new planner new mapper (#879)

* new planner new mapper

* moved on to legion lib for connections

* import fix

---------

Co-authored-by: Ivan Nikolic <lesh@sysphere.org>
Former-commit-id: 0678b9e

Author: paul-nechifor

dimos/robot/unitree/connection/connection.py

@@ -20,20 +20,20 @@
 from typing import TypeAlias
 
 from aiortc import MediaStreamTrack  # type: ignore[import-untyped]
-from go2_webrtc_driver.constants import (  # type: ignore[import-untyped]
+import numpy as np
+from numpy.typing import NDArray
+from reactivex import operators as ops
+from reactivex.observable import Observable
+from reactivex.subject import Subject
+from unitree_webrtc_connect.constants import (  # type: ignore[import-untyped]
     RTC_TOPIC,
     SPORT_CMD,
     VUI_COLOR,
 )
-from go2_webrtc_driver.webrtc_driver import (  # type: ignore[import-untyped]
-    Go2WebRTCConnection,
+from unitree_webrtc_connect.webrtc_driver import (  # type: ignore[import-untyped]  # type: ignore[import-untyped]
+    UnitreeWebRTCConnection as LegionConnection,
     WebRTCConnectionMethod,
 )
-import numpy as np
-from numpy.typing import NDArray
-from reactivex import operators as ops
-from reactivex.observable import Observable
-from reactivex.subject import Subject
 
 from dimos.core import rpc
 from dimos.core.resource import Resource
@@ -82,7 +82,7 @@ def __init__(self, ip: str, mode: str = "ai") -> None:
         self.mode = mode
         self.stop_timer: threading.Timer | None = None
         self.cmd_vel_timeout = 0.2
-        self.conn = Go2WebRTCConnection(WebRTCConnectionMethod.LocalSTA, ip=self.ip)
+        self.conn = LegionConnection(WebRTCConnectionMethod.LocalSTA, ip=self.ip)
         self.connect()
 
     def connect(self) -> None:

dimos/robot/unitree_webrtc/unitree_go2_blueprints.py

@@ -104,27 +104,14 @@
     utilization(),
 ).global_config(n_dask_workers=8)
 
-test_new_nav = (
-    autoconnect(
-        go2_connection(),
-        mapper(voxel_size=0.5, global_publish_interval=2.5),
-        # astar_planner(),
-        # holonomic_local_planner(),
-        # behavior_tree_navigator(),
-        replanning_a_star_planner(),
-        wavefront_frontier_explorer(),
-        websocket_vis(),
-        foxglove_bridge(),
-    )
-    .global_config(n_dask_workers=4, robot_model="unitree_go2")
-    .transports(
-        {
-            ("color_image", Image): LCMTransport("/go2/color_image", Image),
-            ("camera_pose", PoseStamped): LCMTransport("/go2/camera_pose", PoseStamped),
-            ("camera_info", CameraInfo): LCMTransport("/go2/camera_info", CameraInfo),
-        }
-    )
-)
+test_new_nav = autoconnect(
+    go2_connection(),
+    voxel_mapper(voxel_size=0.05, publish_interval=0),
+    replanning_a_star_planner(),
+    wavefront_frontier_explorer(),
+    websocket_vis(),
+    foxglove_bridge(),
+).global_config(n_dask_workers=4, robot_model="unitree_go2")
 
 standard_with_jpeglcm = standard.transports(
     {

dimos/robot/unitree_webrtc/unitree_skill_container.py

@@ -19,7 +19,7 @@
 import time
 from typing import TYPE_CHECKING
 
-from go2_webrtc_driver.constants import RTC_TOPIC  # type: ignore[import-untyped]
+from unitree_webrtc_connect.constants import RTC_TOPIC  # type: ignore[import-untyped]
 
 from dimos.core.core import rpc
 from dimos.core.skill_module import SkillModule

dimos/robot/unitree_webrtc/unitree_skills.py

@@ -25,7 +25,7 @@
     Robot = "Robot"
     MockRobot = "MockRobot"
 
-from go2_webrtc_driver.constants import RTC_TOPIC  # type: ignore[import-untyped]
+from unitree_webrtc_connect.constants import RTC_TOPIC  # type: ignore[import-untyped]
 
 from dimos.msgs.geometry_msgs import Twist, Vector3
 from dimos.skills.skills import AbstractRobotSkill, AbstractSkill, SkillLibrary

dimos/skills/unitree/unitree_speak.py

@@ -19,11 +19,11 @@
 import tempfile
 import time
 
-from go2_webrtc_driver.constants import RTC_TOPIC  # type: ignore[import-untyped]
 import numpy as np
 from openai import OpenAI
 from pydantic import Field
 import soundfile as sf  # type: ignore[import-untyped]
+from unitree_webrtc_connect.constants import RTC_TOPIC  # type: ignore[import-untyped]
 
 from dimos.skills.skills import AbstractRobotSkill
 from dimos.utils.logging_config import setup_logger

pyproject.toml

@@ -44,7 +44,7 @@ dependencies = [
     "reactivex",
     "rxpy-backpressure",
     "asyncio==3.4.3",
-    "go2-webrtc-connect",
+    "unitree-webrtc-connect",
     "tensorzero==2025.7.5",
     "structlog>=25.5.0,<26",
 
@@ -334,7 +334,7 @@ override-dependencies = [
 
 [tool.uv.sources]
 rxpy-backpressure = { git = "https://github.com/dimensionalOS/rxpy-backpressure.git" }
-go2-webrtc-connect = { git = "https://github.com/dimensionalOS/go2_webrtc_connect.git" }
+unitree-webrtc-connect = { git = "https://github.com/legion1581/go2_webrtc_connect.git", rev = "d0aec95ffb2125b7d2111f65a1b7ac718165a6b8" }
 clip = { git = "https://github.com/openai/CLIP.git" }
 dimos-lcm = { git = "https://github.com/dimensionalOS/dimos-lcm.git", rev = "3aeb724863144a8ba6cf72c9f42761d1007deda4" }
 contact-graspnet-pytorch = { git = "https://github.com/dimensionalOS/contact_graspnet_pytorch.git" }