From 8c820de02b8782516b9c1b1da1486f7892d479b9 Mon Sep 17 00:00:00 2001 From: Ivan Nikolic Date: Mon, 12 Jan 2026 16:15:41 +0800 Subject: [PATCH] remove objectdb from go2 blueprints --- .../unitree_webrtc/unitree_go2_blueprints.py | 33 ++++++++++--------- 1 file changed, 17 insertions(+), 16 deletions(-) diff --git a/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py b/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py index 7629644ed6..766343e716 100644 --- a/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py +++ b/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py @@ -16,9 +16,10 @@ import platform -from dimos_lcm.foxglove_msgs.ImageAnnotations import ( # type: ignore[import-untyped] - ImageAnnotations, +from dimos_lcm.foxglove_msgs.ImageAnnotations import ( + ImageAnnotations, # type: ignore[import-untyped] ) +from dimos_lcm.foxglove_msgs.SceneUpdate import SceneUpdate # type: ignore[import-untyped] from dimos.agents.agent import llm_agent from dimos.agents.cli.human import human_input @@ -43,7 +44,7 @@ from dimos.navigation.replanning_a_star.module import ( replanning_a_star_planner, ) -from dimos.perception.detection.moduleDB import ObjectDBModule, detectionDB_module +from dimos.perception.detection.module3D import Detection3DModule, detection3d_module from dimos.perception.spatial_perception import spatial_memory from dimos.protocol.mcp.mcp import MCPModule from dimos.robot.foxglove_bridge import foxglove_bridge @@ -91,39 +92,39 @@ detection = ( autoconnect( nav, - detectionDB_module( + detection3d_module( camera_info=GO2Connection.camera_info_static, ), ) .remappings( [ - (ObjectDBModule, "pointcloud", "global_map"), + (Detection3DModule, "pointcloud", "global_map"), ] ) .transports( { # Detection 3D module outputs - ("detections", ObjectDBModule): LCMTransport( + ("detections", Detection3DModule): LCMTransport( "/detector3d/detections", Detection2DArray ), - ("annotations", ObjectDBModule): LCMTransport( + ("annotations", Detection3DModule): LCMTransport( "/detector3d/annotations", ImageAnnotations ), - # ("scene_update", ObjectDBModule): LCMTransport( - # "/detector3d/scene_update", SceneUpdate - # ), - ("detected_pointcloud_0", ObjectDBModule): LCMTransport( + ("scene_update", Detection3DModule): LCMTransport( + "/detector3d/scene_update", SceneUpdate + ), + ("detected_pointcloud_0", Detection3DModule): LCMTransport( "/detector3d/pointcloud/0", PointCloud2 ), - ("detected_pointcloud_1", ObjectDBModule): LCMTransport( + ("detected_pointcloud_1", Detection3DModule): LCMTransport( "/detector3d/pointcloud/1", PointCloud2 ), - ("detected_pointcloud_2", ObjectDBModule): LCMTransport( + ("detected_pointcloud_2", Detection3DModule): LCMTransport( "/detector3d/pointcloud/2", PointCloud2 ), - ("detected_image_0", ObjectDBModule): LCMTransport("/detector3d/image/0", Image), - ("detected_image_1", ObjectDBModule): LCMTransport("/detector3d/image/1", Image), - ("detected_image_2", ObjectDBModule): LCMTransport("/detector3d/image/2", Image), + ("detected_image_0", Detection3DModule): LCMTransport("/detector3d/image/0", Image), + ("detected_image_1", Detection3DModule): LCMTransport("/detector3d/image/1", Image), + ("detected_image_2", Detection3DModule): LCMTransport("/detector3d/image/2", Image), } ) )