[ruthwikdasyam]

Problem

The 6 robosuite scenes (data/.lfs/robosuite.tar.gz) lost robosuite's <option cone="elliptic" impratio="20"> on export. On MuJoCo's pyramidal default, a grasped object creeps out of the closed gripper (about 0.27 mm/s) and falls. More pad friction or gripper force does not fix it.

Fix

Each scene.xml now has <option integrator="implicitfast" cone="elliptic" impratio="20" />, as robosuite 1.5.2 does. Creep drops to about 0.003 mm/s and the object holds. No code change.

Test

All 6 scenes load and step in MuJoCo with cone=elliptic, impratio=20.

Note: get_data does not re-extract an existing data/robosuite/; delete it locally to pick up the new archive.

[github-actions]

go2 replay realtime (arm64)

Details

Benchmark suite	Current: 44b5520	Previous: 1216a55	Ratio
peak memory	1699.723 MB	1705.691 MB	1.00
peak threads	368 threads	366 threads	1.01
network (transport)	2727.914 MB	2725.831 MB	1.00
disk write	1.742 MB	1.664 MB	1.05
instructions	134.994 G	135.978 G	0.99

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

[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
7644	1	7643	40

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 0x79ace98bf9b0>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x79ace913df80>
wait_for_system_ready = <function wait_for_system_ready.<locals>.wait at 0x79ace913e020>
human_input = <function human_input.<locals>.send_human_input at 0x79ace913e160>
dim_sim = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x79ae5afdd3d0>
explore_house = <function explore_house.<locals>.explore at 0x79ace913e980>

    @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 0x79ae5afdd3d0>
explore_house = <function explore_house.<locals>.explore at 0x79ace913e980>
human_input = <function human_input.<locals>.send_human_input at 0x79ace913e160>
lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x79ace98bf9b0>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x79ace913df80>
wait_for_system_ready = <function wait_for_system_ready.<locals>.wait at 0x79ace913e020>

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 0x79ace913c860>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x79ace98bf9b0>
        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 0x79ace8e8ce00: unset>
        fail_message = 'Failed to get to position x=-3.567, y=-1.332'
        listener   = <function LcmSpy.wait_for_message_result.<locals>.listener at 0x79ace913c9a0>
        predicate  = <function LcmSpy.wait_until_odom_position.<locals>.predicate at 0x79ace913c860>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x79ace98bf9b0>
        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 0x79ace8e8ce00: 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   = 9712820.122610155
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 0x79ace8e8ce00: unset>>
timeout    = 180

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

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