G1 raytracing navigation stack (unitree-g1-nav-simple)

[jeff-hykin]

How to Test

on g1:

dimos run unitree-g1-nav-simple

Contributor License Agreement

• I have read and approved the CLA.

[greptile-apps]

Greptile Summary

This PR introduces a new unitree-g1-nav-simple navigation blueprint for the Unitree G1 robot, wiring FastLio2 LiDAR odometry through a Nix-built Rust raytracing voxel mapper into a CostMapper and A* replanner. It also refactors shared G1 primitives into reusable sub-blueprints (_unitree_g1_onboard, unitree_g1_vis), renames a misspelled blueprint file, propagates the costmap frame_id through path planning, and adds hardware deadzone compensation for small velocity commands.

• Rust voxel mapper: Build system switched from cargo build --release to nix build path:.; a new flake.nix/flake.lock locks the Nix derivation, though the lock currently records a dev-branch ref that will become stale after merge.
• Blueprint refactor: _unitree_g1_onboard centralises FastLio2 + DDS SDK + vis wiring; unitree_g1_nav_onboard reuses it but retains a now-redundant global_map_fastlio remapping that is already baked into the sub-blueprint.
• Deadzone compensation: _boost_above_deadzone clips sub-threshold (but non-zero) velocity commands to the minimum effective magnitude, preventing the G1 from stalling on small planner corrections.

Confidence Score: 5/5

Safe to merge; the core data pipeline from LiDAR through raytracing to A* planning wires correctly and runtime behaviour is unaffected by the two findings.

The new navigation stack is cleanly decomposed and the frame_id propagation and deadzone compensation look correct. The two findings are both housekeeping items: a redundant remapping entry and a flake.lock that records a dev-branch ref which will need regenerating after merge. Neither affects runtime behaviour of the nav stack itself.

The flake.lock dev-branch ref and the duplicated global_map_fastlio remapping in unitree_g1_nav_onboard.py are the only items worth a second look before or shortly after merging.

Important Files Changed

Filename	Overview
dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_simple.py	New G1 raytracing navigation blueprint composing onboard sensors, RayTracingVoxelMap, CostMapper, A* replanner, and MovementManager; unitree_g1_vis added explicitly despite being included in _unitree_g1_onboard
dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_onboard.py	New shared sub-blueprint composing FastLio2, G1HighLevelDdsSdk, and unitree_g1_vis; remaps global_map → global_map_fastlio but this remapping is then duplicated in unitree_g1_nav_onboard
dimos/mapping/ray_tracing/rust/flake.lock	New Nix flake lock file; dimos-repo input locks to rev on dev branch jeff/feat/g1_raycast which will become stale after merge if branch is deleted
dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_onboard.py	Refactored to use _unitree_g1_onboard sub-blueprint, but the (FastLio2, global_map, global_map_fastlio) remapping is now duplicated — baked into _unitree_g1_onboard and repeated in the outer .remappings() call
dimos/navigation/replanning_a_star/module.py	Adds odometry: In[Odometry] port and ReplanningAStarPlannerConfig with robot_width/rotation_diameter overrides; both odom and odometry subscribed unconditionally
dimos/robot/unitree/g1/effectors/high_level/dds_sdk.py	Adds deadzone compensation for linear and angular velocity commands; _boost_above_deadzone correctly passes through zero and values above the deadzone threshold
dimos/mapping/costmapper.py	Extracts costmap_to_rerun helper with a pre-built color LUT, adds initial_safe_radius_meters config; LUT indices 0-101 are all explicitly initialized
dimos/mapping/ray_tracing/module.py	Switches build from cargo to nix build path:.; executable path updated from target/release to result/bin to match Nix output symlink
dimos/msgs/nav_msgs/Odometry.py	Adds to_pose_stamped() conversion method used by the new odometry port in ReplanningAStarPlanner
dimos/navigation/replanning_a_star/min_cost_astar.py	Replaces hardcoded world frame_id with costmap.frame_id in all path waypoints and Path objects

Sequence Diagram

sequenceDiagram
    participant FastLio2
    participant RayTracingVoxelMap
    participant CostMapper
    participant ReplanningAStarPlanner
    participant MovementManager
    participant G1HighLevelDdsSdk

    FastLio2->>RayTracingVoxelMap: lidar (PointCloud2)
    FastLio2->>RayTracingVoxelMap: odometry (Odometry)
    FastLio2->>ReplanningAStarPlanner: odometry (Odometry)
    Note over FastLio2: global_map remapped to global_map_fastlio (suppressed)
    RayTracingVoxelMap->>CostMapper: global_map (PointCloud2)
    CostMapper->>ReplanningAStarPlanner: global_costmap (OccupancyGrid)
    ReplanningAStarPlanner->>MovementManager: nav_cmd_vel (Twist)
    MovementManager->>G1HighLevelDdsSdk: move (Twist)
    Note over G1HighLevelDdsSdk: _boost_above_deadzone applied to vx, vy, vyaw

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_{Reviews (5): Last reviewed commit: "Merge remote-tracking branch 'origin/mai..." | Re-trigger Greptile}

[codecov]

Codecov Report

❌ Patch coverage is 54.47154% with 56 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/mapping/costmapper.py	45.45%	18 Missing ⚠️
...s/robot/unitree/g1/effectors/high_level/dds_sdk.py	0.00%	14 Missing ⚠️
.../g1/blueprints/navigation/unitree_g1_nav_simple.py	38.88%	11 Missing ⚠️
dimos/navigation/replanning_a_star/module.py	63.63%	4 Missing ⚠️
.../unitree/g1/blueprints/primitive/unitree_g1_vis.py	78.94%	4 Missing ⚠️
dimos/msgs/nav_msgs/OccupancyGrid.py	0.00%	3 Missing ⚠️
dimos/msgs/nav_msgs/Odometry.py	66.66%	1 Missing ⚠️
...tree/g1/blueprints/primitive/unitree_g1_onboard.py	87.50%	1 Missing ⚠️

📢 Thoughts on this report? Let us know!

[paul-nechifor]

It's a bit confusing to have both odom and odometry.