fix: use sim camera intrinsics in viewer

[ruthwikdasyam]

Problem

In simulation mode (Mujoco) the Rerun camera view rendered the image in the top-left corner instead of correctly. The publish_camera_info loop always fell back to the hardcoded Go2 camera intrinsics via _camera_info_static(), ignoring Mujoco's computed intrinsics

Solution

When running in sim, self.camera_info_static is set from the Mujoco connection's computed intrinsics. publish_camera_info now simply publishes self.camera_info_static directly

Breaking Changes

None

How to Test

• Run dimos --simulation run unitree-go2
• camera image renders correctly in the viewport (not stuck in top-left corner)
• no change in behavior with hardware

Contributor License Agreement

• I have read and approved the CLA.

Before&After

[greptile-apps]

Greptile Summary

This PR fixes a bug in simulation mode where the Rerun camera viewer rendered the image in the top-left corner due to mismatched camera intrinsics. The fix sets self.camera_info_static from MujocoConnection's computed intrinsics when simulation=True, and updates publish_camera_info to use self.camera_info_static instead of always calling the hardcoded _camera_info_static() function.

• publish_camera_info now publishes self.camera_info_static directly (no behavioral change for hardware mode, since the class default is still _camera_info_static())
• In simulation mode, camera_info_static is overridden with MuJoCo-computed intrinsics (FOV-based pinhole model from MujocoConnection._compute_camera_info)
• The attribute camera_info_static is accessed on self.connection, which is typed as Go2ConnectionProtocol — but this attribute is not declared in the protocol, leading to a type error and a potential AttributeError if simulation mode is activated with a non-MuJoCo connection type

Confidence Score: 3/5

• Safe to merge for the intended use case (MuJoCo simulation), but contains an unguarded attribute access that is not type-safe and could fail at runtime in edge configurations.
• The fix correctly solves the reported bug for the primary use case. However, accessing self.connection.camera_info_static without an isinstance guard or a Protocol declaration means a type checker will flag it, and any configuration where simulation=True but the connection is not MujocoConnection will raise an AttributeError.
• dimos/robot/unitree/go2/connection.py — the new simulation branch at lines 208–209

Important Files Changed

Filename	Overview
dimos/robot/unitree/go2/connection.py	Introduces sim-specific camera intrinsics by reading camera_info_static from the connection object, but accesses an attribute not declared in Go2ConnectionProtocol, creating a type error and a potential AttributeError if simulation mode is active with a non-Mujoco connection.

Sequence Diagram

sequenceDiagram
    participant Init as GO2Connection.__init__
    participant Conn as make_connection()
    participant Mujoco as MujocoConnection
    participant Thread as publish_camera_info thread

    Init->>Conn: make_connection(ip, cfg)
    Conn-->>Init: MujocoConnection (when simulation=True)
    Init->>Mujoco: read camera_info_static
    Mujoco-->>Init: CameraInfo (FOV-based intrinsics)
    Init->>Init: self.camera_info_static = MujocoConnection.camera_info_static

    Note over Init: For hardware mode, class default (_camera_info_static()) is kept

    Init->>Thread: start daemon thread
    loop every 1s
        Thread->>Thread: publish(self.camera_info_static)
    end

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_{Last reviewed commit: d18eaba}

[spomichter]

amazing i was putting this off lol