[Tiny] Add Webcam demo

[jeff-hykin]

• dimos run demo-camera

[greptile-apps]

Greptile Overview

Greptile Summary

This PR adds a webcam demo feature accessible via dimos run demo-camera along with several code quality improvements.

Key Changes

Core Feature:

• Adds demo_camera blueprint in camera/module.py using autoconnect() to create a standalone webcam demo
• Registers the blueprint in all_blueprints.py to enable the demo-camera command

Bug Fixes:

• MuJoCo Image Format Fix: Corrects a color channel bug in mujoco_connection.py by explicitly specifying ImageFormat.RGB when creating images from MuJoCo renderer output. Previously, Image.from_numpy() defaulted to BGR format, but MuJoCo returns RGB frames, causing incorrect color rendering.
• Import Improvement: Fixes potential timeout issue by calling mjx_env.ensure_menagerie_exists() explicitly instead of relying on implicit import side effects
• Typo Fix: Corrects "menajerie" → "menagerie" in comment

Code Cleanup:

• Removes unused imports across three files (SystemMessage, threading, Any)
• Updates uv.lock dependency lockfile

Integration

The demo follows the established pattern used by other demo blueprints like demo_osm and demo_skill. When executed, it:

1. Initializes the CameraModule with default Webcam hardware
2. Opens the system's default camera (/dev/video0)
3. Streams RGB images through the module's output ports
4. Can be extended by connecting to other modules via autoconnect()

Confidence Score: 4/5

• This PR is safe to merge with one minor style improvement recommended
• The changes are well-implemented and follow existing patterns in the codebase. The MuJoCo image format fix is an important bug correction. The only issue is a minor style inconsistency where demo_camera should be added to the __all__ export list in camera/module.py for consistency with module conventions (though it will work without this change).
• dimos/hardware/sensors/camera/module.py - minor style improvement suggested for all export list

Important Files Changed

File Analysis

Filename	Score	Overview
dimos/hardware/sensors/camera/module.py	4/5	Added demo_camera blueprint using autoconnect; minor issue with all export list not including demo_camera
dimos/robot/unitree_webrtc/mujoco_connection.py	5/5	Fixed typo, improved import handling for menagerie, and correctly specified ImageFormat.RGB for MuJoCo frames
dimos/robot/all_blueprints.py	5/5	Added demo-camera blueprint registration to enable 'dimos run demo-camera' command
uv.lock	5/5	Added new lockfile with 10,066 lines of dependency specifications

Sequence Diagram

sequenceDiagram
    participant User
    participant CLI as dimos CLI
    participant Blueprint as ModuleBlueprintSet
    participant CameraModule
    participant Webcam as Webcam Hardware
    participant ImageStream as Observable[Image]

    User->>CLI: dimos run demo-camera
    CLI->>Blueprint: Load demo_camera blueprint
    Note over Blueprint: autoconnect(camera_module())
    Blueprint->>CameraModule: Deploy & start module
    CameraModule->>Webcam: Initialize webcam hardware
    Webcam->>Webcam: Open cv2.VideoCapture
    Webcam->>ImageStream: Create image stream
    
    loop Capture Loop
        Webcam->>Webcam: Read frame from camera
        Webcam->>Webcam: Convert BGR to RGB
        Webcam->>ImageStream: Emit Image(format=RGB)
        ImageStream->>CameraModule: Publish to color_image output
    end
    
    Note over CameraModule: Module runs until stopped
    User->>CLI: Stop (Ctrl+C)
    CLI->>CameraModule: Stop module
    CameraModule->>Webcam: Release camera

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[greptile-apps]

_{1 file reviewed, 1 comment}

_{Edit Code Review Agent Settings | Greptile}

[greptile-apps]

demo_camera should be added to the __all__ export list for consistency with the module's export conventions. While the blueprint will work without this (since all_blueprints.py uses direct import paths), it's best practice to include all public module-level variables in __all__.

Suggested change

	__all__ = ["CameraModule", "camera_module"]
	__all__ = ["CameraModule", "camera_module", "demo_camera"]

_{Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!}

[spomichter]

Approving bc i assume this is tested - but idk why we need auto connect on blueprints w one
module

[spomichter]

@paul-nechifor do we need to run autocorrect on a blueprint with one module?

[jeff-hykin]

Thats a good point, probably not. I'll test that tomorrow and simplify if it works without autoconnect.

[paul-nechifor]

No. It can just be demo_camera = CameraModule.blueprint()

[leshy]

you can also instantiate the class and just use it (no multiprocess or anything) or you can dimos.deploy it and then use it, idk if we want to use blueprints on a single module but your call, just making sure we are all aware

https://github.com/dimensionalOS/dimos/blob/dev/docs/concepts/modules.md