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feat(imitation): publish validated episode JSON and HUD status - #4393
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go2 replay realtime
Details
| Benchmark suite | Current: f4fd947 | Previous: cdfaef0 | Ratio |
|---|---|---|---|
first frame wall |
10.234 s |
9.891 s |
1.03 |
first frame cpu |
20.971 s |
21.456 s |
0.98 |
run cpu |
34.702 s |
33.75 s |
1.03 |
run cpu (user) |
26.344 s |
26.257 s |
1.00 |
run cpu (system) |
8.358 s |
7.493 s |
1.12 |
peak memory |
2683.492 MB |
2699.734 MB |
0.99 |
peak threads |
414 threads |
394 threads |
1.05 |
disk read |
29.469 MB |
20.871 MB |
1.41 |
disk write |
11.207 MB |
11.098 MB |
1.01 |
network (transport) |
2736.248 MB |
2722.56 MB |
1.01 |
network (external rx) |
0.06 MB |
0.139 MB |
0.43 |
network (external tx) |
0.15 MB |
0.342 MB |
0.44 |
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⚠️ 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: f4fd947 | Previous: cdfaef0 | Ratio |
|---|---|---|---|
run cpu (system) |
8.358 s |
7.493 s |
1.12 |
disk read |
29.469 MB |
20.871 MB |
1.41 |
This comment was automatically generated by workflow using github-action-benchmark.
Codecov Report❌ Patch coverage is
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+ Coverage 79.94% 79.96% +0.01%
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Files 1598 1600 +2
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Branches 12815 12820 +5
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+ Hits 120502 120636 +134
- Misses 26663 26669 +6
- Partials 3563 3564 +1
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go2 replay realtime (arm64)
Details
| Benchmark suite | Current: 20caea8 | Previous: 943ce13 | Ratio |
|---|---|---|---|
peak memory |
2020.48 MB |
2035.031 MB |
0.99 |
peak threads |
398 threads |
397 threads |
1.00 |
network (transport) |
2737.361 MB |
2729.585 MB |
1.00 |
disk write |
2.402 MB |
2.184 MB |
1.10 |
instructions |
149.187 G |
149.136 G |
1.00 |
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I am not sure about the converting to json method. We should just make a custom msg type in dimos msgs to keep things consistent. |
What is this feature?
Represent EpisodeStatus as a typed Python model and publish its versioned JSON through existing std_msgs.String. Keep episode commands/status consistent, validate documents before HUD use, and preserve source timestamps in the G1 recorder. Adapt the existing Python collection recorder and extractor so they continue working before the profile migration.
Why do we need this?
Episode boundaries must survive live publication, recording and replay without a new generated LCM type. Depends on the generic JSON recorder branch; OpenYAM integration remains in #4343.
How to Test
120 focused episode, extraction, HUD and G1 tests passed; commit hooks passed. Wire version 1 handling is retained. Physical Quest/G1 operation has not been verified.
Which issue(s) does this PR close?
None. This is a review slice of #4343, following the Manipulation SDK preview. It does not close or replace the integration PR.
Checklist
AI assistance: Codex assisted with the split, validation, and description.