Import Fix & Optimize: G1 without ROS, lazy imports, Fix bad dir naming #1221

jeff-hykin · 2026-02-08T05:06:18Z

Test with: bin/pytest-slow (no added functionality)

Performance Improvements

BEFORE

dimos --help  4.86s user 1.27s system 103% cpu 5.943 total
dimos --help  4.53s user 1.27s system 122% cpu 4.750 total
dimos --help  4.61s user 1.49s system 119% cpu 5.112 total

# below is time till first `onimage` call for `dimos --replay run unitree-go2-basic`
dimos --replay run unitree-go2-basic  13.85s user 2.73s system 68% cpu 24.35

AFTER

dimos --help  0.90s user 0.15s system 98% cpu 1.069 total
dimos --help  0.88s user 0.16s system 97% cpu 1.061 total
dimos --help  0.92s user 0.16s system 96% cpu 1.115 total

# below is time till first `onimage` call for `dimos --replay run unitree-go2-basic`
dimos --replay run unitree-go2-basic  5.60s user 1.99s system 49% cpu 15.262 total

New Dir Structure:

robots/unitree/<robot name>/<stuff for robot>
robots/unitree/<robot name>/blueprints/
every init.py going forward should use the lazy system as much as possible (see diffs)
no more robots/unitree_webrtc dir*

…eff/fix_dirs

greptile-apps · 2026-02-08T05:06:35Z

Too many files changed for review. (128 files found, 100 file limit)

jeff-hykin · 2026-02-08T09:53:55Z

lazy_loader/__init__.pyi

@@ -0,0 +1,11 @@
+from __future__ import annotations


this file just helps with typing

jeff-hykin · 2026-02-08T10:23:42Z

dimos/models/depth/test_metric3d.py

        model.update_intrinsic([1.0, 2.0])  # Only 2 values


+@pytest.mark.cuda


this is part of: #1220 which I expect/hope will get merged before anyone even sees this comment

jeff-hykin · 2026-02-08T10:35:32Z

dimos/core/core.py

+R = TypeVar("R")
+
+
+def rpc(fn: Callable[P, R]) -> Callable[P, R]:


make mypy happy and properly carry over arg/return typing

jeff-hykin · 2026-02-08T10:36:53Z

README.md

 # Run the blueprint
-blueprint.build().loop()
+if __name__ == "__main__":
+    blueprint.build().loop()


without this change, the example code does not work!! (its broken on dev!)

paul-nechifor · 2026-02-11T05:29:47Z

dimos/robot/unitree/g1/blueprints/primitive/uintree_g1_primitive_no_nav.py

@@ -0,0 +1,84 @@
+#!/usr/bin/env python3


typo in file name uintree

paul-nechifor · 2026-02-11T05:30:08Z

dimos/robot/unitree/g1/blueprints/primitive/uintree_g1_primitive_no_nav.py

+from dimos.robot.foxglove_bridge import foxglove_bridge
+from dimos.web.websocket_vis.websocket_vis_module import websocket_vis
+
+uintree_g1_primitive_no_nav = (


typo here too

paul-nechifor · 2026-02-11T05:32:32Z

dimos/robot/unitree_webrtc/type/timeseries.py

-    def __repr__(self) -> str:
-        """Return a string representation of the TList using Timeseries repr method."""
-        return Timeseries.__repr__(self)
+from dimos.robot.unitree.type.timeseries import *  # noqa: F403


Just import each individually Don't use * because it kills the ability of the linter to check for bad names.

In general I agree, I actually wish python would deprecate import *, but for a shim thats supposed to be deleted anyways (as soon as pickle file gets rerecorded) I thought it would be fine.

…eff/fix_dirs

jeff-hykin added 19 commits February 6, 2026 13:24

first shot at breaking up the g1 blueprints

e08a311

the great unitree renaming

4f38e8f

fixup imports for pickle, and docs

d1e5de4

break up unitree go2 blueprints

9618a01

fix and switch to absolute pathed imports

2129157

-

8136806

revert

05287b2

minor test fix

dbfb6d6

Merge branch 'jeff/fix_dirs' of github.com:dimensionalOS/dimos into j…

0d28205

…eff/fix_dirs

make blueprint imports lazy

829412b

Merge branch 'dev' into jeff/fix_dirs

c10a81c

make all __init__ imports lazy

e992482

mark cuda required tests

0d8dd3f

add hook filter for cuda

9f76c6c

add to toml

1a530a1

fix var name

a1f5352

Merge branch 'jeff/cuda_tests_marker' into jeff/fix_dirs

5845f8d

Merge branch 'dev' into jeff/fix_dirs

a4e8a45

make dimos --help fast

e0aba66

jeff-hykin and others added 10 commits February 7, 2026 21:16

name issue

290253a

CI code cleanup

ba6e29a

mypy stuff

36c69bb

remove dead/broken code (revealed by mypy)

28271c1

fix name (mypy revealed error)

fe5b6a1

another name fix

3614dca

mypy fixes

72a9542

correct g1 blueprint name

40f03ba

fix rpc typing

364ad8f

undo the ignores for rpc calls

e9891f8

jeff-hykin added 3 commits February 8, 2026 01:30

revert

5e653a8

use direct imports (for both performance and type hinting)

9bf224d

fixup typing

d5575c0

jeff-hykin commented Feb 8, 2026

View reviewed changes

jeff-hykin added 2 commits February 8, 2026 02:13

fix test

44ba48b

fix test

dbe419d

jeff-hykin commented Feb 8, 2026

View reviewed changes

jeff-hykin added 2 commits February 9, 2026 11:19

mypy

565b8a7

more mypy

1f685dc

jeff-hykin changed the title ~~Import Fix & Optimize: G1 without ROS, lazy imports (4x faster), Fix bad dir naming~~ Import Fix & Optimize: G1 without ROS, lazy imports, Fix bad dir naming Feb 9, 2026

Merge branch 'dev' into jeff/fix_dirs

300e6d5

jeff-hykin force-pushed the jeff/fix_dirs branch from ca8396a to 300e6d5 Compare February 10, 2026 21:43

jeff-hykin and others added 2 commits February 10, 2026 13:59

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beb93f1

pin langchain

dd552d0

paul-nechifor reviewed Feb 11, 2026

View reviewed changes

paul-nechifor previously approved these changes Feb 11, 2026

View reviewed changes

Merge branch 'jeff/fix_dirs' of github.com:dimensionalOS/dimos into j…

925e4aa

…eff/fix_dirs

jeff-hykin dismissed paul-nechifor’s stale review via 925e4aa February 11, 2026 21:28

jeff-hykin added 8 commits February 11, 2026 13:31

Merge branch 'dev' into jeff/fix_dirs

1dd7961

fix for CI

302877c

-

7488427

Merge branch 'dev' into jeff/fix_dirs

adffef3

fix mypy

406bf99

all_blueprints update

1833026

fix mypy

bf1e3cb

-

694d1b3

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Import Fix & Optimize: G1 without ROS, lazy imports, Fix bad dir naming #1221

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		model.update_intrinsic([1.0, 2.0]) # Only 2 values


		@pytest.mark.cuda

		R = TypeVar("R")


		def rpc(fn: Callable[P, R]) -> Callable[P, R]:

Import Fix & Optimize: G1 without ROS, lazy imports, Fix bad dir naming #1221

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Performance Improvements

New Dir Structure:

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