[TomCC7]

Problem

• Collection setup is coupled to robot control and camera creation.
• Camera resolution overrides can produce recordings whose frames disagree with the saved profile and cannot be exported.

Solution

• Rename the capture implementation to CollectionModule / CollectionModuleConfig and migrate callers. Keep profile-dependent construction behind collect(profile=...), without a standalone launcher entry.
• CollectionProfile declares data; collect(profile=...) creates only the recorder. Robot Blueprints own producers and episodes.
• Persist one shared RecordingSchema; conversion combines it with input and output settings. Keep typed inputs inside the recorder.
• Constrain the shipped xArm/Piper RealSense capture dimensions to their 848×480 profile. Reject conflicting final CLI/file settings before module deployment. Other camera options and general camera Blueprints remain configurable.
• Keep tests for collection behavior and the Python profile-to-real-dataset E2E; remove redundant configuration and generic framework checks.

Validation

• Collection rename: 119 PR-local tests and 6 recording/conversion tests passed; scoped mypy and cached pre-commit passed. Integrated learning regression: 212 passed. A broader unrelated blueprint sweep has 7 Go2 failures because the local LCM package lacks DynamicJointState.
• Camera-shape fix: 23 focused tests passed, including both shipped Blueprints rejecting conflicting width/height, registry generation, and configuration checks.
• Scoped mypy and changed-file pre-commit passed. No physical camera operation or CI polling.

[github-actions]

go2 replay realtime

Details

Benchmark suite	Current: 6eeb6ba	Previous: 7529659	Ratio
first frame wall	10.375 s	11.519 s	0.90
first frame cpu	22.699 s	23.908 s	0.95
run cpu	31.977 s	33.323 s	0.96
run cpu (user)	23.843 s	25.718 s	0.93
run cpu (system)	8.134 s	7.604 s	1.07
peak memory	2715.688 MB	2705.062 MB	1.00
peak threads	402 threads	406 threads	0.99
disk read	23.309 MB	35.621 MB	0.65
disk write	11.324 MB	11.242 MB	1.01
network (transport)	2714.407 MB	2728.796 MB	0.99
network (external rx)	0.063 MB	0.059 MB	1.07
network (external tx)	0.157 MB	0.147 MB	1.07

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

[codecov]

Codecov Report

❌ Patch coverage is 94.55511% with 41 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/imitation/test_datacollection_e2e.py	25.53%	35 Missing ⚠️
dimos/imitation/collection/profile.py	90.24%	2 Missing and 2 partials ⚠️
dimos/imitation/collection/recorder.py	98.09%	1 Missing and 1 partial ⚠️

@@            Coverage Diff             @@
##             main    #4396      +/-   ##
==========================================
- Coverage   83.26%   83.02%   -0.25%     
==========================================
  Files        1743     1748       +5     
  Lines      168069   168743     +674     
  Branches    13898    13934      +36     
==========================================
+ Hits       139949   140104     +155     
- Misses      24449    24974     +525     
+ Partials     3671     3665       -6     

Components	Coverage Δ
Tests	96.49% <93.95%> (-0.70%)	⬇️

Flag	Coverage Δ
OS-macos-latest	77.39% <84.72%> (+0.05%)	⬆️
OS-ubuntu-24.04-arm	77.19% <87.64%> (+0.06%)	⬆️
OS-ubuntu-latest	77.57% <87.64%> (+0.05%)	⬆️
Py-3.10	77.56% <87.64%> (+0.05%)	⬆️
Py-3.11	77.54% <87.64%> (+0.06%)	⬆️
Py-3.12	77.56% <87.64%> (+0.07%)	⬆️
SelfHosted-Linux	40.12% <47.14%> (-0.18%)	⬇️
SelfHosted-macOS	39.84% <47.14%> (-1.03%)	⬇️

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

Files with missing lines	Coverage Δ
dimos/codebase_checks/test_blueprint_kwargs.py	88.63% <100.00%> (+4.96%)	⬆️
...imos/experimental/memory/test_rust_recorder_e2e.py	95.57% <100.00%> (+4.93%)	⬆️
dimos/imitation/collection/blueprint.py	97.43% <100.00%> (+9.20%)	⬆️
dimos/imitation/collection/test_blueprint.py	100.00% <100.00%> (ø)
dimos/imitation/collection/test_composition.py	100.00% <100.00%> (ø)
dimos/imitation/collection/test_profile.py	100.00% <100.00%> (ø)
dimos/imitation/collection/test_recorder.py	100.00% <100.00%> (ø)
dimos/imitation/collection/test_recording.py	100.00% <100.00%> (ø)
dimos/imitation/dataprep/schema.py	100.00% <ø> (+4.16%)	⬆️
dimos/imitation/dataprep/test_recording.py	100.00% <100.00%> (ø)
... and 5 more

... and 41 files with indirect coverage changes

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[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: 2cde5e4	Previous: 7529659	Ratio
network (external rx)	0.103 MB	0.059 MB	1.75

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

[github-actions]

go2 replay realtime (arm64)

Details

Benchmark suite	Current: 41bf99b	Previous: c339308	Ratio
peak memory	1740.633 MB	1759.73 MB	0.99
peak threads	378 threads	370 threads	1.02
network (transport)	2729.318 MB	2736.274 MB	1.00
disk write	1.449 MB	1.688 MB	0.86
instructions	137.307 G	138.156 G	0.99

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

[TomCC7]

@greptile