DimSim sensors and movement do not work with Zenoh transport

[ruthwikdasyam]

Problem

DimSim’s bridge publishes sensors and consumes movement commands over LCM. With DimOS using Zenoh, the scene renders, but camera, LiDAR, and odometry do not reach the Zenoh-based stack. Movement commands also lack a forwarding path.

Reproduction

dimos --transport zenoh --simulation dimsim --dimsim-scene=apartment --no-dimsim-headless run unitree-go2-agentic

Open http://localhost:8090/ and connect Rerun.

Actual: The scene renders, but simulated sensor data is absent from the Zenoh-based visualization/mapping stack.

Expected: Sensors and movement work with either supported transport.

Suspected cause

dimos/robot/unitree/dimsim_connection.py relies on the simulator publishing directly to shared LCM topics:

• Camera and LiDAR observable streams are not populated.
• The odometry subscription follows the selected transport rather than explicitly consuming simulator LCM.
• move() returns success without forwarding commands.

Sensor absence was observed during local use; the missing Zenoh movement path was identified by code inspection.

Proposed fix

Bridge simulator LCM sensors into the active DimOS transport and forward movement commands back to LCM. Preserve TF/frame conventions and prevent duplicate publishing or feedback loops in LCM mode.

Acceptance criteria

• Camera, LiDAR, odometry, and TF reach Zenoh subscribers.
• Zenoh movement commands move the simulated robot.
• LCM mode remains functional without duplicate messages or loops.
• Subscriptions and transports shut down cleanly.

Workaround

Launch with --transport lcm or DIMOS_TRANSPORT=lcm.