[TomCC7]

Problem

• OpenYAM Quest demonstrations need measured state, position commands, RGB, and episode events recorded together.

Solution

• Compose teleop, a wrist camera, an episode monitor, and collect(profile=...) explicitly with canonical joint order.
• Record intended position commands from coordinator_joint_command and persist the shared recording schema.
• Keep episode monitoring limited to start, save, and discard. Dataset preparation handles missing action data.
• Register the Blueprint’s gateway annotation and use the existing CI workflow.

Validation

• 25 relevant existing tests and changed-file pre-commit passed after removing the readiness gate.
• No new tests or hardware operation. Stacked directly on feat(camera): configure webcam capture and source timestamps #4390.

[github-actions]

go2 replay realtime

Details

Benchmark suite	Current: aa0ee37	Previous: 7529659	Ratio
first frame wall	10.14 s	11.519 s	0.88
first frame cpu	21.519 s	23.908 s	0.90
run cpu	31.182 s	33.323 s	0.94
run cpu (user)	23.335 s	25.718 s	0.91
run cpu (system)	7.847 s	7.604 s	1.03
peak memory	2705.754 MB	2705.062 MB	1.00
peak threads	396 threads	406 threads	0.98
disk read	14.699 MB	35.621 MB	0.41
disk write	10.977 MB	11.242 MB	0.98
network (transport)	2732.809 MB	2728.796 MB	1.00
network (external rx)	0.053 MB	0.059 MB	0.90
network (external tx)	0.141 MB	0.147 MB	0.96

This comment was automatically generated by workflow using github-action-benchmark.

[github-actions]

⚠️ Performance Alert ⚠️

Possible performance regression was detected for benchmark 'go2 replay realtime'.
Benchmark result of this commit is worse than the previous benchmark result exceeding threshold 1.08.

Benchmark suite	Current: 68edf43	Previous: cdfaef0	Ratio
disk read	23.203 MB	20.871 MB	1.11

This comment was automatically generated by workflow using github-action-benchmark.

[codecov]

Codecov Report

❌ Patch coverage is 46.80851% with 50 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
...openyam/blueprints/test_learning_collection_e2e.py	37.50%	50 Missing ⚠️

@@                        Coverage Diff                        @@
##           cc/feat/webcam-capture-config    #4343      +/-   ##
=================================================================
- Coverage                          83.05%   83.03%   -0.02%     
=================================================================
  Files                               1748     1750       +2     
  Lines                             168820   168914      +94     
  Branches                           13935    13938       +3     
=================================================================
+ Hits                              140208   140255      +47     
- Misses                             24946    24994      +48     
+ Partials                            3666     3665       -1     

Components	Coverage Δ
Tests	96.42% <37.50%> (-0.07%)	⬇️

Flag	Coverage Δ
OS-macos-latest	77.39% <46.80%> (-0.02%)	⬇️
OS-ubuntu-24.04-arm	77.20% <46.80%> (-0.03%)	⬇️
OS-ubuntu-latest	77.57% <46.80%> (-0.02%)	⬇️
Py-3.10	77.57% <46.80%> (-0.02%)	⬇️
Py-3.11	77.55% <46.80%> (-0.02%)	⬇️
Py-3.12	77.56% <46.80%> (-0.02%)	⬇️
SelfHosted-Linux	40.11% <46.80%> (+<0.01%)	⬆️
SelfHosted-macOS	39.83% <46.80%> (+<0.01%)	⬆️

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

Files with missing lines	Coverage Δ
dimos/imitation/dataprep/test_mcap_source.py	100.00% <ø> (ø)
dimos/robot/all_blueprints.py	100.00% <ø> (ø)
...rs/openyam/blueprints/learning_quest_collection.py	100.00% <100.00%> (ø)
...openyam/blueprints/test_learning_collection_e2e.py	37.50% <37.50%> (ø)

... and 3 files with indirect coverage changes

🚀 New features to boost your workflow:

• 📦 JS Bundle Analysis: Save yourself from yourself by tracking and limiting bundle sizes in JS merges.

[greptile-apps]

Confidence Score: 5/5

[Medium impact] No outstanding merge-blocking defects were identified; this assessment depends on the control-button and CI fixes in PR #4088.

Summary

Adds openyam-quest-collection to record measured joints, intended joint commands, wrist images, and episode events with a shared schema.

• OpenYAM Quest recordings capture camera, joint, command, and episode data together.

T-Rex validation blocked

The native recording roundtrip could not complete because the SQLite library loaded by the recorder lacks jsonb support (no such function: jsonb). Native payload persistence remains unverified, including the default MCAP recording path. No hardware operation was attempted.

_{Reviews (1) · Last reviewed commit: "refactor(collection): keep episode contr..." · Reviewed by Greptile}