)

* Run CI on merge queue (dimensionalOS#2936)

* fix: disallow unused _ variables (dimensionalOS#2928)

* Add Galaxea A1Z arm in simulation (dimensionalOS#2947)

Co-authored-by: cc <cc7@duck.com>
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* Initial  xArm6 WorldBelief perception stack (dimensionalOS#2665)

Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com>

* feat(g1-groot): navigation on the real G1 (Point-LIO + raytracing costmap) (dimensionalOS#2861)

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Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
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* Swastika/docs/navigation relocalization (dimensionalOS#2764)

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* docs(teleop): rename Hosted Teleop page to Remote Teleop (dimensionalOS#2967)

* feat(hosted-teleop): Go2 teleoperation over Cloudflare broker (dimensionalOS#2798)

Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com>
Co-authored-by: spomichter <pomichterstash@gmail.com>
Co-authored-by: Sam Bull <git@sambull.org>
Co-authored-by: Paul Nechifor <paul@nechifor.net>

* DimSim scene editing/authoring in JS + moving inside dimos (dimensionalOS#2187)

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Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com>
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* fix(unitree): marshal stop_movement zero-twist onto the loop thread (dimensionalOS#2977)

* chore: bump version to 0.0.14b1 (beta pre-release) (dimensionalOS#2971)

* add latency graph and description to hosted teleop page (dimensionalOS#2982)

* docs(hosted-teleop): operator how-to + config/architecture refresh (dimensionalOS#2945)

Co-authored-by: stash <pomichterstash@gmail.com>

* serve LFS media via dimos-docs-assets so it renders on mintlify (dimensionalOS#2973)

* style(docs): fix trailing whitespace breaking lint on main (dimensionalOS#2991)

* add dimTELE banner (dimensionalOS#2984)

Co-authored-by: stash <pomichterstash@gmail.com>

* feat: blueprint namespaces (dimensionalOS#2725)

* fix: delete dead dimsim code (dimensionalOS#2980)

Co-authored-by: leshy <lesh@sysphere.org>

* fix: run all tests locally (dimensionalOS#2995)

* add gitHub community files for contributors and AI-assisted development (dimensionalOS#2347)

* fix: large file (dimensionalOS#3003)

* Fix/ivan/3d planner voxel colors (dimensionalOS#2983)

* feat: ban `__new__` (dimensionalOS#3009)

* fix: remove removed cibuildwheel enable group breaking release builds (dimensionalOS#3007)

* [Backport release/0.0.14b1] fix: remove removed cibuildwheel enable group breaking release builds (dimensionalOS#3013)

Co-authored-by: stash <pomichterstash@gmail.com>

* build(deps): bump the actions group across 1 directory with 6 updates (dimensionalOS#3056)

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

* fix(manipulation): stabilize agentic xArm simulation (dimensionalOS#2999)

Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com>
Co-authored-by: Paul Nechifor <paul@nechifor.net>

* fewer fields (dimensionalOS#3052)

* Build all GC Roots into Cachix (dimensionalOS#2866)

* Control coordinator refactor to add declarative task (dimensionalOS#2959)

Co-authored-by: Paul Nechifor <paul@nechifor.net>
Co-authored-by: leshy <lesh@sysphere.org>

* feat(hosted-teleop): Arm hosted teleoperation over the Cloudflare broker (dimensionalOS#3004)

* feat(control): removes frozen set of input streams - now Any Input stream can be routed to the control coordinator (dimensionalOS#3110)

* chore: add OpenYAM URDF support (dimensionalOS#3049)

Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com>

* feat: add Viser robot mesh display options (dimensionalOS#3112)

Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com>

* add links to cards (dimensionalOS#3065)

* [Tests] Add unit tests for SequentialIds (dimensionalOS#3060)

* feat(web): PR 1 - Deno (dimensionalOS#3042)

* Ivan/feat/go2zenoh (dimensionalOS#3141)

* feat: Piper teleop polishing (dimensionalOS#3101)

Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com>

* feat(hosted-teleop): auto-select operator view via robot_type broker config (dimensionalOS#3144)

* chore: remove get_project_root (dimensionalOS#3131)

* Add backport label to Dependabot PRs and check docker weekly (dimensionalOS#3067)

* fix memory issues DIM-1326 (dimensionalOS#3149)

Co-authored-by: danvi <bogdan@dimensionalos.com>

* docs(drone): fix dead pre-built RosettaDrone APK link (dimensionalOS#2546)

Co-authored-by: Paul Nechifor <paul@nechifor.net>

* feat: manipulation planning group (dimensionalOS#2645)

Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
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* Go2 holonomic Pose tracker trajectory controller (dimensionalOS#2948)

Co-authored-by: Ivan Nikolic <lesh@sysphere.org>

* feat(web): PR 2 - Relay (dimensionalOS#3043)

* ai disclose rule update (dimensionalOS#3028)

* Replace httpx with aiohttp (dimensionalOS#2974)

Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com>
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* fix(memory2): recorder ingress reception_ts + poseless streams (dimensionalOS#2927)

* ci: smoke-build a wheel on PRs touching release build config (dimensionalOS#3008)

* Fix typos and grammar (dimensionalOS#2726)

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* feat: visualize manipulation obstacles (dimensionalOS#3108)

Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com>

* feat(web): PR 3 - Python client (dimensionalOS#3044)

* feat(web): PR 4 - E2E (dimensionalOS#3045)

* Swastika/chore/readme update (dimensionalOS#3027)

* Persist dependencies on disk (dimensionalOS#3167)

* ci: label first-time contributor PRs (dimensionalOS#3171)

* Add @Dreamsorcerer as global codeowner (dimensionalOS#3165)

* feat(m20): integrate official MuJoCo model

* docs(m20): add official MuJoCo integration guide

* docs(m20): add English guide and fidelity review

* docs(m20): make English guide primary

* docs(m20): document lateral and yaw limitation

* docs(m20): add MuJoCo test matrix

* docs(m20): consolidate test matrix into guides

* docs(m20): clarify guide reading order

* fix(memory2): preserve recorder ingress timing

* fix(memory2): avoid undefined frame in pose warning

* fix(config): merge nested module overrides (dimensionalOS#2829)

(cherry picked from commit 66ce423)

* style: format Zenoh service

---------

Signed-off-by: dependabot[bot] <support@github.com>
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T-Markus-Liang added a commit to T-Markus-Liang/dimos_m20 that referenced this pull request Jul 25, 2026
* fix: better save path for nav recordings (dimensionalOS#2796)

* feat(transport): rust zenoh support and api refactor (dimensionalOS#2753)

* feat(arduino): add ArduinoModule with full arduino sim (and real arduino) support (dimensionalOS#1879)

* Swastika/docs chore/cleanup and fix links (dimensionalOS#2832)

* Velocity API (dimensionalOS#2859)

* holonomic trajectory controller (dimensionalOS#2697)

Co-authored-by: danvi <bogdan@dimensionalos.com>
Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com>
Co-authored-by: leshy <lesh@sysphere.org>

* fix(config): merge nested module overrides (dimensionalOS#2829)

* fix(mls-planner): macOS fix, link pyo3 cdylib (dimensionalOS#2836)

* revert(voxels): drop unused time_window mode from VoxelGrid (dimensionalOS#2845)

* Revert "feat(arduino): add ArduinoModule with full arduino sim (and r… (dimensionalOS#2868)

* feat: external blueprint registration (dimensionalOS#2517)

* Fix test_basic_deployment in CI (dimensionalOS#2767)

* Run CI on merge queue (dimensionalOS#2936)

* fix: disallow unused _ variables (dimensionalOS#2928)

* Add Galaxea A1Z arm in simulation (dimensionalOS#2947)

Co-authored-by: cc <cc7@duck.com>
Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com>
Co-authored-by: cc <55869557+TomCC7@users.noreply.github.com>

* Initial  xArm6 WorldBelief perception stack (dimensionalOS#2665)

Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com>

* feat(g1-groot): navigation on the real G1 (Point-LIO + raytracing costmap) (dimensionalOS#2861)

Co-authored-by: Jeff Hykin <jeff.hykin@gmail.com>
Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com>

* Swastika/docs/navigation relocalization (dimensionalOS#2764)

Co-authored-by: Cursor <cursoragent@cursor.com>

* docs(teleop): rename Hosted Teleop page to Remote Teleop (dimensionalOS#2967)

* feat(hosted-teleop): Go2 teleoperation over Cloudflare broker (dimensionalOS#2798)

Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com>
Co-authored-by: spomichter <pomichterstash@gmail.com>
Co-authored-by: Sam Bull <git@sambull.org>
Co-authored-by: Paul Nechifor <paul@nechifor.net>

* DimSim scene editing/authoring in JS + moving inside dimos (dimensionalOS#2187)

Co-authored-by: Paul Nechifor <paul@nechifor.net>
Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com>
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* fix(unitree): marshal stop_movement zero-twist onto the loop thread (dimensionalOS#2977)

* chore: bump version to 0.0.14b1 (beta pre-release) (dimensionalOS#2971)

* add latency graph and description to hosted teleop page (dimensionalOS#2982)

* docs(hosted-teleop): operator how-to + config/architecture refresh (dimensionalOS#2945)

Co-authored-by: stash <pomichterstash@gmail.com>

* serve LFS media via dimos-docs-assets so it renders on mintlify (dimensionalOS#2973)

* style(docs): fix trailing whitespace breaking lint on main (dimensionalOS#2991)

* add dimTELE banner (dimensionalOS#2984)

Co-authored-by: stash <pomichterstash@gmail.com>

* feat: blueprint namespaces (dimensionalOS#2725)

* fix: delete dead dimsim code (dimensionalOS#2980)

Co-authored-by: leshy <lesh@sysphere.org>

* fix: run all tests locally (dimensionalOS#2995)

* add gitHub community files for contributors and AI-assisted development (dimensionalOS#2347)

* fix: large file (dimensionalOS#3003)

* Fix/ivan/3d planner voxel colors (dimensionalOS#2983)

* feat: ban `__new__` (dimensionalOS#3009)

* fix: remove removed cibuildwheel enable group breaking release builds (dimensionalOS#3007)

* [Backport release/0.0.14b1] fix: remove removed cibuildwheel enable group breaking release builds (dimensionalOS#3013)

Co-authored-by: stash <pomichterstash@gmail.com>

* build(deps): bump the actions group across 1 directory with 6 updates (dimensionalOS#3056)

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* fix(manipulation): stabilize agentic xArm simulation (dimensionalOS#2999)

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* fewer fields (dimensionalOS#3052)

* Build all GC Roots into Cachix (dimensionalOS#2866)

* Control coordinator refactor to add declarative task (dimensionalOS#2959)

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* feat(hosted-teleop): Arm hosted teleoperation over the Cloudflare broker (dimensionalOS#3004)

* feat(control): removes frozen set of input streams - now Any Input stream can be routed to the control coordinator (dimensionalOS#3110)

* chore: add OpenYAM URDF support (dimensionalOS#3049)

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* feat: add Viser robot mesh display options (dimensionalOS#3112)

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* add links to cards (dimensionalOS#3065)

* [Tests] Add unit tests for SequentialIds (dimensionalOS#3060)

* feat(web): PR 1 - Deno (dimensionalOS#3042)

* Ivan/feat/go2zenoh (dimensionalOS#3141)

* feat: Piper teleop polishing (dimensionalOS#3101)

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* feat(hosted-teleop): auto-select operator view via robot_type broker config (dimensionalOS#3144)

* chore: remove get_project_root (dimensionalOS#3131)

* Add backport label to Dependabot PRs and check docker weekly (dimensionalOS#3067)

* fix memory issues DIM-1326 (dimensionalOS#3149)

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* docs(drone): fix dead pre-built RosettaDrone APK link (dimensionalOS#2546)

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* feat: manipulation planning group (dimensionalOS#2645)

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* Go2 holonomic Pose tracker trajectory controller (dimensionalOS#2948)

Co-authored-by: Ivan Nikolic <lesh@sysphere.org>

* feat(web): PR 2 - Relay (dimensionalOS#3043)

* ai disclose rule update (dimensionalOS#3028)

* Replace httpx with aiohttp (dimensionalOS#2974)

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* fix(memory2): recorder ingress reception_ts + poseless streams (dimensionalOS#2927)

* ci: smoke-build a wheel on PRs touching release build config (dimensionalOS#3008)

* Fix typos and grammar (dimensionalOS#2726)

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* feat: visualize manipulation obstacles (dimensionalOS#3108)

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* feat(web): PR 3 - Python client (dimensionalOS#3044)

* feat(web): PR 4 - E2E (dimensionalOS#3045)

* Swastika/chore/readme update (dimensionalOS#3027)

* Persist dependencies on disk (dimensionalOS#3167)

* ci: label first-time contributor PRs (dimensionalOS#3171)

* Add @Dreamsorcerer as global codeowner (dimensionalOS#3165)

* feat: add RoboPlan multi-robot planning (dimensionalOS#3155)

---------

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