Merge pull request #491 - Full Transforms Architecture in Python

### allows multiple modules to emit different parts of transform graph and do arbitrary instant lookups on this graph

easy oneliners to ask questions like "how do I turn the body to face this person that I see with my camera" 

- Implemented generic collection for timestamped objects (sensor messages, transforms, poses) (required to support historical Transform tree lookups, and time bounded storage)
- Time series collection allows to search for closest points, merge, calculate time distances etc.
- Implemented generic transform interface
- Implemented LCM transform transport on top of that
- Unitree emitting simple world -> base_link transform (from odom) - next steps to check people follow, rendering detection boxes etc
<img width="894" height="1201" alt="2025-07-25_05-55" src="https://github.com/user-attachments/assets/15a6fd0e-77f3-4cc1-b732-05c693c81979" />



Former-commit-id: 239ade3 [formerly f5658ea]
Former-commit-id: a58d0a7

Author: spomichter

dimos/core/transport.py

@@ -72,7 +72,7 @@ def subscribe(self, selfstream: In[T], callback: Callable[[T], None]) -> None:
         if not self._started:
             self.lcm.start()
             self._started = True
-        self.lcm.subscribe(self.topic, lambda msg, topic: callback(msg))
+        return self.lcm.subscribe(self.topic, lambda msg, topic: callback(msg))
 
 
 class LCMTransport(PubSubTransport[T]):
@@ -96,7 +96,7 @@ def subscribe(self, selfstream: In[T], callback: Callable[[T], None]) -> None:
         if not self._started:
             self.lcm.start()
             self._started = True
-        self.lcm.subscribe(self.topic, lambda msg, topic: callback(msg))
+        return self.lcm.subscribe(self.topic, lambda msg, topic: callback(msg))
 
 
 class ZenohTransport(PubSubTransport[T]): ...

dimos/msgs/geometry_msgs/Transform.py

@@ -14,14 +14,11 @@
 
 from __future__ import annotations
 
-import struct
 import time
-from io import BytesIO
 from typing import BinaryIO
 
 from dimos_lcm.geometry_msgs import Transform as LCMTransform
 from dimos_lcm.geometry_msgs import TransformStamped as LCMTransformStamped
-from plum import dispatch
 
 from dimos.msgs.geometry_msgs.Quaternion import Quaternion
 from dimos.msgs.geometry_msgs.Vector3 import Vector3
@@ -79,6 +76,74 @@ def lcm_transform(self) -> LCMTransformStamped:
             ),
         )
 
+    def __add__(self, other: "Transform") -> "Transform":
+        """Compose two transforms (transform composition).
+
+        The operation self + other represents applying transformation 'other'
+        in the coordinate frame defined by 'self'. This is equivalent to:
+        - First apply transformation 'self' (from frame A to frame B)
+        - Then apply transformation 'other' (from frame B to frame C)
+
+        Args:
+            other: The transform to compose with this one
+
+        Returns:
+            A new Transform representing the composed transformation
+
+        Example:
+            t1 = Transform(Vector3(1, 0, 0), Quaternion(0, 0, 0, 1))
+            t2 = Transform(Vector3(2, 0, 0), Quaternion(0, 0, 0, 1))
+            t3 = t1 + t2  # Combined transform: translation (3, 0, 0)
+        """
+        if not isinstance(other, Transform):
+            raise TypeError(f"Cannot add Transform and {type(other).__name__}")
+
+        # Compose orientations: self.rotation * other.rotation
+        new_rotation = self.rotation * other.rotation
+
+        # Transform other's translation by self's rotation, then add to self's translation
+        rotated_translation = self.rotation.rotate_vector(other.translation)
+        new_translation = self.translation + rotated_translation
+
+        return Transform(
+            translation=new_translation,
+            rotation=new_rotation,
+            frame_id=self.frame_id,
+            child_frame_id=other.child_frame_id,
+            ts=self.ts,
+        )
+
+    @classmethod
+    def from_pose(cls, frame_id: str, pose: "Pose | PoseStamped") -> "Transform":
+        """Create a Transform from a Pose or PoseStamped.
+
+        Args:
+            pose: A Pose or PoseStamped object to convert
+
+        Returns:
+            A Transform with the same translation and rotation as the pose
+        """
+        # Import locally to avoid circular imports
+        from dimos.msgs.geometry_msgs.Pose import Pose
+        from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
+
+        # Handle both Pose and PoseStamped
+        if isinstance(pose, PoseStamped):
+            return cls(
+                translation=pose.position,
+                rotation=pose.orientation,
+                frame_id=pose.frame_id,
+                child_frame_id=frame_id,
+                ts=pose.ts,
+            )
+        elif isinstance(pose, Pose):
+            return cls(
+                translation=pose.position,
+                rotation=pose.orientation,
+            )
+        else:
+            raise TypeError(f"Expected Pose or PoseStamped, got {type(pose).__name__}")
+
     def lcm_encode(self) -> bytes:
         # we get a circular import otherwise
         from dimos.msgs.tf2_msgs.TFMessage import TFMessage

dimos/msgs/geometry_msgs/test_Transform.py

@@ -19,7 +19,7 @@
 from dimos_lcm.geometry_msgs import Transform as LCMTransform
 from dimos_lcm.geometry_msgs import TransformStamped as LCMTransformStamped
 
-from dimos.msgs.geometry_msgs import Pose, Quaternion, Transform, Vector3
+from dimos.msgs.geometry_msgs import Pose, PoseStamped, Quaternion, Transform, Vector3
 
 
 def test_transform_initialization():
@@ -228,3 +228,156 @@ def test_lcm_encode_decode():
     decoded_transform = Transform.lcm_decode(data)
 
     assert decoded_transform == transform
+
+
+def test_transform_addition():
+    # Test 1: Simple translation addition (no rotation)
+    t1 = Transform(
+        translation=Vector3(1, 0, 0),
+        rotation=Quaternion(0, 0, 0, 1),  # identity rotation
+    )
+    t2 = Transform(
+        translation=Vector3(2, 0, 0),
+        rotation=Quaternion(0, 0, 0, 1),  # identity rotation
+    )
+    t3 = t1 + t2
+    assert t3.translation == Vector3(3, 0, 0)
+    assert t3.rotation == Quaternion(0, 0, 0, 1)
+
+    # Test 2: 90-degree rotation composition
+    # First transform: move 1 unit in X
+    t1 = Transform(
+        translation=Vector3(1, 0, 0),
+        rotation=Quaternion(0, 0, 0, 1),  # identity
+    )
+    # Second transform: move 1 unit in X with 90-degree rotation around Z
+    angle = np.pi / 2
+    t2 = Transform(
+        translation=Vector3(1, 0, 0),
+        rotation=Quaternion(0, 0, np.sin(angle / 2), np.cos(angle / 2)),
+    )
+    t3 = t1 + t2
+    assert t3.translation == Vector3(2, 0, 0)
+    # Rotation should be 90 degrees around Z
+    assert np.isclose(t3.rotation.x, 0.0, atol=1e-10)
+    assert np.isclose(t3.rotation.y, 0.0, atol=1e-10)
+    assert np.isclose(t3.rotation.z, np.sin(angle / 2), atol=1e-10)
+    assert np.isclose(t3.rotation.w, np.cos(angle / 2), atol=1e-10)
+
+    # Test 3: Rotation affects translation
+    # First transform: 90-degree rotation around Z
+    t1 = Transform(
+        translation=Vector3(0, 0, 0),
+        rotation=Quaternion(0, 0, np.sin(angle / 2), np.cos(angle / 2)),  # 90° around Z
+    )
+    # Second transform: move 1 unit in X
+    t2 = Transform(
+        translation=Vector3(1, 0, 0),
+        rotation=Quaternion(0, 0, 0, 1),  # identity
+    )
+    t3 = t1 + t2
+    # X direction rotated 90° becomes Y direction
+    assert np.isclose(t3.translation.x, 0.0, atol=1e-10)
+    assert np.isclose(t3.translation.y, 1.0, atol=1e-10)
+    assert np.isclose(t3.translation.z, 0.0, atol=1e-10)
+    # Rotation remains 90° around Z
+    assert np.isclose(t3.rotation.z, np.sin(angle / 2), atol=1e-10)
+    assert np.isclose(t3.rotation.w, np.cos(angle / 2), atol=1e-10)
+
+    # Test 4: Frame tracking
+    t1 = Transform(
+        translation=Vector3(1, 0, 0),
+        rotation=Quaternion(0, 0, 0, 1),
+        frame_id="world",
+        child_frame_id="robot",
+    )
+    t2 = Transform(
+        translation=Vector3(2, 0, 0),
+        rotation=Quaternion(0, 0, 0, 1),
+        frame_id="robot",
+        child_frame_id="sensor",
+    )
+    t3 = t1 + t2
+    assert t3.frame_id == "world"
+    assert t3.child_frame_id == "sensor"
+
+    # Test 5: Type error
+    with pytest.raises(TypeError):
+        t1 + "not a transform"
+
+
+def test_transform_from_pose():
+    """Test converting Pose to Transform"""
+    # Create a Pose with position and orientation
+    pose = Pose(
+        position=Vector3(1.0, 2.0, 3.0),
+        orientation=Quaternion(0.0, 0.0, 0.707, 0.707),  # 90 degrees around Z
+    )
+
+    # Convert to Transform
+    transform = Transform.from_pose("base_link", pose)
+
+    # Check that translation and rotation match
+    assert transform.translation == pose.position
+    assert transform.rotation == pose.orientation
+    assert transform.frame_id == "world"  # default frame_id
+    assert transform.child_frame_id == "base_link"  # passed as first argument
+
+
+def test_transform_from_pose_stamped():
+    """Test converting PoseStamped to Transform"""
+    # Create a PoseStamped with position, orientation, timestamp and frame
+    test_time = time.time()
+    pose_stamped = PoseStamped(
+        ts=test_time,
+        frame_id="map",
+        position=Vector3(4.0, 5.0, 6.0),
+        orientation=Quaternion(0.0, 0.707, 0.0, 0.707),  # 90 degrees around Y
+    )
+
+    # Convert to Transform
+    transform = Transform.from_pose("robot_base", pose_stamped)
+
+    # Check that all fields match
+    assert transform.translation == pose_stamped.position
+    assert transform.rotation == pose_stamped.orientation
+    assert transform.frame_id == pose_stamped.frame_id
+    assert transform.ts == pose_stamped.ts
+    assert transform.child_frame_id == "robot_base"  # passed as first argument
+
+
+def test_transform_from_pose_variants():
+    """Test from_pose with different Pose initialization methods"""
+    # Test with Pose created from x,y,z
+    pose1 = Pose(1.0, 2.0, 3.0)
+    transform1 = Transform.from_pose("base_link", pose1)
+    assert transform1.translation.x == 1.0
+    assert transform1.translation.y == 2.0
+    assert transform1.translation.z == 3.0
+    assert transform1.rotation.w == 1.0  # Identity quaternion
+
+    # Test with Pose created from tuple
+    pose2 = Pose(([7.0, 8.0, 9.0], [0.0, 0.0, 0.0, 1.0]))
+    transform2 = Transform.from_pose("base_link", pose2)
+    assert transform2.translation.x == 7.0
+    assert transform2.translation.y == 8.0
+    assert transform2.translation.z == 9.0
+
+    # Test with Pose created from dict
+    pose3 = Pose({"position": [10.0, 11.0, 12.0], "orientation": [0.0, 0.0, 0.0, 1.0]})
+    transform3 = Transform.from_pose("base_link", pose3)
+    assert transform3.translation.x == 10.0
+    assert transform3.translation.y == 11.0
+    assert transform3.translation.z == 12.0
+
+
+def test_transform_from_pose_invalid_type():
+    """Test that from_pose raises TypeError for invalid types"""
+    with pytest.raises(TypeError):
+        Transform.from_pose("not a pose")
+
+    with pytest.raises(TypeError):
+        Transform.from_pose(42)
+
+    with pytest.raises(TypeError):
+        Transform.from_pose(None)

dimos/msgs/tf2_msgs/TFMessage.py

@@ -60,11 +60,8 @@ def lcm_encode(self) -> bytes:
                            If not provided, defaults to "base_link" for all.
         """
 
-        print("WILL MAP", self.transforms)
         res = list(map(lambda t: t.lcm_transform(), self.transforms))
-        print("RES IS", res)
 
-        print("HEADER", res[0].header)
         lcm_msg = LCMTFMessage(
             transforms_length=len(self.transforms),
             transforms=res,

dimos/protocol/service/lcmservice.py

@@ -24,6 +24,7 @@
 from typing import Any, Callable, Optional, Protocol, runtime_checkable
 
 import lcm
+
 from dimos.protocol.service.spec import Service
 
 
@@ -161,7 +162,7 @@ class Topic:
     def __str__(self) -> str:
         if self.lcm_type is None:
             return self.topic
-        return f"{self.topic}#{self.lcm_type.name}"
+        return f"{self.topic}#{self.lcm_type.msg_name}"
 
 
 class LCMService(Service[LCMConfig]):