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jeff-hykinjeff-hykin
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break up unitree go2 blueprints
1 parent d1e5de4 commit 9618a01

19 files changed

+542
-248
lines changed

‎dimos/protocol/mcp/test_mcp_module.py‎

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@@ -30,7 +30,7 @@
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def test_unitree_blueprint_has_mcp() -> None:
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contents = Path("dimos/robot/unitree/go2/all_blueprints.py").read_text()
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contents = Path("dimos/robot/unitree/go2/blueprints/__init__.py").read_text()
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assert "agentic_mcp" in contents
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assert "MCPModule.blueprint()" in contents
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‎dimos/robot/all_blueprints.py‎

Lines changed: 11 additions & 11 deletions
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@@ -48,17 +48,17 @@
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"unitree-g1-joystick": "dimos.robot.unitree.g1.blueprints.basic.unitree_g1_joystick:unitree_g1_joystick",
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"unitree-g1-shm": "dimos.robot.unitree.g1.blueprints.perceptive.unitree_g1_shm:unitree_g1_shm",
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"unitree-g1-sim": "dimos.robot.unitree.g1.blueprints.perceptive.unitree_g1_sim:unitree_g1_sim",
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"unitree-go2": "dimos.robot.unitree.go2.all_blueprints:unitree_go2",
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"unitree-go2-agentic": "dimos.robot.unitree.go2.all_blueprints:unitree_go2_agentic",
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"unitree-go2-agentic-huggingface": "dimos.robot.unitree.go2.all_blueprints:unitree_go2_agentic_huggingface",
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"unitree-go2-agentic-mcp": "dimos.robot.unitree.go2.all_blueprints:unitree_go2_agentic_mcp",
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"unitree-go2-agentic-ollama": "dimos.robot.unitree.go2.all_blueprints:unitree_go2_agentic_ollama",
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"unitree-go2-basic": "dimos.robot.unitree.go2.all_blueprints:unitree_go2_basic",
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"unitree-go2-detection": "dimos.robot.unitree.go2.all_blueprints:unitree_go2_detection",
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"unitree-go2-ros": "dimos.robot.unitree.go2.all_blueprints:unitree_go2_ros",
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"unitree-go2-spatial": "dimos.robot.unitree.go2.all_blueprints:unitree_go2_spatial",
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"unitree-go2-temporal-memory": "dimos.robot.unitree.go2.all_blueprints:unitree_go2_temporal_memory",
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"unitree-go2-vlm-stream-test": "dimos.robot.unitree.go2.all_blueprints:unitree_go2_vlm_stream_test",
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"unitree-go2": "dimos.robot.unitree.go2.blueprints:unitree_go2",
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"unitree-go2-agentic": "dimos.robot.unitree.go2.blueprints:unitree_go2_agentic",
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"unitree-go2-agentic-huggingface": "dimos.robot.unitree.go2.blueprints:unitree_go2_agentic_huggingface",
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"unitree-go2-agentic-mcp": "dimos.robot.unitree.go2.blueprints:unitree_go2_agentic_mcp",
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"unitree-go2-agentic-ollama": "dimos.robot.unitree.go2.blueprints:unitree_go2_agentic_ollama",
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"unitree-go2-basic": "dimos.robot.unitree.go2.blueprints:unitree_go2_basic",
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"unitree-go2-detection": "dimos.robot.unitree.go2.blueprints:unitree_go2_detection",
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"unitree-go2-ros": "dimos.robot.unitree.go2.blueprints:unitree_go2_ros",
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"unitree-go2-spatial": "dimos.robot.unitree.go2.blueprints:unitree_go2_spatial",
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"unitree-go2-temporal-memory": "dimos.robot.unitree.go2.blueprints:unitree_go2_temporal_memory",
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"unitree-go2-vlm-stream-test": "dimos.robot.unitree.go2.blueprints:unitree_go2_vlm_stream_test",
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"xarm6-planner-only": "dimos.manipulation.manipulation_blueprints:xarm6_planner_only",
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"xarm7-planner-coordinator": "dimos.manipulation.manipulation_blueprints:xarm7_planner_coordinator",
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}

‎dimos/robot/unitree/go2/all_blueprints.py‎

Lines changed: 0 additions & 234 deletions
This file was deleted.

‎dimos/robot/unitree/go2/blueprints/__init__.py‎

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#!/usr/bin/env python3
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# Copyright 2025-2026 Dimensional Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Cascaded GO2 blueprints split into focused modules."""
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from .agentic._common_agentic import _common_agentic
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from .agentic.unitree_go2_agentic import unitree_go2_agentic
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from .agentic.unitree_go2_agentic_huggingface import unitree_go2_agentic_huggingface
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from .agentic.unitree_go2_agentic_mcp import unitree_go2_agentic_mcp
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from .agentic.unitree_go2_agentic_ollama import unitree_go2_agentic_ollama
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from .agentic.unitree_go2_temporal_memory import unitree_go2_temporal_memory
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from .basic.unitree_go2_basic import _linux, _mac, unitree_go2_basic
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from .smart._with_jpeg import _with_jpeglcm, _with_jpegshm
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from .smart.unitree_go2 import unitree_go2
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from .smart.unitree_go2_detection import unitree_go2_detection
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from .smart.unitree_go2_ros import unitree_go2_ros
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from .smart.unitree_go2_spatial import unitree_go2_spatial
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from .smart.unitree_go2_vlm_stream_test import unitree_go2_vlm_stream_test
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__all__ = [
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"_common_agentic",
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"_linux",
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"_mac",
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"_with_jpeglcm",
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"_with_jpegshm",
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"unitree_go2",
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"unitree_go2_agentic",
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"unitree_go2_agentic_huggingface",
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"unitree_go2_agentic_mcp",
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"unitree_go2_agentic_ollama",
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"unitree_go2_basic",
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"unitree_go2_detection",
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"unitree_go2_ros",
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"unitree_go2_spatial",
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"unitree_go2_temporal_memory",
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"unitree_go2_vlm_stream_test",
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]

‎dimos/robot/unitree/go2/blueprints/agentic/_common_agentic.py‎

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#!/usr/bin/env python3
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# Copyright 2025-2026 Dimensional Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
11+
# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
14+
# limitations under the License.
15+
16+
from dimos.agents.cli.human import human_input
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from dimos.agents.cli.web import web_input
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from dimos.agents.skills.navigation import navigation_skill
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from dimos.agents.skills.person_follow import person_follow_skill
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from dimos.agents.skills.speak_skill import speak_skill
21+
from dimos.core.blueprints import autoconnect
22+
from dimos.robot.unitree.go2.connection import GO2Connection
23+
from dimos.robot.unitree.unitree_skill_container import unitree_skills
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_common_agentic = autoconnect(
26+
human_input(),
27+
navigation_skill(),
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person_follow_skill(camera_info=GO2Connection.camera_info_static),
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unitree_skills(),
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web_input(),
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speak_skill(),
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)
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__all__ = ["_common_agentic"]

‎dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic.py‎

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#!/usr/bin/env python3
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# Copyright 2025-2026 Dimensional Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
10+
# Unless required by applicable law or agreed to in writing, software
11+
# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13+
# See the License for the specific language governing permissions and
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# limitations under the License.
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from dimos.agents.agent import llm_agent
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from dimos.core.blueprints import autoconnect
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from ..smart.unitree_go2_spatial import unitree_go2_spatial
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from ._common_agentic import _common_agentic
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unitree_go2_agentic = autoconnect(
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unitree_go2_spatial,
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llm_agent(),
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_common_agentic,
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)
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__all__ = ["unitree_go2_agentic"]

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