From 4364eb3089fbb9c77cf7a1d6387da519844c6fc7 Mon Sep 17 00:00:00 2001 From: stash Date: Wed, 29 Oct 2025 22:18:16 -0700 Subject: [PATCH 1/2] Fix merge conflict with depth removal --- .../unitree_webrtc/unitree_go2_blueprints.py | 25 +++++-------------- 1 file changed, 6 insertions(+), 19 deletions(-) diff --git a/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py b/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py index b74756cf84..fc0f05abeb 100644 --- a/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py +++ b/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py @@ -66,21 +66,12 @@ ) ) -standard = ( - autoconnect( - basic, - spatial_memory(), - object_tracking(frame_id="camera_link"), - depth_module(), - utilization(), - ) - .global_config(n_dask_workers=8) - .transports( - { - ("depth_image", Image): LCMTransport("/go2/depth_image", Image), - } - ) -) +standard = autoconnect( + basic, + spatial_memory(), + object_tracking(frame_id="camera_link"), + utilization(), +).with_global_config(n_dask_workers=8) standard_with_shm = autoconnect( standard.transports( @@ -88,15 +79,11 @@ ("color_image", Image): pSHMTransport( "/go2/color_image", default_capacity=DEFAULT_CAPACITY_COLOR_IMAGE ), - ("depth_image", Image): pSHMTransport( - "/go2/depth_image", default_capacity=DEFAULT_CAPACITY_DEPTH_IMAGE - ), } ), foxglove_bridge( shm_channels=[ "/go2/color_image#sensor_msgs.Image", - "/go2/depth_image#sensor_msgs.Image", ] ), ) From 4fe43217f0421fd7a8d5bac7d2f0329a4359eb8b Mon Sep 17 00:00:00 2001 From: stash Date: Wed, 29 Oct 2025 23:13:08 -0700 Subject: [PATCH 2/2] Change to global config --- dimos/robot/unitree_webrtc/unitree_go2_blueprints.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py b/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py index fc0f05abeb..60022e3cfb 100644 --- a/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py +++ b/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py @@ -71,7 +71,7 @@ spatial_memory(), object_tracking(frame_id="camera_link"), utilization(), -).with_global_config(n_dask_workers=8) +).global_config(n_dask_workers=8) standard_with_shm = autoconnect( standard.transports(