Handle read-only log directories for structlog setup #727
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…mplemented Modules navigate object bbox Changes: - Created BBox navigator to take in Detection2D type and output goal pose - Extracted from object tracker 2d and 3d object trackers. 2d tested. 3d not yet tested. - Remove navigate_to_object method that should not be in the unitree runfile To run: `python dimos/robot/unitree_webrtc/run_agents2.py` To give agent input: `human-cli` Former-commit-id: 97ad579 [formerly 499c151] Former-commit-id: 2206497
* g1 switched over to webcam module * camera system cleanup, calibration loading * zed calibration file * removed comments / unused imports from zed * integration wip * universal camera module * fixed flakey test_reactive test * removed obsolete test * print cleanup * topic change for bridge, small camera module fixes * g1 local changes * ros global map * height filter config for module3d * splitting types, object db work * circular imports solved * foxglove sceneupdate * pointcloud bounding box intersection, detection3d projection refactor * checkpoint * detection work snapshot * testing refactor * good replay example * bugfixes, improvements, g1 compatibilty * working on universal recorder * recorder cli * onboard g1 changes and recording * corrected timestamp alignment * temporary nav integration * color hash type, timestamp alignment fix * new timestamp alignment * timed replay refactor * correct detected image broadcast from module2d * better dict repr * g1 replay system * g1 filters * weaklist * raycast bugfix * small bugfixes * agent integration to unitree_go2 * TOFIX double pub goal message for reliability * fix * cam fix * added joy message type to dimos * added set autonomy mode * added joy to ros bridge * fixed * CI code cleanup * Fully working G1 ros navigation to origin * g1 agents2 spatial navigation * CI code cleanup * comment out camera image * fix * commit * adapt * image * crop image * switch back to old camera * sharpness window generalized to quality_barrier * tests consolidation, preparing for merge * tests fix * qwen localization * nav to object in view * forgot init * bugfix * bugfix * fix for timestamp on g1 * killing time stuff * quick fixes * onboard unitree changes * CI code cleanup * moduledb hack * moduledb hack * current g1 * quaternion fix * Re enabled detections, removed go to origin on startup * Fully working save location and navigate to saved location * Fully working G1 spatial memory, detections, location saving on agents2 * Fully working G1 webrtc skills integrated as SkillContainer module for agents2 * foxglove vis for 3d localization * fixing tests * tests fix * fixing detection tests * checkpoint * fixing detection tests * tf issue * allowing tf autostart * objectdb test * threading bugfix * syntax error fix * import error fix * nav skill fix * PR comments * missing numpy import * qwen converter bugfix * Fix import np --------- Co-authored-by: alexlin2 <alex.lin416@outlook.com> Co-authored-by: alexlin2 <44330195+alexlin2@users.noreply.github.com> Co-authored-by: Paul Nechifor <paul@nechifor.net> Co-authored-by: paul-nechifor <1262969+paul-nechifor@users.noreply.github.com> Co-authored-by: Stash Pomichter <pomichterstash@gmail.com> Former-commit-id: e727499 [formerly c0d886b] Former-commit-id: a8a1818
* g1 switched over to webcam module * camera system cleanup, calibration loading * zed calibration file * removed comments / unused imports from zed * integration wip * universal camera module * fixed flakey test_reactive test * removed obsolete test * print cleanup * topic change for bridge, small camera module fixes * g1 local changes * ros global map * height filter config for module3d * splitting types, object db work * circular imports solved * foxglove sceneupdate * pointcloud bounding box intersection, detection3d projection refactor * checkpoint * detection work snapshot * testing refactor * good replay example * bugfixes, improvements, g1 compatibilty * working on universal recorder * recorder cli * onboard g1 changes and recording * corrected timestamp alignment * temporary nav integration * color hash type, timestamp alignment fix * new timestamp alignment * timed replay refactor * correct detected image broadcast from module2d * better dict repr * g1 replay system * g1 filters * weaklist * raycast bugfix * small bugfixes * agent integration to unitree_go2 * TOFIX double pub goal message for reliability * fix * cam fix * added joy message type to dimos * added set autonomy mode * added joy to ros bridge * fixed * CI code cleanup * Fully working G1 ros navigation to origin * g1 agents2 spatial navigation * CI code cleanup * comment out camera image * fix * commit * adapt * image * crop image * switch back to old camera * sharpness window generalized to quality_barrier * tests consolidation, preparing for merge * tests fix * qwen localization * nav to object in view * forgot init * bugfix * bugfix * fix for timestamp on g1 * killing time stuff * quick fixes * onboard unitree changes * CI code cleanup * moduledb hack * moduledb hack * current g1 * quaternion fix * Re enabled detections, removed go to origin on startup * Fully working save location and navigate to saved location * Fully working G1 spatial memory, detections, location saving on agents2 * Fully working G1 webrtc skills integrated as SkillContainer module for agents2 * foxglove vis for 3d localization * cleaning up detection2d * added detic * detic * pose detector sketch * restructure * pose -> person * person detector sketch * yolo pose test * separated detection3d and detection3dpc * object3d new test * lcm replay test * thread cleanup * added seek for example * deactivate detic * detection3d bugfix * fixing tests 1 * fixing tests * wavefront explorer smaller costmap for faster testing * person detector merged with follower spec * fixing tests, timestamp alignment threading * people annotations test fix * removed recorder, moved qewen from dev * fixing tests * tests passing now * indeterministic test fix * removing temp file * bugfix * Update dimos/perception/detection2d/detectors/detic.py Co-authored-by: Paul Nechifor <paul@nechifor.net> --------- Co-authored-by: alexlin2 <alex.lin416@outlook.com> Co-authored-by: alexlin2 <44330195+alexlin2@users.noreply.github.com> Co-authored-by: Paul Nechifor <paul@nechifor.net> Co-authored-by: paul-nechifor <1262969+paul-nechifor@users.noreply.github.com> Co-authored-by: Stash Pomichter <pomichterstash@gmail.com> Former-commit-id: aff4902 [formerly 66440ab] Former-commit-id: 28a0f4f
…s / cleanup ### detections - bugfixes on detection stuff for precise bounding boxes, independant human skeleton tracking and static object tracking ### unitree general rewrite - moved my stuff from unitree_webrtc/ to just unitree/, removed old unitree/ dir completely - rewrote the structure, simplified minimal run files ### unitree go2 rewrite - lots of nuts things, fixed, system load down from 13 to 3 now for me, runs very well ### modular run files, no robot deps - more to do here, very quick minimal first pass ### brutalized nav skills - I kinda beat this into submission to not depend on robot, it's not great, I'd consider it needing a full revisit and a second PR, IMO lots has changed and it's ok to rewrite ### rosnav - throttling of lidar frames (was high frequency, high bandwidth and had issues with remote foxglove, possibly can bump up once images are jpeg if we need to - standard configuration - removed boolean topics to conform to spec (can discuss) - added some basic skills, passive stream for global position, relative movement, and absolute movement skills ### testing ```sh cd dimos/robot/unitree python run.py --ip mujoco go2/go2.py python run.py --ip mujoco g1/g1detector.py # or any other ``` Former-commit-id: 9170349 [formerly 3fc3b02] Former-commit-id: 6ae0290
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Summary
Testing
Codex Task