feat: add Rerun split layout (Camera | 3D) to Go2 and G1 base blueprints (#1525)

* feat: add Rerun split layout (Camera | 3D) to Go2 and G1 base blueprints

Adds a horizontal split view (camera feed 1/3, 3D world 2/3) to the
Rerun viewer for Go2 basic and G1 primitive blueprints, matching the
existing drone blueprint pattern. All downstream blueprints inherit
the layout automatically.

* fix(g1): use MuJoCo computed camera intrinsics instead of hardcoded Go2 values

Same fix as PR #1516 for Go2. G1 sim was using hardcoded 1280x720
Go2 real-camera intrinsics while MuJoCo renders at 320x240, causing
the projected camera image to appear tiny in Rerun.

Author: spomichter

dimos/robot/unitree/g1/blueprints/primitive/uintree_g1_primitive_no_nav.py

@@ -67,7 +67,21 @@ def _static_base_link(rr: Any) -> list[Any]:
     ]
 
 
+def _g1_rerun_blueprint() -> Any:
+    """Split layout: camera feed + 3D world view side by side."""
+    import rerun.blueprint as rrb
+
+    return rrb.Blueprint(
+        rrb.Horizontal(
+            rrb.Spatial2DView(origin="world/color_image", name="Camera"),
+            rrb.Spatial3DView(origin="world", name="3D"),
+            column_shares=[1, 2],
+        ),
+    )
+
+
 rerun_config = {
+    "blueprint": _g1_rerun_blueprint,
     "pubsubs": [LCM()],
     "visual_override": {
         "world/camera_info": _convert_camera_info,

dimos/robot/unitree/g1/sim.py

@@ -41,25 +41,6 @@
 logger = setup_logger()
 
 
-def _camera_info_static() -> CameraInfo:
-    """Camera intrinsics for rerun visualization (matches Go2 convention)."""
-    fx, fy, cx, cy = (819.553492, 820.646595, 625.284099, 336.808987)
-    width, height = (1280, 720)
-
-    return CameraInfo(
-        frame_id="camera_optical",
-        height=height,
-        width=width,
-        distortion_model="plumb_bob",
-        D=[0.0, 0.0, 0.0, 0.0, 0.0],
-        K=[fx, 0.0, cx, 0.0, fy, cy, 0.0, 0.0, 1.0],
-        R=[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0],
-        P=[fx, 0.0, cx, 0.0, 0.0, fy, cy, 0.0, 0.0, 0.0, 1.0, 0.0],
-        binning_x=0,
-        binning_y=0,
-    )
-
-
 class G1SimConnection(G1ConnectionBase):
     cmd_vel: In[Twist]
     lidar: Out[PointCloud2]
@@ -114,7 +95,8 @@ def stop(self) -> None:
         super().stop()
 
     def _publish_camera_info_loop(self) -> None:
-        info = _camera_info_static()
+        assert self.connection is not None
+        info = self.connection.camera_info_static
         while not self._stop_event.is_set():
             self.camera_info.publish(info)
             self._stop_event.wait(1.0)

dimos/robot/unitree/go2/blueprints/basic/unitree_go2_basic.py

@@ -72,7 +72,21 @@ def _static_base_link(rr: Any) -> list[Any]:
     ]
 
 
+def _go2_rerun_blueprint() -> Any:
+    """Split layout: camera feed + 3D world view side by side."""
+    import rerun.blueprint as rrb
+
+    return rrb.Blueprint(
+        rrb.Horizontal(
+            rrb.Spatial2DView(origin="world/color_image", name="Camera"),
+            rrb.Spatial3DView(origin="world", name="3D"),
+            column_shares=[1, 2],
+        ),
+    )
+
+
 rerun_config = {
+    "blueprint": _go2_rerun_blueprint,
     # any pubsub that supports subscribe_all and topic that supports str(topic)
     # is acceptable here
     "pubsubs": [LCM()],