diff --git a/dimos/hardware/sensors/lidar/fastlio2/module.py b/dimos/hardware/sensors/lidar/fastlio2/module.py
index 7c7ff59ff8..7aae98545d 100644
--- a/dimos/hardware/sensors/lidar/fastlio2/module.py
+++ b/dimos/hardware/sensors/lidar/fastlio2/module.py
@@ -171,7 +171,7 @@ def start(self) -> None:
     def _on_odom_for_tf(self, msg: Odometry) -> None:
         self.tf.publish(
             Transform(
-                frame_id=self.frame_id,
+                frame_id=self.config.frame_id,
                 child_frame_id=self.config.child_frame_id,
                 translation=Vector3(
                     msg.pose.position.x,
diff --git a/dimos/msgs/nav_msgs/OccupancyGrid.py b/dimos/msgs/nav_msgs/OccupancyGrid.py
index bad3fc9ab2..118cd69e2d 100644
--- a/dimos/msgs/nav_msgs/OccupancyGrid.py
+++ b/dimos/msgs/nav_msgs/OccupancyGrid.py
@@ -485,7 +485,7 @@ def to_rerun(
         opacity: float = 1.0,
         cost_range: tuple[int, int] | None = None,
         background: str | None = None,
-        color_lookup_table: np.ndarray | None = None,
+        color_lookup_table: NDArray[np.uint8] | None = None,
     ) -> Archetype:
         """Convert to 3D textured mesh overlay on floor plane.
 
diff --git a/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py b/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py
index 43dfe90991..6db69f574b 100644
--- a/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py
+++ b/dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py
@@ -17,8 +17,6 @@
 
 from typing import Any
 
-import rerun as rr
-
 from dimos.core.global_config import global_config
 from dimos.mapping.costmapper import costmap_to_rerun
 from dimos.msgs.nav_msgs.Path import Path
@@ -32,6 +30,8 @@
 
 
 def _g1_path_colors(path: Path) -> Any:
+    import rerun as rr
+
     # Empty geometry instead of None so the stale path actually clears.
     if not path.poses:
         return rr.LineStrips3D([])