feat(microduck): browser cockpit on the official-policy sim

[spomichter]

Stacked on #3937 (feat/microduck-sim, merged with main); the diff shrinks to the two top commits once that lands.

What

• feat(web): Map2D click-to-goal — Map2D(goal="goal_request") binds a third channel (tx, goal.json.v1, publish="shared") through the existing panel/publish path. A map click publishes {x, y}; the bridge decodes it to a PoseStamped on a generated Out port that autoconnects to the planner's goal_request. View-only maps are unchanged. No new protocol messages, panel kinds or relay changes.
• feat(microduck): browser cockpit blueprints — microduck-cockpit = Feat/microduck sim #3937's sim + policy task, plus voxel mapper, costmapper, A* planner, movement manager, and a three-panel cockpit (camera, click-to-goal map, keyboard teleop). microduck-agentic-cockpit adds McpClient, observe, chat, and a small MicroduckSkills module (go_to, stop_moving, where_am_i, list_tricks, perform, sit, stand_up) over the policy task's RPCs. simulation.py gains microduck_stack(sim_overrides) so the cockpit can enable the pointcloud without duplicating the wiring.

Run

uv run dimos --simulation mujoco run microduck-cockpit --local-relay
uv run dimos --simulation mujoco run microduck-agentic-cockpit --local-relay   # needs OPENAI_API_KEY

Verified

• Headless smoke run: sim, coordinator, 7 policies armed, mapper, planner, relay up in ~5 s. A Python viewer published a goal through the relay, got pub_ack, planner walked the duck to (0.6, 0.2).
• pytest: dimos/web, dimos/robot/pollen/microduck, policy task, adapters, blueprint checks (767 passed). mypy clean on changed files. Registry regenerated.
• Deno shared tests, cockpit + SDK vitest, tsc clean. web/ formatted with the pinned Deno 2.6.10.

[codecov]

❌ 3 Tests Failed:

Tests completed	Failed	Passed	Skipped
5468	3	5465	51

View the top 3 failed test(s) by shortest run time

dimos.codebase_checks.test_docs_branding::test_docs_use_current_branding

Stack Traces | 0.038s run time

def test_docs_use_current_branding() -> None:
        """Fail if any file under docs/ spells the brand "DimOS" instead of "dimOS"."""
        hits = find_old_branding()
        if hits:
            listing = "\n".join(
                f"  - {p.relative_to(DIMOS_PROJECT_ROOT)}:{lineno}: {line.strip()}"
                for p, lineno, line in hits
            )
>           raise AssertionError(f'Found "DimOS" in docs/:\n{listing}\n\nThe brand is spelled "dimOS".')
E           AssertionError: Found "DimOS" in docs/:
E             - docs/usage/microduck-simulation.md:59: MuJoCo is always headless in this blueprint. `--viewer` controls DimOS
E             - docs/usage/microduck-simulation.md:83: Focus the DimOS Rerun viewer and use W/S for forward/reverse, Q/E for strafe,
E           
E           The brand is spelled "dimOS".

hits       = [(PosixPath('.../docs/usage/microduck-simulation.md'), 59, 'MuJoCo is always headless in thi.../usage/microduck-simulation.md'), 83, 'Focus the DimOS Rerun viewer and use W/S for forward/reverse, Q/E for strafe,')]
listing    = '  - docs/usage/microduck-simulation.md:59: MuJoCo is always headless in this blueprint. `--viewer` controls DimOS\n  - docs/usage/microduck-simulation.md:83: Focus the DimOS Rerun viewer and use W/S for forward/reverse, Q/E for strafe,'

dimos/codebase_checks/test_docs_branding.py:43: AssertionError

dimos.hardware.test_adapter_registries::test_declared_names_match_golden_set[whole_body]

Stack Traces | 0.09s run time

registry = <dimos.hardware.whole_body.registry.WholeBodyAdapterRegistry object at 0x7fd6392e9090>
family = 'whole_body'

    @pytest.mark.parametrize(("registry", "family"), FAMILIES)
    def test_declared_names_match_golden_set(registry, family) -> None:
>       assert set(registry._factory_paths) == EXPECTED_NAMES[family]
E       AssertionError: assert {'dual_openya...croduck', ...} == {'dual_openya...ort_lcm', ...}
E         
E         Extra items in the left set:
E         #x1B[0m#x1B[33m'#x1B[39;49;00m#x1B[33msim_mujoco_microduck#x1B[39;49;00m#x1B[33m'#x1B[39;49;00m#x1B[90m#x1B[39;49;00m
E         
E         Full diff:
E         #x1B[0m#x1B[90m #x1B[39;49;00m {#x1B[90m#x1B[39;49;00m
E         #x1B[90m #x1B[39;49;00m     'dual_openyam_damiao',#x1B[90m#x1B[39;49;00m
E         #x1B[90m #x1B[39;49;00m     'mock_whole_body',#x1B[90m#x1B[39;49;00m
E         #x1B[90m #x1B[39;49;00m     'openarm_damiao',#x1B[90m#x1B[39;49;00m
E         #x1B[90m #x1B[39;49;00m     'openyam_damiao',#x1B[90m#x1B[39;49;00m
E         #x1B[90m #x1B[39;49;00m     'sim_mujoco_g1',#x1B[90m#x1B[39;49;00m
E         #x1B[92m+     'sim_mujoco_microduck',#x1B[39;49;00m#x1B[90m#x1B[39;49;00m
E         #x1B[90m #x1B[39;49;00m     'transport_lcm',#x1B[90m#x1B[39;49;00m
E         #x1B[90m #x1B[39;49;00m     'transport_ros',#x1B[90m#x1B[39;49;00m
E         #x1B[90m #x1B[39;49;00m }#x1B[90m#x1B[39;49;00m

family     = 'whole_body'
registry   = <dimos.hardware.whole_body.registry.WholeBodyAdapterRegistry object at 0x7fd6392e9090>

dimos/hardware/test_adapter_registries.py:106: AssertionError

dimos.robot.pollen.microduck.test_simulation::test_scene_package_uses_standard_mujoco_composition

Stack Traces | 3.3s run time

monkeypatch = <_pytest.monkeypatch.MonkeyPatch object at 0x7fe22f5cc310>
tmp_path = PosixPath('.../pytest-0/popen-gw3/test_scene_package_uses_standa0')

    def test_scene_package_uses_standard_mujoco_composition(
        monkeypatch: pytest.MonkeyPatch,
        tmp_path: Path,
    ) -> None:
        scene_xml = tmp_path / "scene.xml"
        package = ScenePackage(
            package_dir=tmp_path,
            source_path=tmp_path / "source.glb",
            alignment=SceneMeshAlignment(),
            mujoco_scene_path=scene_xml,
            entities=[{"id": "test_entity"}],
        )
        monkeypatch.setattr(
            microduck_blueprint,
            "resolve_scene_package",
            lambda _scene: package,
        )
    
        backend, adapter_address = microduck_blueprint._microduck_mujoco_backend("office")
        simulator = backend.active_blueprints[0]
    
        assert simulator.module is MujocoSimModule
        assert simulator.kwargs["scene_xml"] == scene_xml
>       assert simulator.kwargs["robot_mjcf"] == MICRODUCK_ROBOT_MJCF

adapter_address = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/microduck.tar.gz after 3 attempts: Com...icroduck.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0x7fe3f61c8350>
backend    = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/microduck.tar.gz after 3 attempts: Com...roduck.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] Blueprint object at 0x7fe22f5cf790>
monkeypatch = <_pytest.monkeypatch.MonkeyPatch object at 0x7fe22f5cc310>
package    = ScenePackage(package_dir=PosixPath('.../pytest-0/popen-gw3/test_scene_package_use..., mujoco_binary_path=None, mujoco_composed_binaries={}, metadata_path=None, entities=[{'id': 'test_entity'}], stats={})
scene_xml  = PosixPath('.../pytest-0/popen-gw3/test_scene_package_uses_standa0/scene.xml')
simulator  = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/microduck.tar.gz after 3 attempts: Com...ck.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] BlueprintAtom object at 0x7fe22f5cec50>
tmp_path   = PosixPath('.../pytest-0/popen-gw3/test_scene_package_uses_standa0')

.../pollen/microduck/test_simulation.py:114: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
../...../_temp/uv-python-dir/cpython-3.10-linux-x86_64-gnu/lib/python3.10/pathlib.py:666: in __eq__
    return self._cparts == other._cparts and self._flavour is other._flavour
        other      = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/microduck.tar.gz after 3 attempts: Com...icroduck.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0x7fe3f61c8350>
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/microduck.tar.gz after 3 attempts: Com...icroduck.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0x7fe3f61c8350>
dimos/utils/data.py:370: in __getattribute__
    resolved = object.__getattribute__(self, "_ensure_downloaded")()
        name       = '_cparts'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/microduck.tar.gz after 3 attempts: Com...icroduck.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0x7fe3f61c8350>
dimos/utils/data.py:353: in _ensure_downloaded
    cache = get_data(filename)
        cache      = None
        filename   = 'microduck/robot_groundcontact.xml'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/microduck.tar.gz after 3 attempts: Com...icroduck.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0x7fe3f61c8350>
dimos/utils/data.py:310: in get_data
    archive_path = _decompress_archive(_pull_lfs_archive(archive_name))
        archive_name = 'microduck'
        data_dir   = PosixPath('.../dimos/dimos/data')
        file_path  = PosixPath('.../dimos/dimos/data/microduck/robot_groundcontact.xml')
        name       = 'microduck/robot_groundcontact.xml'
        nested_path = PosixPath('robot_groundcontact.xml')
        path_parts = ('microduck', 'robot_groundcontact.xml')
dimos/utils/data.py:254: in _pull_lfs_archive
    _lfs_pull(file_path, repo_root)
        file_path  = PosixPath('.../dimos/data/.lfs/microduck.tar.gz')
        filename   = 'microduck'
        repo_root  = PosixPath('.../work/dimos/dimos')
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

file_path = PosixPath('.../dimos/data/.lfs/microduck.tar.gz')
repo_root = PosixPath('.../work/dimos/dimos')

    def _lfs_pull(file_path: Path, repo_root: Path, *, retries: int = 2) -> None:
        relative_path = file_path.relative_to(repo_root)
    
        env = os.environ.copy()
        env["GIT_LFS_FORCE_PROGRESS"] = "1"
    
        last_err: subprocess.CalledProcessError | None = None
        for attempt in range(1, retries + 2):  # retries + 1 total attempts
            try:
                subprocess.run(
                    # --exclude= overrides lfs.fetchexclude from .lfsconfig, which
                    # otherwise silently skips data/.lfs/* even when --include matches.
                    ["git", "lfs", "pull", "--include", str(relative_path), "--exclude="],
                    cwd=repo_root,
                    check=True,
                    env=env,
                )
                return
            except subprocess.CalledProcessError as e:
                last_err = e
                if attempt <= retries:
                    time.sleep(attempt)  # 1s, 2s backoff
    
>       raise RuntimeError(
            f"Failed to pull LFS file {file_path} after {retries + 1} attempts: {last_err}"
        )
E       RuntimeError: Failed to pull LFS file .../dimos/data/.lfs/microduck.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/microduck.tar.gz', '--exclude=']' returned non-zero exit status 1.

attempt    = 3
env        = {'ACCEPT_EULA': 'Y', 'ACTIONS_ID_TOKEN_REQUEST_TOKEN': 'eyJhbGciOiJSUzI1NiIsImtpZCI6IjM4ODI2YjE3LTZhMzAtNWY5Yi1iMTY5LT...-version=2.0', 'ACTIONS_ORCHESTRATION_ID': 'a6701975-88da-449b-b4ec-b819e5769beb.tests._3_10_ubuntu-latest_false', ...}
file_path  = PosixPath('.../dimos/data/.lfs/microduck.tar.gz')
last_err   = CalledProcessError(1, ['git', 'lfs', 'pull', '--include', 'data/.lfs/microduck.tar.gz', '--exclude='])
relative_path = PosixPath('data/.lfs/microduck.tar.gz')
repo_root  = PosixPath('.../work/dimos/dimos')
retries    = 2

dimos/utils/data.py:224: RuntimeError

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