Merge pull request #791 from dimensionalOS/fix-mypy-errors

fix mypy errors and g1 detection blueprint merge errors

Author: spomichter

dimos/core/stream.py

@@ -35,6 +35,8 @@
 if TYPE_CHECKING:
     from collections.abc import Callable
 
+    from reactivex.observable import Observable
+
 T = TypeVar("T")
 
 
@@ -57,7 +59,7 @@ def get_next(self, timeout: float = 10.0) -> T:
     def hot_latest(self) -> Callable[[], T]:
         return reactive.getter_streaming(self.observable())  # type: ignore[no-untyped-call]
 
-    def pure_observable(self):  # type: ignore[no-untyped-def]
+    def pure_observable(self) -> Observable[T]:
         def _subscribe(observer, scheduler=None):  # type: ignore[no-untyped-def]
             unsubscribe = self.subscribe(observer.on_next)  # type: ignore[attr-defined]
             return Disposable(unsubscribe)
@@ -67,7 +69,7 @@ def _subscribe(observer, scheduler=None):  # type: ignore[no-untyped-def]
     # default return is backpressured because most
     # use cases will want this by default
     def observable(self):  # type: ignore[no-untyped-def]
-        return backpressure(self.pure_observable())  # type: ignore[no-untyped-call]
+        return backpressure(self.pure_observable())
 
 
 class State(enum.Enum):

dimos/perception/detection/module2D.py

@@ -82,7 +82,7 @@ def process_image_frame(self, image: Image) -> ImageDetections2D:
     @simple_mcache
     def sharp_image_stream(self) -> Observable[Image]:
         return backpressure(
-            self.image.pure_observable().pipe(  # type: ignore[no-untyped-call]
+            self.image.pure_observable().pipe(
                 sharpness_barrier(self.config.max_freq),
             )
         )

dimos/perception/detection/person_tracker.py

@@ -13,6 +13,8 @@
 # limitations under the License.
 
 
+from typing import Any
+
 from reactivex import operators as ops
 from reactivex.observable import Observable
 
@@ -32,7 +34,7 @@ class PersonTracker(Module):
 
     camera_info: CameraInfo
 
-    def __init__(self, cameraInfo: CameraInfo, **kwargs) -> None:
+    def __init__(self, cameraInfo: CameraInfo, **kwargs: Any) -> None:
         super().__init__(**kwargs)
         self.camera_info = cameraInfo
 
@@ -80,7 +82,13 @@ def detections_stream(self) -> Observable[ImageDetections2D]:
                 ),
                 match_tolerance=0.0,
                 buffer_size=2.0,
-            ).pipe(ops.map(lambda pair: ImageDetections2D.from_ros_detection2d_array(*pair)))
+            ).pipe(
+                ops.map(
+                    lambda pair: ImageDetections2D.from_ros_detection2d_array(
+                        *pair  # type: ignore[misc]
+                    )
+                )
+            )
         )
 
     @rpc
@@ -95,8 +103,8 @@ def track(self, detections2D: ImageDetections2D) -> None:
         if len(detections2D) == 0:
             return
 
-        target = max(detections2D.detections, key=lambda det: det.bbox_2d_volume())
-        vector = self.center_to_3d(target.center_bbox, self.camera_info, 2.0)
+        target = max(detections2D.detections, key=lambda det: det.bbox_2d_volume())  # type: ignore[attr-defined]
+        vector = self.center_to_3d(target.center_bbox, self.camera_info, 2.0)  # type: ignore[attr-defined]
 
         pose_in_camera = PoseStamped(
             ts=detections2D.ts,

dimos/perception/detection/reid/module.py

@@ -59,8 +59,8 @@ def __init__(self, idsystem: IDSystem | None = None, **kwargs) -> None:  # type:
     def detections_stream(self) -> Observable[ImageDetections2D]:
         return backpressure(
             align_timestamped(
-                self.image.pure_observable(),  # type: ignore[no-untyped-call]
-                self.detections.pure_observable().pipe(  # type: ignore[no-untyped-call]
+                self.image.pure_observable(),
+                self.detections.pure_observable().pipe(
                     ops.filter(lambda d: d.detections_length > 0)  # type: ignore[attr-defined]
                 ),
                 match_tolerance=0.0,

dimos/robot/unitree_webrtc/unitree_g1_blueprints.py

@@ -19,8 +19,10 @@
 from basic teleoperation to full autonomous agent configurations.
 """
 
-from dimos_lcm.foxglove_msgs import SceneUpdate
-from dimos_lcm.foxglove_msgs.ImageAnnotations import ImageAnnotations
+from dimos_lcm.foxglove_msgs import SceneUpdate  # type: ignore[import-untyped]
+from dimos_lcm.foxglove_msgs.ImageAnnotations import (
+    ImageAnnotations,
+)
 from dimos_lcm.sensor_msgs import CameraInfo  # type: ignore[import-untyped]
 
 from dimos.agents2.agent import llm_agent
@@ -192,7 +194,7 @@
 # Detection configuration with person tracking and 3D detection
 detection = (
     autoconnect(
-        basic,
+        basic_ros,
         # Person detection modules with YOLO
         detection3d_module(
             camera_info=zed.CameraInfo.SingleWebcam,
@@ -221,49 +223,49 @@
     .transports(
         {
             # Detection 3D module outputs
-            (Detection3DModule, "detections"): LCMTransport(
+            ("detections", Detection3DModule): LCMTransport(
                 "/detector3d/detections", Detection2DArray
             ),
-            (Detection3DModule, "annotations"): LCMTransport(
+            ("annotations", Detection3DModule): LCMTransport(
                 "/detector3d/annotations", ImageAnnotations
             ),
-            (Detection3DModule, "scene_update"): LCMTransport(
+            ("scene_update", Detection3DModule): LCMTransport(
                 "/detector3d/scene_update", SceneUpdate
             ),
-            (Detection3DModule, "detected_pointcloud_0"): LCMTransport(
+            ("detected_pointcloud_0", Detection3DModule): LCMTransport(
                 "/detector3d/pointcloud/0", PointCloud2
             ),
-            (Detection3DModule, "detected_pointcloud_1"): LCMTransport(
+            ("detected_pointcloud_1", Detection3DModule): LCMTransport(
                 "/detector3d/pointcloud/1", PointCloud2
             ),
-            (Detection3DModule, "detected_pointcloud_2"): LCMTransport(
+            ("detected_pointcloud_2", Detection3DModule): LCMTransport(
                 "/detector3d/pointcloud/2", PointCloud2
             ),
-            (Detection3DModule, "detected_image_0"): LCMTransport("/detector3d/image/0", Image),
-            (Detection3DModule, "detected_image_1"): LCMTransport("/detector3d/image/1", Image),
-            (Detection3DModule, "detected_image_2"): 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),
             # Detection DB module outputs
-            (ObjectDBModule, "detections"): LCMTransport(
+            ("detections", ObjectDBModule): LCMTransport(
                 "/detectorDB/detections", Detection2DArray
             ),
-            (ObjectDBModule, "annotations"): LCMTransport(
+            ("annotations", ObjectDBModule): LCMTransport(
                 "/detectorDB/annotations", ImageAnnotations
             ),
-            (ObjectDBModule, "scene_update"): LCMTransport("/detectorDB/scene_update", SceneUpdate),
-            (ObjectDBModule, "detected_pointcloud_0"): LCMTransport(
+            ("scene_update", ObjectDBModule): LCMTransport("/detectorDB/scene_update", SceneUpdate),
+            ("detected_pointcloud_0", ObjectDBModule): LCMTransport(
                 "/detectorDB/pointcloud/0", PointCloud2
             ),
-            (ObjectDBModule, "detected_pointcloud_1"): LCMTransport(
+            ("detected_pointcloud_1", ObjectDBModule): LCMTransport(
                 "/detectorDB/pointcloud/1", PointCloud2
             ),
-            (ObjectDBModule, "detected_pointcloud_2"): LCMTransport(
+            ("detected_pointcloud_2", ObjectDBModule): LCMTransport(
                 "/detectorDB/pointcloud/2", PointCloud2
             ),
-            (ObjectDBModule, "detected_image_0"): LCMTransport("/detectorDB/image/0", Image),
-            (ObjectDBModule, "detected_image_1"): LCMTransport("/detectorDB/image/1", Image),
-            (ObjectDBModule, "detected_image_2"): LCMTransport("/detectorDB/image/2", Image),
+            ("detected_image_0", ObjectDBModule): LCMTransport("/detectorDB/image/0", Image),
+            ("detected_image_1", ObjectDBModule): LCMTransport("/detectorDB/image/1", Image),
+            ("detected_image_2", ObjectDBModule): LCMTransport("/detectorDB/image/2", Image),
             # Person tracker outputs
-            (PersonTracker, "target"): LCMTransport("/person_tracker/target", PoseStamped),
+            ("target", PersonTracker): LCMTransport("/person_tracker/target", PoseStamped),
         }
     )
 )