From d18eaba7d33f33e8a458a34c4a069c39ca5226fb Mon Sep 17 00:00:00 2001 From: Ruthwik Date: Tue, 10 Mar 2026 13:34:06 -0700 Subject: [PATCH 1/2] fix: resolve camera intrinsics --- dimos/robot/unitree/go2/connection.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/dimos/robot/unitree/go2/connection.py b/dimos/robot/unitree/go2/connection.py index eaff2d6f91..1b1fcc563c 100644 --- a/dimos/robot/unitree/go2/connection.py +++ b/dimos/robot/unitree/go2/connection.py @@ -205,6 +205,9 @@ def __init__( # type: ignore[no-untyped-def] ip = ip if ip is not None else self._global_config.robot_ip self.connection = make_connection(ip, self._global_config) + if self._global_config.simulation: + self.camera_info_static = self.connection.camera_info_static + Module.__init__(self, *args, **kwargs) @rpc @@ -290,7 +293,7 @@ def _publish_tf(self, msg: PoseStamped) -> None: def publish_camera_info(self) -> None: while True: - self.camera_info.publish(_camera_info_static()) + self.camera_info.publish(self.camera_info_static) time.sleep(1.0) @rpc From dfa1039b0872f1a5438565670890707342528427 Mon Sep 17 00:00:00 2001 From: Ruthwik Date: Tue, 10 Mar 2026 14:13:22 -0700 Subject: [PATCH 2/2] fix: resolve sim intrinsics via hasattr --- dimos/robot/unitree/go2/connection.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/dimos/robot/unitree/go2/connection.py b/dimos/robot/unitree/go2/connection.py index 1b1fcc563c..81a3c55011 100644 --- a/dimos/robot/unitree/go2/connection.py +++ b/dimos/robot/unitree/go2/connection.py @@ -205,7 +205,7 @@ def __init__( # type: ignore[no-untyped-def] ip = ip if ip is not None else self._global_config.robot_ip self.connection = make_connection(ip, self._global_config) - if self._global_config.simulation: + if hasattr(self.connection, "camera_info_static"): self.camera_info_static = self.connection.camera_info_static Module.__init__(self, *args, **kwargs)