unitree-go2 efficiency review

[leshy]

Main go2 is not amazing, my laptop thermally throttles eventually and then this explodes to load 50

This branch fixes it:

• reconfigured a bunch of libs to limit number of threads (they normally enumerate cpu N to create a pool, but their imports leaked and would create a pool before forking, which quickly oversubscribes the system, number of total threads in dimos was 1k+

• added a test to forbid non-inline imports of o3d, opencv, rerun (random rerun import alone before forking was 800 threads)

• fixed zenoh autodiscovery blockage, by default running local only

• added zenoh system configurator for (previusly failing) implicit SHM transport

• not important but added a more efficient cpu only voxelizer (4x worse, not 20x worse then cuda, like previously)

[codecov]

Codecov Report

❌ Patch coverage is 71.59763% with 192 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/mapping/voxels/impl/o3d.py	18.75%	52 Missing ⚠️
dimos/protocol/service/zenohservice.py	59.67%	23 Missing and 2 partials ⚠️
...imos/protocol/service/system_configurator/zenoh.py	77.77%	16 Missing ⚠️
dimos/mapping/voxels/grid.py	83.60%	6 Missing and 4 partials ⚠️
dimos/codebase_checks/test_inline_heavy_imports.py	82.60%	4 Missing and 4 partials ⚠️
dimos/mapping/relocalization/relocalize.py	12.50%	7 Missing ⚠️
dimos/visualization/rerun/bridge.py	45.45%	6 Missing ⚠️
dimos/mapping/voxels/impl/packed.py	88.88%	3 Missing and 2 partials ⚠️
dimos/msgs/sensor_msgs/Image.py	61.53%	5 Missing ⚠️
dimos/mapping/cli/replay.py	0.00%	4 Missing ⚠️
... and 31 more

@@            Coverage Diff             @@
##             main    #3272      +/-   ##
==========================================
- Coverage   75.69%   74.85%   -0.84%     
==========================================
  Files        1131     1137       +6     
  Lines      108747   108994     +247     
  Branches     9807     9834      +27     
==========================================
- Hits        82313    81591     -722     
- Misses      23630    24611     +981     
+ Partials     2804     2792      -12     

Flag	Coverage Δ
OS-ubuntu-24.04-arm	68.66% <69.03%> (-0.27%)	⬇️
OS-ubuntu-latest	70.78% <69.03%> (-0.26%)	⬇️
Py-3.10	70.77% <69.03%> (-0.26%)	⬇️
Py-3.11	70.77% <69.03%> (-0.26%)	⬇️
Py-3.12	70.77% <69.03%> (-0.26%)	⬇️
Py-3.13	70.77% <69.03%> (-0.26%)	⬇️
Py-3.14	70.78% <69.03%> (-0.26%)	⬇️
Py-3.14t	70.77% <69.03%> (-0.26%)	⬇️
SelfHosted-Large	29.02% <30.64%> (+0.03%)	⬆️
SelfHosted-Linux	35.89% <46.57%> (+0.01%)	⬆️
SelfHosted-macOS	?

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
dimos/cli/apriltag3d.py	91.32% <100.00%> (ø)
dimos/cli/cameracalibrate/cameracalibrate.py	78.16% <100.00%> (+0.58%)	⬆️
dimos/cli/dimos.py	67.54% <100.00%> (+0.30%)	⬆️
dimos/core/coordination/module_coordinator.py	85.04% <100.00%> (+0.04%)	⬆️
dimos/core/coordination/python_worker.py	72.87% <ø> (-0.22%)	⬇️
dimos/core/global_config.py	83.69% <100.00%> (+0.36%)	⬆️
dimos/core/o3dpickle.py	85.71% <100.00%> (+1.09%)	⬆️
...os/experimental/scene_cooking/browser/collision.py	77.77% <100.00%> (ø)
...dware/sensors/lidar/fastlio2/fastlio_blueprints.py	100.00% <100.00%> (ø)
...ware/sensors/lidar/pointlio/pointlio_blueprints.py	100.00% <100.00%> (ø)
... and 64 more

... and 38 files with indirect coverage changes

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