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Auto-fixes for jeff/feat/g1_raycast_ivan #2354

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Auto-fixes for jeff/feat/g1_raycast_ivan #2354

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492957c
fix: use NDArray[np.uint8] instead of bare np.ndarray
paul-nechifor Jun 4, 2026
ef18598
refactor: lazy-import rerun in unitree_g1_vis blueprint
paul-nechifor Jun 4, 2026
c220b10
fix: derive FastLio2 TF frame ids consistently from config
paul-nechifor Jun 4, 2026
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2 changes: 1 addition & 1 deletion dimos/hardware/sensors/lidar/fastlio2/module.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
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2 changes: 1 addition & 1 deletion dimos/msgs/nav_msgs/OccupancyGrid.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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.

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4 changes: 2 additions & 2 deletions dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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([])
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