From 1f03ca294fc3d549d7b7a289f6ff2a7ee2646352 Mon Sep 17 00:00:00 2001 From: alexlin2 Date: Thu, 16 Oct 2025 02:17:19 -0700 Subject: [PATCH 1/2] Fix spatial memory bug in unitree g1 --- dimos/robot/unitree_webrtc/unitree_g1.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/dimos/robot/unitree_webrtc/unitree_g1.py b/dimos/robot/unitree_webrtc/unitree_g1.py index f319e2c87c..b2f56d6095 100644 --- a/dimos/robot/unitree_webrtc/unitree_g1.py +++ b/dimos/robot/unitree_webrtc/unitree_g1.py @@ -261,9 +261,6 @@ def start(self): self._deploy_visualization() - if self.enable_perception: - self._deploy_perception() - if self.enable_joystick: self._deploy_joystick() @@ -280,6 +277,9 @@ def start(self): self._deploy_camera() self._deploy_detection(self.nav.go_to) + if self.enable_perception: + self._deploy_perception() + self.lcm.start() # Setup agent with G1 skills @@ -384,7 +384,7 @@ def _deploy_perception(self): output_dir=self.spatial_memory_dir, ) - self.spatial_memory_module.video.transport = core.LCMTransport("/image", Image) + self.spatial_memory_module.color_image.connect(self.camera.image) self.spatial_memory_module.odom.transport = core.LCMTransport("/odom", PoseStamped) logger.info("Spatial memory module deployed and connected") From 5dbf7e42a7a388cbe35913878460a67cbc6f92da Mon Sep 17 00:00:00 2001 From: spomichter <12108168+spomichter@users.noreply.github.com> Date: Fri, 17 Oct 2025 05:39:46 +0000 Subject: [PATCH 2/2] CI code cleanup --- dimos/robot/unitree_webrtc/unitree_g1.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/dimos/robot/unitree_webrtc/unitree_g1.py b/dimos/robot/unitree_webrtc/unitree_g1.py index 48969373ca..26b310629f 100644 --- a/dimos/robot/unitree_webrtc/unitree_g1.py +++ b/dimos/robot/unitree_webrtc/unitree_g1.py @@ -386,7 +386,7 @@ def _deploy_perception(self): output_dir=self.spatial_memory_dir, ) - self.spatial_memory_module.color_image.connect(self.camera.image) + self.spatial_memory_module.color_image.connect(self.camera.image) self.spatial_memory_module.odom.transport = core.LCMTransport("/odom", PoseStamped) logger.info("Spatial memory module deployed and connected")