New g1 blueprint runfiles

dimos/hardware/camera/module.py

@@ -125,3 +125,6 @@ def stop(self):
         if self.hardware and hasattr(self.hardware, "stop"):
             self.hardware.stop()
         super().stop()
+
+
+camera_module = CameraModule.blueprint

dimos/navigation/rosnav/nav_bot.py

@@ -28,8 +28,15 @@
 
 from dimos import core
 from dimos.protocol import pubsub
-from dimos.core import In, Out, rpc
-from dimos.msgs.geometry_msgs import PoseStamped, Twist, Transform, Vector3, Quaternion
+from dimos.core import In, Out, rpc, DimosCluster, LCMTransport, pSHMTransport
+from dimos.msgs.geometry_msgs import (
+    PoseStamped,
+    Twist,
+    TwistStamped,
+    Transform,
+    Vector3,
+    Quaternion,
+)
 from dimos.msgs.nav_msgs import Odometry, Path
 from dimos.msgs.sensor_msgs import PointCloud2, Joy
 from dimos.msgs.std_msgs import Bool
@@ -320,6 +327,9 @@ def stop(self):
             logger.error(f"Error during shutdown: {e}")
 
 
+navigation_module = ROSNavigationModule.blueprint
+
+
 class NavBot:
     """
     NavBot wrapper that deploys NavigationModule with proper DIMOS/ROS2 integration.
@@ -419,5 +429,20 @@ def main():
         nav_bot.shutdown()
 
 
+def deploy(dimos: DimosCluster):
+    nav = dimos.deploy(ROSNav)
+    nav.pointcloud.transport = pSHMTransport("/lidar")
+    nav.global_pointcloud.transport = pSHMTransport("/map")
+    # nav.pointcloud.transport = LCMTransport("/lidar", PointCloud2)
+    # nav.global_pointcloud.transport = LCMTransport("/map", PointCloud2)
+
+    nav.goal_req.transport = LCMTransport("/goal_req", PoseStamped)
+    nav.goal_active.transport = LCMTransport("/goal_active", PoseStamped)
+    nav.path_active.transport = LCMTransport("/path_active", Path)
+    nav.cmd_vel.transport = LCMTransport("/cmd_vel", TwistStamped)
+    nav.start()
+    return nav
+
+
 if __name__ == "__main__":
     main()

dimos/robot/all_blueprints.py

@@ -21,6 +21,12 @@
     "unitree-go2-basic": "dimos.robot.unitree_webrtc.unitree_go2_blueprints:basic",
     "unitree-go2-shm": "dimos.robot.unitree_webrtc.unitree_go2_blueprints:standard_with_shm",
     "unitree-go2-agentic": "dimos.robot.unitree_webrtc.unitree_go2_blueprints:agentic",
+    "unitree-g1": "dimos.robot.unitree_webrtc.unitree_g1_blueprints:standard",
+    "unitree-g1-basic": "dimos.robot.unitree_webrtc.unitree_g1_blueprints:basic",
+    "unitree-g1-shm": "dimos.robot.unitree_webrtc.unitree_g1_blueprints:standard_with_shm",
+    "unitree-g1-agentic": "dimos.robot.unitree_webrtc.unitree_g1_blueprints:agentic",
+    "unitree-g1-joystick": "dimos.robot.unitree_webrtc.unitree_g1_blueprints:with_joystick",
+    "unitree-g1-full": "dimos.robot.unitree_webrtc.unitree_g1_blueprints:full_featured",
     "demo-osm": "dimos.mapping.osm.demo_osm:demo_osm",
 }
 

dimos/robot/unitree_webrtc/g1_joystick_module.py

@@ -179,3 +179,7 @@ def _update_display(self, twist):
             y_pos += 25
 
         pygame.display.flip()
+
+
+# Create blueprint function for easy instantiation
+g1_joystick = G1JoystickModule.blueprint

dimos/robot/unitree_webrtc/rosnav.py

@@ -39,6 +39,7 @@
 logger = setup_logger("dimos.robot.unitree_webrtc.nav_bot", level=logging.INFO)
 
 
+# TODO: Remove, deprecated
 class NavigationModule(Module):
     goal_pose: Out[PoseStamped] = None
     goal_reached: In[Bool] = None

dimos/robot/unitree_webrtc/unitree_g1.py

@@ -31,6 +31,7 @@
 from sensor_msgs.msg import Joy as ROSJoy
 from sensor_msgs.msg import PointCloud2 as ROSPointCloud2
 from tf2_msgs.msg import TFMessage as ROSTFMessage
+from dimos.core.global_config import GlobalConfig
 
 from dimos import core
 from dimos.agents2 import Agent
@@ -86,16 +87,24 @@
 class G1ConnectionModule(Module):
     """Simplified connection module for G1 - uses WebRTC for control."""
 
-    movecmd: In[TwistStamped] = None
+    movecmd: In[Twist] = None
     odom_in: In[Odometry] = None
 
     odom_pose: Out[PoseStamped] = None
     ip: str
     connection_type: str = "webrtc"
 
-    def __init__(self, ip: str = None, connection_type: str = "webrtc", *args, **kwargs):
-        self.ip = ip
-        self.connection_type = connection_type
+    def __init__(
+        self,
+        ip: str = None,
+        connection_type: str = "webrtc",
+        global_config: GlobalConfig | None = None,
+        *args,
+        **kwargs,
+    ):
+        cfg = global_config or GlobalConfig()
+        self.ip = ip if ip is not None else cfg.robot_ip
+        self.connection_type = connection_type or cfg.unitree_connection_type
         self.connection = None
         Module.__init__(self, *args, **kwargs)
 
@@ -129,9 +138,8 @@ def _publish_odom_pose(self, msg: Odometry):
         )
 
     @rpc
-    def move(self, twist_stamped: TwistStamped, duration: float = 0.0):
+    def move(self, twist: Twist, duration: float = 0.0):
         """Send movement command to robot."""
-        twist = Twist(linear=twist_stamped.linear, angular=twist_stamped.angular)
         self.connection.move(twist, duration)
 
     @rpc
@@ -140,6 +148,9 @@ def publish_request(self, topic: str, data: dict):
         return self.connection.publish_request(topic, data)
 
 
+connection = G1ConnectionModule.blueprint
+
+
 class UnitreeG1(Robot, Resource):
     """Unitree G1 humanoid robot."""
 
@@ -362,11 +373,12 @@ def _deploy_camera(self):
 
     def _deploy_visualization(self):
         """Deploy and configure visualization modules."""
-        # Deploy WebSocket visualization module
-        self.websocket_vis = self._dimos.deploy(WebsocketVisModule, port=self.websocket_port)
-        self.websocket_vis.movecmd_stamped.transport = core.LCMTransport("/cmd_vel", TwistStamped)
+        # Deploy WebSocket visualization module - COMMENTED OUT DUE TO TRANSPORT ISSUES
+        # self.websocket_vis = self._dimos.deploy(WebsocketVisModule, port=self.websocket_port)
+        # self.websocket_vis.movecmd_stamped.transport = core.LCMTransport("/cmd_vel", TwistStamped)
 
-        # Note: robot_pose connection removed since odom was removed from G1ConnectionModule
+        # Connect odometry to websocket visualization
+        # self.websocket_vis.odom.transport = core.LCMTransport("/odom", PoseStamped)
 
         # Deploy Foxglove bridge
         self.foxglove_bridge = FoxgloveBridge(

dimos/robot/unitree_webrtc/unitree_g1_blueprints.py

@@ -0,0 +1,173 @@
+#!/usr/bin/env python3
+# Copyright 2025 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Blueprint configurations for Unitree G1 humanoid robot.
+
+This module provides pre-configured blueprints for various G1 robot setups,
+from basic teleoperation to full autonomous agent configurations.
+"""
+
+from dimos.constants import DEFAULT_CAPACITY_COLOR_IMAGE, DEFAULT_CAPACITY_DEPTH_IMAGE
+from dimos.core.blueprints import autoconnect
+from dimos.core.transport import LCMTransport, pSHMTransport
+from dimos.msgs.geometry_msgs import (
+    PoseStamped,
+    Twist,
+    TwistStamped,
+    Transform,
+    Vector3,
+    Quaternion,
+)
+from dimos.msgs.sensor_msgs import Image, PointCloud2
+from dimos.msgs.nav_msgs import Odometry, Path
+from dimos_lcm.sensor_msgs import CameraInfo
+from dimos.msgs.std_msgs import Bool
+from dimos.perception.spatial_perception import spatial_memory
+from dimos.robot.foxglove_bridge import foxglove_bridge
+from dimos.robot.unitree_webrtc.unitree_g1 import connection
+from dimos.navigation.rosnav.nav_bot import navigation_module
+from dimos.utils.monitoring import utilization
+from dimos.web.websocket_vis.websocket_vis_module import websocket_vis
+from dimos.navigation.global_planner import astar_planner
+from dimos.navigation.local_planner.holonomic_local_planner import (
+    holonomic_local_planner,
+)
+from dimos.navigation.bt_navigator.navigator import (
+    behavior_tree_navigator,
+)
+from dimos.navigation.frontier_exploration import (
+    wavefront_frontier_explorer,
+)
+from dimos.robot.unitree_webrtc.type.map import mapper
+from dimos.robot.unitree_webrtc.depth_module import depth_module
+from dimos.perception.object_tracker import object_tracking
+from dimos.agents2.agent import llm_agent
+from dimos.agents2.cli.human import human_input
+from dimos.agents2.skills.navigation import navigation_skill
+from dimos.robot.unitree_webrtc.g1_joystick_module import g1_joystick
+from dimos.robot.unitree_webrtc.unitree_g1_skill_container import g1_skills
+from dimos.hardware.camera.module import camera_module
+from dimos.hardware.camera.webcam import Webcam
+from dimos.hardware.camera import zed
+
+
+# Basic configuration with navigation and visualization
+basic = (
+    autoconnect(
+        # Core connection module for G1
+        connection(),
+        # Camera module
+        camera_module(
+            transform=Transform(
+                translation=Vector3(0.05, 0.0, 0.0),
+                rotation=Quaternion.from_euler(Vector3(0.0, 0.2, 0.0)),
+                frame_id="sensor",
+                child_frame_id="camera_link",
+            ),
+            hardware=lambda: Webcam(
+                camera_index=0,
+                frequency=15,
+                stereo_slice="left",
+                camera_info=zed.CameraInfo.SingleWebcam,
+            ),
+        ),
+        # SLAM and mapping
+        mapper(voxel_size=0.5, global_publish_interval=2.5),
+        # Navigation stack
+        astar_planner(),
+        holonomic_local_planner(),
+        behavior_tree_navigator(),
+        wavefront_frontier_explorer(),
+        navigation_module(),  # G1-specific ROS navigation
+        # Visualization
+        websocket_vis(),
+        foxglove_bridge(),
+    )
+    .with_global_config(n_dask_workers=4)
+    .with_transports(
+        {
+            # G1 uses Twist for movement commands
+            ("cmd_vel", Twist): LCMTransport("/cmd_vel", Twist),
+            ("movecmd", Twist): LCMTransport("/cmd_vel", Twist),
+            # State estimation from ROS
+            ("state_estimation", Odometry): LCMTransport("/state_estimation", Odometry),
+            # Odometry output from ROSNavigationModule
+            ("odom_pose", PoseStamped): LCMTransport("/odom", PoseStamped),
+            # Navigation module topics from nav_bot
+            ("goal_req", PoseStamped): LCMTransport("/goal_req", PoseStamped),
+            ("goal_active", PoseStamped): LCMTransport("/goal_active", PoseStamped),
+            ("path_active", Path): LCMTransport("/path_active", Path),
+            ("pointcloud", PointCloud2): LCMTransport("/lidar", PointCloud2),
+            ("global_pointcloud", PointCloud2): LCMTransport("/map", PointCloud2),
+            # Original navigation topics for backwards compatibility
+            ("goal_pose", PoseStamped): LCMTransport("/goal_pose", PoseStamped),
+            ("goal_reached", Bool): LCMTransport("/goal_reached", Bool),
+            ("cancel_goal", Bool): LCMTransport("/cancel_goal", Bool),
+            # Camera topics (if camera module is added)
+            ("image", Image): LCMTransport("/g1/color_image", Image),
+            ("color_image", Image): LCMTransport("/g1/color_image", Image),
+            ("camera_info", CameraInfo): LCMTransport("/g1/camera_info", CameraInfo),
+        }
+    )
+)
+
+# Standard configuration with perception and memory
+standard = autoconnect(
+    basic,
+    spatial_memory(),
+    object_tracking(frame_id="camera_link"),
+    utilization(),
+).with_global_config(n_dask_workers=8)
+
+# Optimized configuration using shared memory for images
+standard_with_shm = autoconnect(
+    standard.with_transports(
+        {
+            ("color_image", Image): pSHMTransport(
+                "/g1/color_image", default_capacity=DEFAULT_CAPACITY_COLOR_IMAGE
+            ),
+        }
+    ),
+    foxglove_bridge(
+        shm_channels=[
+            "/g1/color_image#sensor_msgs.Image",
+        ]
+    ),
+)
+
+# Full agentic configuration with LLM and skills
+agentic = autoconnect(
+    standard,
+    llm_agent(),
+    human_input(),
+    navigation_skill(),
+    g1_skills(),  # G1-specific arm and movement mode skills
+)
+
+# Configuration with joystick control for teleoperation
+with_joystick = autoconnect(
+    basic,
+    g1_joystick(),  # Pygame-based joystick control
+)
+
+# Full featured configuration with everything
+full_featured = autoconnect(
+    standard_with_shm,
+    llm_agent(),
+    human_input(),
+    navigation_skill(),
+    g1_skills(),
+    g1_joystick(),
+)

dimos/robot/unitree_webrtc/unitree_g1_skill_container.py

@@ -232,3 +232,7 @@ def _execute_mode_command(self, data_value: int, name: str) -> str:
             error_msg = f"Failed to execute G1 mode {name}: {e}"
             logger.error(error_msg)
             return error_msg
+
+
+# Create blueprint function for easy instantiation
+g1_skills = UnitreeG1SkillContainer.blueprint