[TomCC7]

Problem

• LeRobot conversion needs its own dependency environment and standard training feature keys.
• Recording and conversion duplicate the same schema through inheritance.

Solution

• Export and inspect datasets through the isolated LeRobot runtime, using its official validation and fixed feature naming.
• Keep one RecordingSchema for stream projections, episode extraction, and alignment. DataPrepConfig combines that schema with input and output settings.
• Publish completed datasets atomically, including inspection metadata.

Validation

• The assembled stack passed 257 relevant host tests and 30 real LeRobot conversion tests using cached dependencies.
• Scoped production mypy, changed-file pre-commit, and executable dataprep examples passed. Remote CI has not been polled.

[github-actions]

go2 replay realtime

Details

Benchmark suite	Current: fc43395	Previous: 7529659	Ratio
first frame wall	9.961 s	11.519 s	0.86
first frame cpu	20.776 s	23.908 s	0.87
run cpu	30.972 s	33.323 s	0.93
run cpu (user)	23.784 s	25.718 s	0.92
run cpu (system)	7.187 s	7.604 s	0.95
peak memory	2724.402 MB	2705.062 MB	1.01
peak threads	399 threads	406 threads	0.98
disk read	49.477 MB	35.621 MB	1.39
disk write	10.828 MB	11.242 MB	0.96
network (transport)	2714.992 MB	2728.796 MB	0.99
network (external rx)	0.071 MB	0.059 MB	1.20
network (external tx)	0.283 MB	0.147 MB	1.93

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: fc43395	Previous: 7529659	Ratio
disk read	49.477 MB	35.621 MB	1.39
network (external rx)	0.071 MB	0.059 MB	1.20
network (external tx)	0.283 MB	0.147 MB	1.93

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

[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
7510	1	7509	62

View the top 1 failed test(s) by shortest run time

dimos.e2e_tests.test_dimsim_spatial_memory::test_go_to_the_bed

Stack Traces | 271s run time

lcm_spy = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7757a824ca40>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7757a7420180>
wait_for_system_ready = <function wait_for_system_ready.<locals>.wait at 0x7757a7420220>
human_input = <function human_input.<locals>.send_human_input at 0x7757a7420360>
dim_sim = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x7759176ce180>
explore_house = <function explore_house.<locals>.explore at 0x7757a7420b80>

    @pytest.mark.self_hosted_large
    def test_go_to_the_bed(
        lcm_spy, start_blueprint, wait_for_system_ready, human_input, dim_sim, explore_house
    ) -> None:
        start_blueprint(
            "run",
            "unitree-go2-agentic",
            simulator="dimsim",
        )
        wait_for_system_ready(timeout=300.0)
    
        explore_house()
    
        human_input("go to the bed")
    
>       lcm_spy.wait_until_odom_position(-3.567, -1.332, threshold=3, timeout=180)

dim_sim    = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x7759176ce180>
explore_house = <function explore_house.<locals>.explore at 0x7757a7420b80>
human_input = <function human_input.<locals>.send_human_input at 0x7757a7420360>
lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7757a824ca40>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7757a7420180>
wait_for_system_ready = <function wait_for_system_ready.<locals>.wait at 0x7757a7420220>

dimos/e2e_tests/test_dimsim_spatial_memory.py:33: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/e2e_tests/lcm_spy.py:143: in wait_until_odom_position
    self.wait_for_message_result(
        predicate  = <function LcmSpy.wait_until_odom_position.<locals>.predicate at 0x7757a724e520>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7757a824ca40>
        threshold  = 3
        timeout    = 180
        x          = -3.567
        y          = -1.332
dimos/e2e_tests/lcm_spy.py:129: in wait_for_message_result
    wait_until(
        event      = <threading.Event at 0x7757b8e7fa70: unset>
        fail_message = 'Failed to get to position x=-3.567, y=-1.332'
        listener   = <function LcmSpy.wait_for_message_result.<locals>.listener at 0x7757a724e480>
        predicate  = <function LcmSpy.wait_until_odom_position.<locals>.predicate at 0x7757a724e520>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7757a824ca40>
        timeout    = 180
        topic      = '/odom#geometry_msgs.PoseStamped'
        type       = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

predicate = <bound method Event.is_set of <threading.Event at 0x7757b8e7fa70: unset>>

    def wait_until(
        predicate: Callable[[], bool],
        *,
        timeout: float,
        interval: float = 0.1,
        message: str | None = None,
    ) -> None:
        """Poll ``predicate`` until it returns truthy or ``timeout`` elapses."""
        deadline = time.monotonic() + timeout
        while time.monotonic() < deadline:
            if predicate():
                return
            time.sleep(interval)
>       raise TimeoutError(message or f"Timed out after {timeout}s waiting for condition")
E       TimeoutError: Failed to get to position x=-3.567, y=-1.332

deadline   = 9687528.054045612
interval   = 0.1
message    = 'Failed to get to position x=-3.567, y=-1.332'
predicate  = <bound method Event.is_set of <threading.Event at 0x7757b8e7fa70: unset>>
timeout    = 180

.../utils/testing/waiting.py:35: TimeoutError

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[greptile-apps]

Confidence Score: 5/5

[Medium impact] No blocking finding remains; the inspection omission is non-blocking, and compatibility with removed core.py exports depends on the restoration in PR #4088.

Findings

1.  Failed rebuild loses previous dataset ▶
2.  Inspection hides exported features ▶

Summary

Moves LeRobot export and inspection into the isolated Python project.

• LeRobot exports and inspections run through the isolated project’s dataset APIs.
• MCAP stores can load native codecs from metadata when callers opt in.
• CI discovers the isolated project’s tests using standard pytest names.
• Dataprep types are imported directly from the schema module.

Compatibility for callers of the removed core.py exports depends on PR #4088, whose supplied revision restores those exports; this PR does not contain that fix. With that stack dependency, no blocking issue remains in this review.

_{Reviews (3) · Last reviewed commit: "test(dataprep): remove overlapping LeRob..." · Reviewed by Greptile}