feat(imitation): add profile-driven dual-arm collection

[TomCC7]

Contribution path

• Related PR: feat(imitation): add CLI learning workflow #3931. This PR is stacked on it in stack #3922.
• Scope: Dual OpenYAM data collection and configurable recording inputs.

Problem

• The fixed recorder inputs cannot describe collection setups with different camera counts.
• Recorder inputs and dataset projections need one declaration so stream names, message types, and joint ordering stay consistent.
• Workflow presets should reference Python builders and profiles directly, without string-based imports.

Solution

• Add Dual OpenYAM Quest collection with two wrist RGB cameras, measured joint state, and accepted joint commands.
• Use a CollectionProfile for both typed recording inputs and dataset features.
• Generate recorder ports before autoconnect through an explicit blueprint factory. Record each distinct raw stream once, even when several features project from it.
• Keep camera devices and robot hardware in robot-specific builders. CLI presets hold builder callables and profile objects directly.
• Decode native MCAP channels from message-type and codec metadata, including renamed streams. Pin Python message schemas to the native recorder's revision.
• Keep single-arm collection and LeRobot rollout. ABC integration, dual-arm policy rollout, and a shared policy-backend API are deferred.

API shape

CollectionProfile
  ├── collection_recorder(...) → typed recorder Blueprint
  ├── robot collection builder → cameras + robot + recorder + episode monitor
  └── dataprep_config(...)     → dataset features + synchronization rules

The public models, with validation and defaults omitted:

class CollectionFeature(FeatureSpec):
    message_type: type[Any]
    # Inherits: stream, field, dtype, shape, names


class CollectionProfile(BaseConfig):
    name: str
    robot_type: str
    observations: dict[str, CollectionFeature]
    actions: dict[str, CollectionFeature]
    sync: SyncConfig
    quality: QualityConfig

• Dictionary keys name dataset features, such as observation.images.overhead.
• stream names the DimOS input; message_type supplies its concrete Python type.
• field selects the message field. names specifies image axes or ordered joint names for joint vectors.
• Several features can select different fields or joint subsets from one stream.
• The default dual profile uses 640×480 RGB, 30 Hz, and a 20 ms synchronization tolerance anchored on the left wrist image. Joint order is left arm 1–6, right arm 1–6, left gripper, right gripper.

The recorder factory declares typed In[T] ports and adds the reserved status: In[EpisodeStatus] input:

collection_recorder(
    *,
    profile: CollectionProfile,
    recording: Path,
    instance_name: str | None = None,
) -> Blueprint

A robot-specific builder supplies the complete collection stack. The same profile configures dataset preparation:

from pathlib import Path

from dimos.imitation.dataprep.build import run_dataprep
from dimos.imitation.dataprep.core import OutputConfig
from dimos.robot.manipulators.dual_openyam.blueprints.learning_collection import (
    build_dual_openyam_quest_collection,
)
from dimos.robot.manipulators.dual_openyam.learning import DUAL_OPENYAM_COLLECTION

profile = DUAL_OPENYAM_COLLECTION
recording = Path("session.mcap")

blueprint = build_dual_openyam_quest_collection(
    profile=profile,
    recording=recording,
    task="fold the towel",
    cameras={
        "left_wrist_image": "/dev/video0",
        "right_wrist_image": "/dev/video2",
    },
    left_can_port="follower_l",
    right_can_port="follower_r",
)

# Prepare the recording after collection finishes.
config = profile.dataprep_config(
    source=str(recording),
    output=OutputConfig(
        path=Path("dataset"),
        metadata={
            "repo_id": "local/dual-openyam",
            "robot_type": profile.robot_type,
        },
    ),
)
run_dataprep(config)

To add an overhead camera, include this feature in a custom profile's observations and add "overhead_image": "/dev/video4" to the builder's cameras mapping:

from dimos.imitation.collection.profile import CollectionFeature, CollectionProfile
from dimos.msgs.sensor_msgs.Image import Image

overhead = CollectionFeature(
    stream="overhead_image",
    message_type=Image,
    field="data",
    dtype="video",
    shape=(480, 640, 3),
    names=["height", "width", "channels"],
)
base = DUAL_OPENYAM_COLLECTION
custom_profile = CollectionProfile(
    name="dual-openyam-overhead",
    robot_type=base.robot_type,
    observations={**base.observations, "observation.images.overhead": overhead},
    actions=base.actions,
    sync=base.sync,
    quality=base.quality,
)

• Adding a camera does not require a recorder subclass or changes to core Blueprint discovery.
• Strings remain for CLI selection, stream names, and dataset keys. Builders and message types are Python references.
• Generated recorder classes are private; their identity survives pickle, worker deployment, and module reload.

How to Test

• With two OpenYAM arms, a Quest headset, and wrist cameras attached, run the feature with the appropriate CAN ports and camera devices:

dimos imitation collect dual-openyam-quest --task "fold the towel" --left-can-port follower_l --right-can-port follower_r --camera left_wrist_image=/dev/video0 --camera right_wrist_image=/dev/video2

• Space starts/saves an episode; D discards it. Keep the arms supported when stopping because shutdown de-torques them.
• Prepare the saved recording:

dimos imitation prepare dual-openyam-quest RECORDING.mcap

• 144 host/native tests passed, including forkserver deployment, reload, native Zenoh recording, CLI presets, and blueprint registry generation.
• 36 isolated LeRobot tests passed, including exports with 1, 2, and 4 cameras, 14-joint ordering, shared-stream projections, and discarded-episode filtering.
• Ruff, pre-commit hooks, and scoped host/isolated type checks passed. Full isolated mypy still reports missing stubs and unused ignores in imported host modules.
• Robot hardware has not been tested. Native recording and export tests use synthetic messages.

AI assistance

• OpenAI Codex (GPT-5) was used extensively for design, implementation, tests, documentation, and PR preparation.

Checklist

• I have read and approved the CLA.

[codecov]

❌ 63 Tests Failed:

Tests completed	Failed	Passed	Skipped
4781	63	4718	180

View the top 3 failed test(s) by shortest run time

::dimos.cli.commands.test_graph

Stack Traces | 0s run time

ImportError while importing test module '.../cli/commands/test_graph.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../cli/commands/test_graph.py:24: in <module>
    from dimos.cli.dimos import main
dimos/cli/dimos.py:59: in <module>
    from dimos.cli.commands.imitation import imitation_app
.../cli/commands/imitation.py:47: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.cli.commands.test_imitation

Stack Traces | 0s run time

ImportError while importing test module '.../cli/commands/test_imitation.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../cli/commands/test_imitation.py:22: in <module>
    from dimos.cli.commands.imitation import (
.../cli/commands/imitation.py:47: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.cli.test_cache

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ImportError while importing test module '.../dimos/cli/test_cache.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
dimos/cli/test_cache.py:25: in <module>
    from dimos.cli.dimos import main
dimos/cli/dimos.py:59: in <module>
    from dimos.cli.commands.imitation import imitation_app
.../cli/commands/imitation.py:47: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.cli.test_can

Stack Traces | 0s run time

ImportError while importing test module '.../dimos/cli/test_can.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
dimos/cli/test_can.py:24: in <module>
    from dimos.cli.dimos import main
dimos/cli/dimos.py:59: in <module>
    from dimos.cli.commands.imitation import imitation_app
.../cli/commands/imitation.py:47: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.cli.test_dimos

Stack Traces | 0s run time

ImportError while importing test module '.../dimos/cli/test_dimos.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
dimos/cli/test_dimos.py:26: in <module>
    from dimos.cli.dimos import main, normalize_argv
dimos/cli/dimos.py:59: in <module>
    from dimos.cli.commands.imitation import imitation_app
.../cli/commands/imitation.py:47: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.cli.test_shell

Stack Traces | 0s run time

ImportError while importing test module '.../dimos/cli/test_shell.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
dimos/cli/test_shell.py:17: in <module>
    from dimos.cli.dimos import main
dimos/cli/dimos.py:59: in <module>
    from dimos.cli.commands.imitation import imitation_app
.../cli/commands/imitation.py:47: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.cli.test_vqa

Stack Traces | 0s run time

ImportError while importing test module '.../dimos/cli/test_vqa.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
dimos/cli/test_vqa.py:21: in <module>
    from dimos.cli.dimos import main as app
dimos/cli/dimos.py:59: in <module>
    from dimos.cli.commands.imitation import imitation_app
.../cli/commands/imitation.py:47: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.core.test_cli_stop_status

Stack Traces | 0s run time

ImportError while importing test module '.../dimos/core/test_cli_stop_status.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
dimos/core/test_cli_stop_status.py:25: in <module>
    from dimos.cli.dimos import main
dimos/cli/dimos.py:59: in <module>
    from dimos.cli.commands.imitation import imitation_app
.../cli/commands/imitation.py:47: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.core.test_e2e_daemon

Stack Traces | 0s run time

ImportError while importing test module '.../dimos/core/test_e2e_daemon.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
dimos/core/test_e2e_daemon.py:26: in <module>
    from dimos.cli.dimos import main
dimos/cli/dimos.py:59: in <module>
    from dimos.cli.commands.imitation import imitation_app
.../cli/commands/imitation.py:47: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.core.test_mcp_integration

Stack Traces | 0s run time

ImportError while importing test module '.../dimos/core/test_mcp_integration.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
dimos/core/test_mcp_integration.py:39: in <module>
    from dimos.cli.dimos import main
dimos/cli/dimos.py:59: in <module>
    from dimos.cli.commands.imitation import imitation_app
.../cli/commands/imitation.py:47: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.imitation.collection.test_blueprint

Stack Traces | 0s run time

ImportError while importing test module '.../imitation/collection/test_blueprint.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../imitation/collection/test_blueprint.py:20: in <module>
    from dimos.imitation.collection.blueprint import (
.../imitation/collection/blueprint.py:30: in <module>
    from dimos.imitation.collection.episode_monitor import EpisodeMonitorModule
.../imitation/collection/episode_monitor.py:36: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import (
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.imitation.collection.test_episode_monitor

Stack Traces | 0s run time

ImportError while importing test module '.../imitation/collection/test_episode_monitor.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../imitation/collection/test_episode_monitor.py:33: in <module>
    from dimos.imitation.collection.episode_monitor import EpisodeMonitorModule
.../imitation/collection/episode_monitor.py:36: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import (
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.imitation.collection.test_native_recorder

Stack Traces | 0s run time

ImportError while importing test module '.../imitation/collection/test_native_recorder.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../imitation/collection/test_native_recorder.py:22: in <module>
    from dimos.robot.manipulators.dual_openyam.learning import DualOpenYamQuestRecorder
.../manipulators/dual_openyam/learning.py:17: in <module>
    from dimos.imitation.collection.native_recorder import declare_recorder
.../imitation/collection/native_recorder.py:22: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.imitation.collection.test_recorder

Stack Traces | 0s run time

ImportError while importing test module '.../imitation/collection/test_recorder.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../imitation/collection/test_recorder.py:17: in <module>
    from dimos.imitation.collection.recorder import CollectionRecorder, CollectionRecorderConfig
.../imitation/collection/recorder.py:30: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.imitation.dataprep.test_mcap_source

Stack Traces | 0s run time

ImportError while importing test module '.../imitation/dataprep/test_mcap_source.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../imitation/dataprep/test_mcap_source.py:35: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.imitation.policy.abc.test_module

Stack Traces | 0s run time

ImportError while importing test module '.../policy/abc/test_module.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../policy/abc/test_module.py:18: in <module>
    from dimos.imitation.policy.abc.module import DualOpenYamAbcPolicy
.../policy/abc/module.py:22: in <module>
    from dimos.robot.manipulators.dual_openyam.learning import DUAL_OPENYAM_ABC_IO
.../manipulators/dual_openyam/learning.py:17: in <module>
    from dimos.imitation.collection.native_recorder import declare_recorder
.../imitation/collection/native_recorder.py:22: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.imitation.policy.lerobot.test_module

Stack Traces | 0s run time

ImportError while importing test module '.../policy/lerobot/test_module.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../policy/lerobot/test_module.py:21: in <module>
    from dimos.imitation.policy.lerobot.module import LeRobotPolicyConfig, OpenYamLeRobotPolicy
.../policy/lerobot/module.py:18: in <module>
    from dimos.robot.manipulators.openyam.learning import OPENYAM_QUEST_IO
.../manipulators/openyam/learning.py:17: in <module>
    from dimos.imitation.collection.native_recorder import declare_recorder
.../imitation/collection/native_recorder.py:22: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.imitation.test_datacollection_e2e

Stack Traces | 0s run time

ImportError while importing test module '.../dimos/imitation/test_datacollection_e2e.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
dimos/imitation/test_datacollection_e2e.py:29: in <module>
    from dimos.imitation.collection.recorder import CollectionRecorder
.../imitation/collection/recorder.py:30: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.imitation.test_workflows

Stack Traces | 0s run time

ImportError while importing test module '.../dimos/imitation/test_workflows.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
dimos/imitation/test_workflows.py:25: in <module>
    from dimos.robot.manipulators.dual_openyam.learning import ABC_JOINTS
.../manipulators/dual_openyam/learning.py:17: in <module>
    from dimos.imitation.collection.native_recorder import declare_recorder
.../imitation/collection/native_recorder.py:22: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.msgs.imitation_msgs.test_episode_status

Stack Traces | 0s run time

ImportError while importing test module '.../msgs/imitation_msgs/test_episode_status.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../msgs/imitation_msgs/test_episode_status.py:17: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.robot.manipulators.a1z.blueprints.test_teleop

Stack Traces | 0s run time

ImportError while importing test module '.../a1z/blueprints/test_teleop.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../a1z/blueprints/test_teleop.py:28: in <module>
    from dimos.teleop.quest.blueprints import teleop_quest_a1z
.../teleop/quest/blueprints.py:36: in <module>
    from dimos.teleop.quest.quest_extensions import (
.../teleop/quest/quest_extensions.py:38: in <module>
    from dimos.teleop.quest.quest_teleop_module import QuestTeleopConfig, QuestTeleopModule
.../teleop/quest/quest_teleop_module.py:46: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.robot.manipulators.dual_openyam.blueprints.test_learning

Stack Traces | 0s run time

ImportError while importing test module '.../dual_openyam/blueprints/test_learning.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../dual_openyam/blueprints/test_learning.py:20: in <module>
    from dimos.imitation.policy.abc.module import DualOpenYamAbcPolicy
.../policy/abc/module.py:22: in <module>
    from dimos.robot.manipulators.dual_openyam.learning import DUAL_OPENYAM_ABC_IO
.../manipulators/dual_openyam/learning.py:17: in <module>
    from dimos.imitation.collection.native_recorder import declare_recorder
.../imitation/collection/native_recorder.py:22: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.robot.manipulators.dual_openyam.test_blueprints

Stack Traces | 0s run time

ImportError while importing test module '.../manipulators/dual_openyam/test_blueprints.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../manipulators/dual_openyam/test_blueprints.py:31: in <module>
    from dimos.robot.manipulators.dual_openyam.blueprints.teleop import (
.../dual_openyam/blueprints/teleop.py:35: in <module>
    from dimos.teleop.quest.quest_extensions import ArmTeleopModule
.../teleop/quest/quest_extensions.py:38: in <module>
    from dimos.teleop.quest.quest_teleop_module import QuestTeleopConfig, QuestTeleopModule
.../teleop/quest/quest_teleop_module.py:46: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.robot.manipulators.dual_openyam.test_teleop_ik

Stack Traces | 0s run time

ImportError while importing test module '.../manipulators/dual_openyam/test_teleop_ik.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../manipulators/dual_openyam/test_teleop_ik.py:23: in <module>
    from dimos.robot.manipulators.dual_openyam.blueprints.teleop import (
.../dual_openyam/blueprints/teleop.py:35: in <module>
    from dimos.teleop.quest.quest_extensions import ArmTeleopModule
.../teleop/quest/quest_extensions.py:38: in <module>
    from dimos.teleop.quest.quest_teleop_module import QuestTeleopConfig, QuestTeleopModule
.../teleop/quest/quest_teleop_module.py:46: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.robot.manipulators.openarm.test_openarm_teleop

Stack Traces | 0s run time

ImportError while importing test module '.../manipulators/openarm/test_openarm_teleop.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../manipulators/openarm/test_openarm_teleop.py:35: in <module>
    from dimos.robot.manipulators.openarm.blueprints.teleop import (
.../openarm/blueprints/teleop.py:35: in <module>
    from dimos.teleop.quest.quest_extensions import ArmTeleopModule
.../teleop/quest/quest_extensions.py:38: in <module>
    from dimos.teleop.quest.quest_teleop_module import QuestTeleopConfig, QuestTeleopModule
.../teleop/quest/quest_teleop_module.py:46: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.robot.manipulators.openyam.blueprints.test_learning_collection

Stack Traces | 0s run time

ImportError while importing test module '.../openyam/blueprints/test_learning_collection.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../openyam/blueprints/test_learning_collection.py:19: in <module>
    from dimos.imitation.collection.episode_monitor import EpisodeMonitorModule
.../imitation/collection/episode_monitor.py:36: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import (
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.robot.manipulators.openyam.blueprints.test_learning_collection_e2e

Stack Traces | 0s run time

ImportError while importing test module '.../openyam/blueprints/test_learning_collection_e2e.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../openyam/blueprints/test_learning_collection_e2e.py:33: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.robot.manipulators.openyam.blueprints.test_learning_rollout

Stack Traces | 0s run time

ImportError while importing test module '.../openyam/blueprints/test_learning_rollout.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../openyam/blueprints/test_learning_rollout.py:21: in <module>
    from dimos.imitation.policy.lerobot.module import OpenYamLeRobotPolicy
.../policy/lerobot/module.py:18: in <module>
    from dimos.robot.manipulators.openyam.learning import OPENYAM_QUEST_IO
.../manipulators/openyam/learning.py:17: in <module>
    from dimos.imitation.collection.native_recorder import declare_recorder
.../imitation/collection/native_recorder.py:22: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.robot.manipulators.openyam.test_learning

Stack Traces | 0s run time

ImportError while importing test module '.../manipulators/openyam/test_learning.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../manipulators/openyam/test_learning.py:17: in <module>
    from dimos.robot.manipulators.openyam.learning import (
.../manipulators/openyam/learning.py:17: in <module>
    from dimos.imitation.collection.native_recorder import declare_recorder
.../imitation/collection/native_recorder.py:22: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.robot.manipulators.openyam.test_openyam

Stack Traces | 0s run time

ImportError while importing test module '.../manipulators/openyam/test_openyam.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../manipulators/openyam/test_openyam.py:28: in <module>
    from dimos.robot.manipulators.openyam.blueprints.teleop import (
.../openyam/blueprints/teleop.py:44: in <module>
    from dimos.teleop.quest.quest_extensions import ArmTeleopModule
.../teleop/quest/quest_extensions.py:38: in <module>
    from dimos.teleop.quest.quest_teleop_module import QuestTeleopConfig, QuestTeleopModule
.../teleop/quest/quest_teleop_module.py:46: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.robot.manipulators.openyam.test_teleop_ik

Stack Traces | 0s run time

ImportError while importing test module '.../manipulators/openyam/test_teleop_ik.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../manipulators/openyam/test_teleop_ik.py:24: in <module>
    from dimos.robot.manipulators.openyam.blueprints.teleop import _openyam_quest_task
.../openyam/blueprints/teleop.py:44: in <module>
    from dimos.teleop.quest.quest_extensions import ArmTeleopModule
.../teleop/quest/quest_extensions.py:38: in <module>
    from dimos.teleop.quest.quest_teleop_module import QuestTeleopConfig, QuestTeleopModule
.../teleop/quest/quest_teleop_module.py:46: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.robot.unitree.g1.test_g1_teleop

Stack Traces | 0s run time

ImportError while importing test module '.../unitree/g1/test_g1_teleop.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../unitree/g1/test_g1_teleop.py:38: in <module>
    from dimos.robot.unitree.g1.blueprints.basic.unitree_g1_teleop import (
.../blueprints/basic/unitree_g1_teleop.py:57: in <module>
    from dimos.imitation.collection.episode_monitor import EpisodeMonitorModule
.../imitation/collection/episode_monitor.py:36: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import (
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.teleop.hosted.test_arm_command

Stack Traces | 0s run time

ImportError while importing test module '.../teleop/hosted/test_arm_command.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../teleop/hosted/test_arm_command.py:38: in <module>
    from dimos.teleop.hosted.arm_command import ArmCommandModule
.../teleop/hosted/arm_command.py:37: in <module>
    from dimos.teleop.quest.quest_extensions import ArmTeleopModule
.../teleop/quest/quest_extensions.py:38: in <module>
    from dimos.teleop.quest.quest_teleop_module import QuestTeleopConfig, QuestTeleopModule
.../teleop/quest/quest_teleop_module.py:46: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.teleop.hosted.test_go2_audio_bridge

Stack Traces | 0s run time

ImportError while importing test module '.../teleop/hosted/test_go2_audio_bridge.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../teleop/hosted/test_go2_audio_bridge.py:32: in <module>
    from dimos.teleop.hosted.blueprints.cloudflare import teleop_hosted_go2_transport
.../hosted/blueprints/cloudflare.py:50: in <module>
    from dimos.teleop.hosted.arm_command import ArmCommandModule
.../teleop/hosted/arm_command.py:37: in <module>
    from dimos.teleop.quest.quest_extensions import ArmTeleopModule
.../teleop/quest/quest_extensions.py:38: in <module>
    from dimos.teleop.quest.quest_teleop_module import QuestTeleopConfig, QuestTeleopModule
.../teleop/quest/quest_teleop_module.py:46: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.teleop.quest.test_blueprints

Stack Traces | 0s run time

ImportError while importing test module '.../teleop/quest/test_blueprints.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../teleop/quest/test_blueprints.py:22: in <module>
    from dimos.teleop.quest.blueprints import (
.../teleop/quest/blueprints.py:36: in <module>
    from dimos.teleop.quest.quest_extensions import (
.../teleop/quest/quest_extensions.py:38: in <module>
    from dimos.teleop.quest.quest_teleop_module import QuestTeleopConfig, QuestTeleopModule
.../teleop/quest/quest_teleop_module.py:46: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

::dimos.teleop.quest.test_quest_teleop_module

Stack Traces | 0s run time

ImportError while importing test module '.../teleop/quest/test_quest_teleop_module.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../teleop/quest/test_quest_teleop_module.py:25: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
.../msgs/imitation_msgs/EpisodeStatus.py:19: in <module>
    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

dimos.codebase_checks.test_blueprint_kwargs::test_blueprint_atom_kwargs_match_module_config[teleop-quest-a1z]

Stack Traces | 0.003s run time

blueprint_name = 'teleop-quest-a1z'

    @pytest.mark.parametrize("blueprint_name", _blueprint_params())
    def test_blueprint_atom_kwargs_match_module_config(blueprint_name: str) -> None:
        """Fail when blueprint kwargs cannot be consumed by their target module."""
>       blueprint = _get_blueprint_or_skip(blueprint_name)

blueprint_name = 'teleop-quest-a1z'

dimos/codebase_checks/test_blueprint_kwargs.py:91: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/codebase_checks/test_blueprint_kwargs.py:36: in _get_blueprint_or_skip
    return get_blueprint_by_name(blueprint_name)
        blueprint_name = 'teleop-quest-a1z'
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'teleop_quest_a1z'
        module_path = 'dimos.teleop.quest.blueprints'
        name       = 'teleop-quest-a1z'
.../teleop/quest/blueprints.py:36: in <module>
    from dimos.teleop.quest.quest_extensions import (
        DEFAULT_CAPACITY_COLOR_IMAGE = 6224896
        GO2Connection = <class 'dimos.robot.unitree.go2.connection.GO2Connection'>
        Image      = <class 'dimos.msgs.sensor_msgs.Image.Image'>
        LCMTransport = <class 'dimos.core.transport.LCMTransport'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        Twist      = <class 'dimos.msgs.geometry_msgs.Twist.Twist'>
        __builtins__ = <builtins>
        __cached__ = '.../quest/__pycache__/blueprints.cpython-312.pyc'
        __doc__    = 'Teleop blueprints for testing and deployment.\n\nSingle sim/real blueprints — pass `--simulation` to run inside MuJoCo, omit for real\nhardware. The underlying coordinator blueprints branch on `global_config.simulation`.\n'
        __file__   = '.../work/dimos/dimos/.../teleop/quest/blueprints.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10b01e8c80>
        __name__   = 'dimos.teleop.quest.blueprints'
        __package__ = 'dimos.teleop.quest'
        __spec__   = ModuleSpec(name='dimos.teleop.quest.blueprints', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff10b01e8c80>, origin='.../work/dimos/dimos/.../teleop/quest/blueprints.py')
        autoconnect = <function autoconnect at 0xff118e9ff600>
        coordinator_teleop_a1z = Blueprint(blueprints=(BlueprintAtom(kwargs={'instance_name': 'ControlCoordinator', 'hardware': [HardwareComponent(hard...lobal_config_overrides=mappingproxy({}), remapping_map=mappingproxy({}), requirement_checks=(), configurator_checks=())
        coordinator_teleop_dual = <[FileNotFoundError("Test file 'piper_description' not found at .../dimos/data/.lfs/piper_descript...e the file is committed to Git LFS in the tests/data directory.") raised in repr()] Blueprint object at 0xff10b1f88170>
        coordinator_teleop_piper = <[FileNotFoundError("Test file 'piper_description' not found at .../dimos/data/.lfs/piper_descript...e the file is committed to Git LFS in the tests/data directory.") raised in repr()] Blueprint object at 0xff10b1f8b5f0>
        coordinator_teleop_xarm6 = Blueprint(blueprints=(BlueprintAtom(kwargs={'hardware': [HardwareComponent(hardware_id='arm', hardware_type=<HardwareT...lobal_config_overrides=mappingproxy({}), remapping_map=mappingproxy({}), requirement_checks=(), configurator_checks=())
        coordinator_teleop_xarm7 = Blueprint(blueprints=(BlueprintAtom(kwargs={'instance_name': 'ControlCoordinator', 'hardware': [HardwareComponent(hard...lobal_config_overrides=mappingproxy({}), remapping_map=mappingproxy({}), requirement_checks=(), configurator_checks=())
        pSHMTransport = <class 'dimos.core.transport.pSHMTransport'>
.../teleop/quest/quest_extensions.py:38: in <module>
    from dimos.teleop.quest.quest_teleop_module import QuestTeleopConfig, QuestTeleopModule
        Any        = typing.Any
        Float32    = <class 'dimos.msgs.std_msgs.Float32.Float32'>
        Image      = <class 'dimos.msgs.sensor_msgs.Image.Image'>
        In         = <class 'dimos.core.stream.In'>
        Out        = <class 'dimos.core.stream.Out'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        Twist      = <class 'dimos.msgs.geometry_msgs.Twist.Twist'>
        TwistStamped = <class 'dimos.msgs.geometry_msgs.TwistStamped.TwistStamped'>
        Vector3    = <class 'dimos.msgs.geometry_msgs.Vector3.Vector3'>
        WebSocket  = <class 'starlette.websockets.WebSocket'>
        __builtins__ = <builtins>
        __cached__ = '.../quest/__pycache__/quest_extensions.cpython-312.pyc'
        __doc__    = 'Quest teleop module extensions and subclasses.\n\nAvailable subclasses:\n    - ArmTeleopModule: Raw arm poses with mi...rames pushed to the Quest over /ws\n    - Go2TeleopModule: Thumbstick → Twist velocity for the Go2 + camera over /ws\n'
        __file__   = '.../work/dimos/dimos/.../teleop/quest/quest_extensions.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10b01e8d70>
        __name__   = 'dimos.teleop.quest.quest_extensions'
        __package__ = 'dimos.teleop.quest'
        __spec__   = ModuleSpec(name='dimos.teleop.quest.quest_extensions', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff10b01e8d70>, origin='.../work/dimos/dimos/.../teleop/quest/quest_extensions.py')
        asyncio    = <module 'asyncio' from '............/usr/lib/python3.12/asyncio/__init__.py'>
        rpc        = <function rpc at 0xff119fc7bba0>
.../teleop/quest/quest_teleop_module.py:46: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
        Any        = typing.Any
        DIMOS_PROJECT_ROOT = PosixPath('.../work/dimos/dimos')
        Disposable = <class 'reactivex.disposable.disposable.Disposable'>
        Field      = <function Field at 0xff11a05072e0>
        HTMLResponse = <class 'starlette.responses.HTMLResponse'>
        In         = <class 'dimos.core.stream.In'>
        LCMJoy     = <class 'dimos_lcm.sensor_msgs.Joy.Joy'>
        LCMPoseStamped = <class 'dimos_lcm.geometry_msgs.PoseStamped.PoseStamped'>
        Module     = <class 'dimos.core.module.Module'>
        ModuleConfig = <class 'dimos.core.module.ModuleConfig'>
        Out        = <class 'dimos.core.stream.Out'>
        Path       = <class 'pathlib.Path'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        StaticFiles = <class 'starlette.staticfiles.StaticFiles'>
        TypeVar    = <class 'typing.TypeVar'>
        WebSocket  = <class 'starlette.websockets.WebSocket'>
        WebSocketDisconnect = <class 'starlette.websockets.WebSocketDisconnect'>
        __builtins__ = <builtins>
        __cached__ = '.../work/dimos/dimos/dimos/teleop/quest/__pycache__/quest_teleop_module.cpython-312.pyc'
        __doc__    = '\nQuest Teleoperation Module.\n\nReceives VR controller tracking data from the Quest web app via an embedded\nFastAPI WebSocket server.  Transforms from WebXR to robot frame, computes\ndeltas, and publishes PoseStamped commands.\n'
        __file__   = '.../work/dimos/dimos/.../teleop/quest/quest_teleop_module.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10b01e93d0>
        __name__   = 'dimos.teleop.quest.quest_teleop_module'
        __package__ = 'dimos.teleop.quest'
        __spec__   = ModuleSpec(name='dimos.teleop.quest.quest_teleop_module', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff10b01e93d0>, origin='.../work/dimos/dimos/.../teleop/quest/quest_teleop_module.py')
        asyncio    = <module 'asyncio' from '............/usr/lib/python3.12/asyncio/__init__.py'>
        dataclass  = <function dataclass at 0xff11a99da660>
        json       = <module 'json' from '............/usr/lib/python3.12/json/__init__.py'>
        math       = <module 'math' (built-in)>
        rpc        = <function rpc at 0xff119fc7bba0>
        threading  = <module 'threading' from '............/usr/lib/python3.12/threading.py'>
        time       = <module 'time' (built-in)>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # Copyright 2026 Dimensional Inc.
    #
    # Licensed under the Apache License, Version 2.0 (the "License");
    # you may not use this file except in compliance with the License.
    # You may obtain a copy of the License at
    #
    #     http://www.apache.org/licenses/LICENSE-2.0
    #
    # Unless required by applicable law or agreed to in writing, software
    # distributed under the License is distributed on an "AS IS" BASIS,
    # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    # See the License for the specific language governing permissions and
    # limitations under the License.
    
    from __future__ import annotations
    
    from typing import ClassVar, Literal, TypeAlias, cast
    
>   from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

ClassVar   = typing.ClassVar
Literal    = typing.Literal
TypeAlias  = typing.TypeAlias
__annotations__ = {}
__builtins__ = <builtins>
__cached__ = '.../work/dimos/dimos/dimos/msgs/imitation_msgs/__pycache__/EpisodeStatus.cpython-312.pyc'
__doc__    = None
__file__   = '.../work/dimos/dimos/.../msgs/imitation_msgs/EpisodeStatus.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10b01e9cd0>
__name__   = 'dimos.msgs.imitation_msgs.EpisodeStatus'
__package__ = 'dimos.msgs.imitation_msgs'
__spec__   = ModuleSpec(name='dimos.msgs.imitation_msgs.EpisodeStatus', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff10b01e9cd0>, origin='.../work/dimos/dimos/.../msgs/imitation_msgs/EpisodeStatus.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
cast       = <function cast at 0xff11aa11a8e0>

.../msgs/imitation_msgs/EpisodeStatus.py:19: ModuleNotFoundError

dimos.codebase_checks.test_blueprint_kwargs::test_blueprint_atom_kwargs_match_module_config[unitree-g1-teleop]

Stack Traces | 0.003s run time

blueprint_name = 'unitree-g1-teleop'

    @pytest.mark.parametrize("blueprint_name", _blueprint_params())
    def test_blueprint_atom_kwargs_match_module_config(blueprint_name: str) -> None:
        """Fail when blueprint kwargs cannot be consumed by their target module."""
>       blueprint = _get_blueprint_or_skip(blueprint_name)

blueprint_name = 'unitree-g1-teleop'

dimos/codebase_checks/test_blueprint_kwargs.py:91: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/codebase_checks/test_blueprint_kwargs.py:36: in _get_blueprint_or_skip
    return get_blueprint_by_name(blueprint_name)
        blueprint_name = 'unitree-g1-teleop'
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'unitree_g1_teleop'
        module_path = 'dimos.robot.unitree.g1.blueprints.basic.unitree_g1_teleop'
        name       = 'unitree-g1-teleop'
.../blueprints/basic/unitree_g1_teleop.py:57: in <module>
    from dimos.imitation.collection.episode_monitor import EpisodeMonitorModule
        Blueprint  = <class 'dimos.core.coordination.blueprints.Blueprint'>
        DEFAULT_CAPACITY_COLOR_IMAGE = 6224896
        In         = <class 'dimos.core.stream.In'>
        STATE_DIR  = PosixPath('.../tmp/dimos-test-state-gw3-bo63643g/dimos')
        __builtins__ = <builtins>
        __cached__ = '.../basic/__pycache__/unitree_g1_teleop.cpython-312.pyc'
        __doc__    = 'Unitree G1 GR00T WBC + Quest teleop + manipulation + recording.\n\nThe GR00T locomotion/control core (without navigat...o --scene-package office run unitree-g1-teleop\n    dimos run unitree-g1-teleop                      # real hardware\n'
        __file__   = '/home/runner/work/dimos/dimos/.../blueprints/basic/unitree_g1_teleop.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10abf03a40>
        __name__   = 'dimos.robot.unitree.g1.blueprints.basic.unitree_g1_teleop'
        __package__ = 'dimos.robot.unitree.g1.blueprints.basic'
        __spec__   = ModuleSpec(name='dimos.robot.unitree.g1.blueprints.basic.unitree_g1_teleop', loader=<_frozen_importlib_external.Source...t 0xff10abf03a40>, origin='/home/runner/work/dimos/dimos/.../blueprints/basic/unitree_g1_teleop.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xff118e9ff600>
        datetime   = <class 'datetime.datetime'>
        global_config = GlobalConfig(robot_ip=None, robot_ips=None, unitree_aes_128_key=None, xarm7_ip=None, xarm6_ip=None, can_port=None, dev...load_retries=2, dimos_upload_chunk_mb=None, dimos_upload_quiet_s=30.0, dimos_http_timeout=60.0, dimos_staging_dir=None)
        pSHMTransport = <class 'dimos.core.transport.pSHMTransport'>
.../imitation/collection/episode_monitor.py:36: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import (
        Any        = typing.Any
        Disposable = <class 'reactivex.disposable.disposable.Disposable'>
        DisposableBase = <class 'reactivex.abc.disposable.DisposableBase'>
        Field      = <function Field at 0xff11a05072e0>
        In         = <class 'dimos.core.stream.In'>
        Literal    = typing.Literal
        Module     = <class 'dimos.core.module.Module'>
        ModuleConfig = <class 'dimos.core.module.ModuleConfig'>
        Out        = <class 'dimos.core.stream.Out'>
        TypeAlias  = typing.TypeAlias
        __annotations__ = {}
        __builtins__ = <builtins>
        __cached__ = '.../collection/__pycache__/episode_monitor.cpython-312.pyc'
        __doc__    = 'Single point of operator-input → EpisodeStatus translation.\n\nWatches Quest buttons and accepts RPC commands, runs t...t stream into session.db; DataPrep reads only\nthe recorded EpisodeStatus events offline — never raw operator input.\n'
        __file__   = '/home/runner/work/dimos/dimos/.../imitation/collection/episode_monitor.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10abf03a10>
        __name__   = 'dimos.imitation.collection.episode_monitor'
        __package__ = 'dimos.imitation.collection'
        __spec__   = ModuleSpec(name='dimos.imitation.collection.episode_monitor', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff10abf03a10>, origin='/home/runner/work/dimos/dimos/.../imitation/collection/episode_monitor.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        field_validator = <function field_validator at 0xff11a060ff60>
        rpc        = <function rpc at 0xff119fc7bba0>
        threading  = <module 'threading' from '.../usr/lib/python3.12/threading.py'>
        time       = <module 'time' (built-in)>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # Copyright 2026 Dimensional Inc.
    #
    # Licensed under the Apache License, Version 2.0 (the "License");
    # you may not use this file except in compliance with the License.
    # You may obtain a copy of the License at
    #
    #     http://www.apache.org/licenses/LICENSE-2.0
    #
    # Unless required by applicable law or agreed to in writing, software
    # distributed under the License is distributed on an "AS IS" BASIS,
    # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    # See the License for the specific language governing permissions and
    # limitations under the License.
    
    from __future__ import annotations
    
    from typing import ClassVar, Literal, TypeAlias, cast
    
>   from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

ClassVar   = typing.ClassVar
Literal    = typing.Literal
TypeAlias  = typing.TypeAlias
__annotations__ = {}
__builtins__ = <builtins>
__cached__ = '.../imitation_msgs/__pycache__/EpisodeStatus.cpython-312.pyc'
__doc__    = None
__file__   = '.../msgs/imitation_msgs/EpisodeStatus.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10abfc2630>
__name__   = 'dimos.msgs.imitation_msgs.EpisodeStatus'
__package__ = 'dimos.msgs.imitation_msgs'
__spec__   = ModuleSpec(name='dimos.msgs.imitation_msgs.EpisodeStatus', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff10abfc2630>, origin='.../msgs/imitation_msgs/EpisodeStatus.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
cast       = <function cast at 0xff11aa11a8e0>

.../msgs/imitation_msgs/EpisodeStatus.py:19: ModuleNotFoundError

dimos.robot.test_all_blueprints::test_blueprint_is_valid[keyboard-teleop-openyam-planner]

Stack Traces | 0.003s run time

blueprint_name = 'keyboard-teleop-openyam-planner'

    @pytest.mark.parametrize("blueprint_name", UBUNTU_BLUEPRINTS)
    def test_blueprint_is_valid(blueprint_name: str) -> None:
        """Validate blueprints that should import on the ubuntu-latest runner."""
>       _check_blueprint(blueprint_name)

blueprint_name = 'keyboard-teleop-openyam-planner'

dimos/robot/test_all_blueprints.py:107: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/test_all_blueprints.py:83: in _check_blueprint
    blueprint = get_blueprint_by_name(blueprint_name)
        blueprint_name = 'keyboard-teleop-openyam-planner'
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'keyboard_teleop_openyam_planner'
        module_path = 'dimos.robot.manipulators.openyam.blueprints.teleop'
        name       = 'keyboard-teleop-openyam-planner'
.../openyam/blueprints/teleop.py:44: in <module>
    from dimos.teleop.quest.quest_extensions import ArmTeleopModule
        ArmTwistCoordinator = <class 'dimos.robot.manipulators.common.coordinators.ArmTwistCoordinator'>
        EEF_TWIST_TASK_NAME = 'eef_twist_arm'
        KeyboardTeleopModule = <class 'dimos.teleop.keyboard.keyboard_teleop_module.KeyboardTeleopModule'>
        ManipulationModule = <class 'dimos.manipulation.manipulation_module.ManipulationModule'>
        OPENYAM_ARM_JOINTS = ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_joint5', 'yam_joint6']
        OPENYAM_GRIPPER_JOINT = 'arm/gripper'
        OPENYAM_HARDWARE_ID = 'openyam'
        OPENYAM_JOINTS = ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_joint5', 'yam_joint6', ...]
        OpenYamPinkPoseTargetSolver = <class 'dimos.robot.manipulators.openyam.teleop_ik.OpenYamPinkPoseTargetSolver'>
        PinkKinematicsConfig = <class 'dimos.manipulation.planning.kinematics.config.PinkKinematicsConfig'>
        TaskConfig = <class 'dimos.control.coordinator.TaskConfig'>
        TeleopControlCoordinator = <class 'dimos.control.teleop_coordinator.TeleopControlCoordinator'>
        __builtins__ = <builtins>
        __cached__ = '.../blueprints/__pycache__/teleop.cpython-312.pyc'
        __doc__    = 'OpenYAM keyboard and Quest teleop blueprints.'
        __file__   = '.../work/dimos/dimos/.../openyam/blueprints/teleop.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff6872e23350>
        __name__   = 'dimos.robot.manipulators.openyam.blueprints.teleop'
        __package__ = 'dimos.robot.manipulators.openyam.blueprints'
        __spec__   = ModuleSpec(name='dimos.robot.manipulators.openyam.blueprints.teleop', loader=<_frozen_importlib_external.SourceFileLoa...bject at 0xff6872e23350>, origin='.../work/dimos/dimos/.../openyam/blueprints/teleop.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xff6951ce3600>
        coordinator = <function coordinator at 0xff6884392980>
        joint_trajectory_task = <function joint_trajectory_task at 0xff6912f12de0>
        make_openyam_model_config = <function make_openyam_model_config at 0xff68ecd46660>
        openyam_hardware = <function openyam_hardware at 0xff68ecd465c0>
        planner    = <function planner at 0xff6884392a20>
        teleop_ik_task = <function teleop_ik_task at 0xff68843928e0>
.../teleop/quest/quest_extensions.py:38: in <module>
    from dimos.teleop.quest.quest_teleop_module import QuestTeleopConfig, QuestTeleopModule
        Any        = typing.Any
        Float32    = <class 'dimos.msgs.std_msgs.Float32.Float32'>
        Image      = <class 'dimos.msgs.sensor_msgs.Image.Image'>
        In         = <class 'dimos.core.stream.In'>
        Out        = <class 'dimos.core.stream.Out'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        Twist      = <class 'dimos.msgs.geometry_msgs.Twist.Twist'>
        TwistStamped = <class 'dimos.msgs.geometry_msgs.TwistStamped.TwistStamped'>
        Vector3    = <class 'dimos.msgs.geometry_msgs.Vector3.Vector3'>
        WebSocket  = <class 'starlette.websockets.WebSocket'>
        __builtins__ = <builtins>
        __cached__ = '.../quest/__pycache__/quest_extensions.cpython-312.pyc'
        __doc__    = 'Quest teleop module extensions and subclasses.\n\nAvailable subclasses:\n    - ArmTeleopModule: Raw arm poses with mi...rames pushed to the Quest over /ws\n    - Go2TeleopModule: Thumbstick → Twist velocity for the Go2 + camera over /ws\n'
        __file__   = '.../work/dimos/dimos/.../teleop/quest/quest_extensions.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff6872e23560>
        __name__   = 'dimos.teleop.quest.quest_extensions'
        __package__ = 'dimos.teleop.quest'
        __spec__   = ModuleSpec(name='dimos.teleop.quest.quest_extensions', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff6872e23560>, origin='.../work/dimos/dimos/.../teleop/quest/quest_extensions.py')
        asyncio    = <module 'asyncio' from '............/usr/lib/python3.12/asyncio/__init__.py'>
        rpc        = <function rpc at 0xff6962f7fba0>
.../teleop/quest/quest_teleop_module.py:46: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
        Any        = typing.Any
        DIMOS_PROJECT_ROOT = PosixPath('.../work/dimos/dimos')
        Disposable = <class 'reactivex.disposable.disposable.Disposable'>
        Field      = <function Field at 0xff696380b2e0>
        HTMLResponse = <class 'starlette.responses.HTMLResponse'>
        In         = <class 'dimos.core.stream.In'>
        LCMJoy     = <class 'dimos_lcm.sensor_msgs.Joy.Joy'>
        LCMPoseStamped = <class 'dimos_lcm.geometry_msgs.PoseStamped.PoseStamped'>
        Module     = <class 'dimos.core.module.Module'>
        ModuleConfig = <class 'dimos.core.module.ModuleConfig'>
        Out        = <class 'dimos.core.stream.Out'>
        Path       = <class 'pathlib.Path'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        StaticFiles = <class 'starlette.staticfiles.StaticFiles'>
        TypeVar    = <class 'typing.TypeVar'>
        WebSocket  = <class 'starlette.websockets.WebSocket'>
        WebSocketDisconnect = <class 'starlette.websockets.WebSocketDisconnect'>
        __builtins__ = <builtins>
        __cached__ = '.../work/dimos/dimos/dimos/teleop/quest/__pycache__/quest_teleop_module.cpython-312.pyc'
        __doc__    = '\nQuest Teleoperation Module.\n\nReceives VR controller tracking data from the Quest web app via an embedded\nFastAPI WebSocket server.  Transforms from WebXR to robot frame, computes\ndeltas, and publishes PoseStamped commands.\n'
        __file__   = '.../work/dimos/dimos/.../teleop/quest/quest_teleop_module.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff6872e23cb0>
        __name__   = 'dimos.teleop.quest.quest_teleop_module'
        __package__ = 'dimos.teleop.quest'
        __spec__   = ModuleSpec(name='dimos.teleop.quest.quest_teleop_module', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff6872e23cb0>, origin='.../work/dimos/dimos/.../teleop/quest/quest_teleop_module.py')
        asyncio    = <module 'asyncio' from '............/usr/lib/python3.12/asyncio/__init__.py'>
        dataclass  = <function dataclass at 0xff696ccfe660>
        json       = <module 'json' from '............/usr/lib/python3.12/json/__init__.py'>
        math       = <module 'math' (built-in)>
        rpc        = <function rpc at 0xff6962f7fba0>
        threading  = <module 'threading' from '............/usr/lib/python3.12/threading.py'>
        time       = <module 'time' (built-in)>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # Copyright 2026 Dimensional Inc.
    #
    # Licensed under the Apache License, Version 2.0 (the "License");
    # you may not use this file except in compliance with the License.
    # You may obtain a copy of the License at
    #
    #     http://www.apache.org/licenses/LICENSE-2.0
    #
    # Unless required by applicable law or agreed to in writing, software
    # distributed under the License is distributed on an "AS IS" BASIS,
    # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    # See the License for the specific language governing permissions and
    # limitations under the License.
    
    from __future__ import annotations
    
    from typing import ClassVar, Literal, TypeAlias, cast
    
>   from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

ClassVar   = typing.ClassVar
Literal    = typing.Literal
TypeAlias  = typing.TypeAlias
__annotations__ = {}
__builtins__ = <builtins>
__cached__ = '.../work/dimos/dimos/dimos/msgs/imitation_msgs/__pycache__/EpisodeStatus.cpython-312.pyc'
__doc__    = None
__file__   = '.../work/dimos/dimos/.../msgs/imitation_msgs/EpisodeStatus.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff6872e54560>
__name__   = 'dimos.msgs.imitation_msgs.EpisodeStatus'
__package__ = 'dimos.msgs.imitation_msgs'
__spec__   = ModuleSpec(name='dimos.msgs.imitation_msgs.EpisodeStatus', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff6872e54560>, origin='.../work/dimos/dimos/.../msgs/imitation_msgs/EpisodeStatus.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
cast       = <function cast at 0xff696d43e8e0>

.../msgs/imitation_msgs/EpisodeStatus.py:19: ModuleNotFoundError

dimos.robot.test_all_blueprints::test_blueprint_is_valid[learning-collect-quest-piper]

Stack Traces | 0.003s run time

blueprint_name = 'learning-collect-quest-piper'

    @pytest.mark.parametrize("blueprint_name", UBUNTU_BLUEPRINTS)
    def test_blueprint_is_valid(blueprint_name: str) -> None:
        """Validate blueprints that should import on the ubuntu-latest runner."""
>       _check_blueprint(blueprint_name)

blueprint_name = 'learning-collect-quest-piper'

dimos/robot/test_all_blueprints.py:107: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/test_all_blueprints.py:83: in _check_blueprint
    blueprint = get_blueprint_by_name(blueprint_name)
        blueprint_name = 'learning-collect-quest-piper'
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'learning_collect_quest_piper'
        module_path = 'dimos.imitation.collection.blueprint'
        name       = 'learning-collect-quest-piper'
.../imitation/collection/blueprint.py:30: in <module>
    from dimos.imitation.collection.episode_monitor import EpisodeMonitorModule
        Blueprint  = <class 'dimos.core.coordination.blueprints.Blueprint'>
        RECORDINGS_DIR = PosixPath('.../dimos/dimos/recordings')
        RealSenseCamera = <class 'dimos.hardware.sensors.camera.realsense.camera.RealSenseCamera'>
        __builtins__ = <builtins>
        __cached__ = '.../collection/__pycache__/blueprint.cpython-312.pyc'
        __doc__    = 'Recording blueprints.\n\n`CollectionRecorder` (a memory Recorder) captures the obs/action/status\nstreams to a SQLite session DB during the run and flushes it durably on\nshutdown. DataPrep reads that DB afterwards.\n'
        __file__   = '/home/runner/work/dimos/dimos/.../imitation/collection/blueprint.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff6872e55a90>
        __name__   = 'dimos.imitation.collection.blueprint'
        __package__ = 'dimos.imitation.collection'
        __spec__   = ModuleSpec(name='dimos.imitation.collection.blueprint', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff6872e55a90>, origin='/home/runner/work/dimos/dimos/.../imitation/collection/blueprint.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xff6951ce3600>
        datetime   = <class 'datetime.datetime'>
        global_config = GlobalConfig(robot_ip=None, robot_ips=None, unitree_aes_128_key=None, xarm7_ip=None, xarm6_ip=None, can_port=None, dev...load_retries=2, dimos_upload_chunk_mb=None, dimos_upload_quiet_s=30.0, dimos_http_timeout=60.0, dimos_staging_dir=None)
.../imitation/collection/episode_monitor.py:36: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import (
        Any        = typing.Any
        Disposable = <class 'reactivex.disposable.disposable.Disposable'>
        DisposableBase = <class 'reactivex.abc.disposable.DisposableBase'>
        Field      = <function Field at 0xff696380b2e0>
        In         = <class 'dimos.core.stream.In'>
        Literal    = typing.Literal
        Module     = <class 'dimos.core.module.Module'>
        ModuleConfig = <class 'dimos.core.module.ModuleConfig'>
        Out        = <class 'dimos.core.stream.Out'>
        TypeAlias  = typing.TypeAlias
        __annotations__ = {}
        __builtins__ = <builtins>
        __cached__ = '.../collection/__pycache__/episode_monitor.cpython-312.pyc'
        __doc__    = 'Single point of operator-input → EpisodeStatus translation.\n\nWatches Quest buttons and accepts RPC commands, runs t...t stream into session.db; DataPrep reads only\nthe recorded EpisodeStatus events offline — never raw operator input.\n'
        __file__   = '/home/runner/work/dimos/dimos/.../imitation/collection/episode_monitor.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff6872e55850>
        __name__   = 'dimos.imitation.collection.episode_monitor'
        __package__ = 'dimos.imitation.collection'
        __spec__   = ModuleSpec(name='dimos.imitation.collection.episode_monitor', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff6872e55850>, origin='/home/runner/work/dimos/dimos/.../imitation/collection/episode_monitor.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        field_validator = <function field_validator at 0xff6963917f60>
        rpc        = <function rpc at 0xff6962f7fba0>
        threading  = <module 'threading' from '.../usr/lib/python3.12/threading.py'>
        time       = <module 'time' (built-in)>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # Copyright 2026 Dimensional Inc.
    #
    # Licensed under the Apache License, Version 2.0 (the "License");
    # you may not use this file except in compliance with the License.
    # You may obtain a copy of the License at
    #
    #     http://www.apache.org/licenses/LICENSE-2.0
    #
    # Unless required by applicable law or agreed to in writing, software
    # distributed under the License is distributed on an "AS IS" BASIS,
    # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    # See the License for the specific language governing permissions and
    # limitations under the License.
    
    from __future__ import annotations
    
    from typing import ClassVar, Literal, TypeAlias, cast
    
>   from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

ClassVar   = typing.ClassVar
Literal    = typing.Literal
TypeAlias  = typing.TypeAlias
__annotations__ = {}
__builtins__ = <builtins>
__cached__ = '.../imitation_msgs/__pycache__/EpisodeStatus.cpython-312.pyc'
__doc__    = None
__file__   = '.../msgs/imitation_msgs/EpisodeStatus.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff6872e55be0>
__name__   = 'dimos.msgs.imitation_msgs.EpisodeStatus'
__package__ = 'dimos.msgs.imitation_msgs'
__spec__   = ModuleSpec(name='dimos.msgs.imitation_msgs.EpisodeStatus', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff6872e55be0>, origin='.../msgs/imitation_msgs/EpisodeStatus.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
cast       = <function cast at 0xff696d43e8e0>

.../msgs/imitation_msgs/EpisodeStatus.py:19: ModuleNotFoundError

dimos.robot.test_all_blueprints::test_blueprint_is_valid[teleop-quest-a1z]

Stack Traces | 0.003s run time

blueprint_name = 'teleop-quest-a1z'

    @pytest.mark.parametrize("blueprint_name", UBUNTU_BLUEPRINTS)
    def test_blueprint_is_valid(blueprint_name: str) -> None:
        """Validate blueprints that should import on the ubuntu-latest runner."""
>       _check_blueprint(blueprint_name)

blueprint_name = 'teleop-quest-a1z'

dimos/robot/test_all_blueprints.py:107: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/test_all_blueprints.py:83: in _check_blueprint
    blueprint = get_blueprint_by_name(blueprint_name)
        blueprint_name = 'teleop-quest-a1z'
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'teleop_quest_a1z'
        module_path = 'dimos.teleop.quest.blueprints'
        name       = 'teleop-quest-a1z'
.../teleop/quest/blueprints.py:36: in <module>
    from dimos.teleop.quest.quest_extensions import (
        DEFAULT_CAPACITY_COLOR_IMAGE = 6224896
        GO2Connection = <class 'dimos.robot.unitree.go2.connection.GO2Connection'>
        Image      = <class 'dimos.msgs.sensor_msgs.Image.Image'>
        LCMTransport = <class 'dimos.core.transport.LCMTransport'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        Twist      = <class 'dimos.msgs.geometry_msgs.Twist.Twist'>
        __builtins__ = <builtins>
        __cached__ = '.../quest/__pycache__/blueprints.cpython-312.pyc'
        __doc__    = 'Teleop blueprints for testing and deployment.\n\nSingle sim/real blueprints — pass `--simulation` to run inside MuJoCo, omit for real\nhardware. The underlying coordinator blueprints branch on `global_config.simulation`.\n'
        __file__   = '.../work/dimos/dimos/.../teleop/quest/blueprints.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff687315b9b0>
        __name__   = 'dimos.teleop.quest.blueprints'
        __package__ = 'dimos.teleop.quest'
        __spec__   = ModuleSpec(name='dimos.teleop.quest.blueprints', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff687315b9b0>, origin='.../work/dimos/dimos/.../teleop/quest/blueprints.py')
        autoconnect = <function autoconnect at 0xff6951ce3600>
        coordinator_teleop_a1z = Blueprint(blueprints=(BlueprintAtom(kwargs={'instance_name': 'ControlCoordinator', 'hardware': [HardwareComponent(hard...lobal_config_overrides=mappingproxy({}), remapping_map=mappingproxy({}), requirement_checks=(), configurator_checks=())
        coordinator_teleop_dual = <[FileNotFoundError("Test file 'piper_description' not found at .../dimos/data/.lfs/piper_descript...e the file is committed to Git LFS in the tests/data directory.") raised in repr()] Blueprint object at 0xff6875b27530>
        coordinator_teleop_piper = <[FileNotFoundError("Test file 'piper_description' not found at .../dimos/data/.lfs/piper_descript...e the file is committed to Git LFS in the tests/data directory.") raised in repr()] Blueprint object at 0xff6875b2ab40>
        coordinator_teleop_xarm6 = Blueprint(blueprints=(BlueprintAtom(kwargs={'hardware': [HardwareComponent(hardware_id='arm', hardware_type=<HardwareT...lobal_config_overrides=mappingproxy({}), remapping_map=mappingproxy({}), requirement_checks=(), configurator_checks=())
        coordinator_teleop_xarm7 = Blueprint(blueprints=(BlueprintAtom(kwargs={'instance_name': 'ControlCoordinator', 'hardware': [HardwareComponent(hard...lobal_config_overrides=mappingproxy({}), remapping_map=mappingproxy({}), requirement_checks=(), configurator_checks=())
        pSHMTransport = <class 'dimos.core.transport.pSHMTransport'>
.../teleop/quest/quest_extensions.py:38: in <module>
    from dimos.teleop.quest.quest_teleop_module import QuestTeleopConfig, QuestTeleopModule
        Any        = typing.Any
        Float32    = <class 'dimos.msgs.std_msgs.Float32.Float32'>
        Image      = <class 'dimos.msgs.sensor_msgs.Image.Image'>
        In         = <class 'dimos.core.stream.In'>
        Out        = <class 'dimos.core.stream.Out'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        Twist      = <class 'dimos.msgs.geometry_msgs.Twist.Twist'>
        TwistStamped = <class 'dimos.msgs.geometry_msgs.TwistStamped.TwistStamped'>
        Vector3    = <class 'dimos.msgs.geometry_msgs.Vector3.Vector3'>
        WebSocket  = <class 'starlette.websockets.WebSocket'>
        __builtins__ = <builtins>
        __cached__ = '.../quest/__pycache__/quest_extensions.cpython-312.pyc'
        __doc__    = 'Quest teleop module extensions and subclasses.\n\nAvailable subclasses:\n    - ArmTeleopModule: Raw arm poses with mi...rames pushed to the Quest over /ws\n    - Go2TeleopModule: Thumbstick → Twist velocity for the Go2 + camera over /ws\n'
        __file__   = '.../work/dimos/dimos/.../teleop/quest/quest_extensions.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff687315bb90>
        __name__   = 'dimos.teleop.quest.quest_extensions'
        __package__ = 'dimos.teleop.quest'
        __spec__   = ModuleSpec(name='dimos.teleop.quest.quest_extensions', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff687315bb90>, origin='.../work/dimos/dimos/.../teleop/quest/quest_extensions.py')
        asyncio    = <module 'asyncio' from '............/usr/lib/python3.12/asyncio/__init__.py'>
        rpc        = <function rpc at 0xff6962f7fba0>
.../teleop/quest/quest_teleop_module.py:46: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
        Any        = typing.Any
        DIMOS_PROJECT_ROOT = PosixPath('.../work/dimos/dimos')
        Disposable = <class 'reactivex.disposable.disposable.Disposable'>
        Field      = <function Field at 0xff696380b2e0>
        HTMLResponse = <class 'starlette.responses.HTMLResponse'>
        In         = <class 'dimos.core.stream.In'>
        LCMJoy     = <class 'dimos_lcm.sensor_msgs.Joy.Joy'>
        LCMPoseStamped = <class 'dimos_lcm.geometry_msgs.PoseStamped.PoseStamped'>
        Module     = <class 'dimos.core.module.Module'>
        ModuleConfig = <class 'dimos.core.module.ModuleConfig'>
        Out        = <class 'dimos.core.stream.Out'>
        Path       = <class 'pathlib.Path'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        StaticFiles = <class 'starlette.staticfiles.StaticFiles'>
        TypeVar    = <class 'typing.TypeVar'>
        WebSocket  = <class 'starlette.websockets.WebSocket'>
        WebSocketDisconnect = <class 'starlette.websockets.WebSocketDisconnect'>
        __builtins__ = <builtins>
        __cached__ = '.../work/dimos/dimos/dimos/teleop/quest/__pycache__/quest_teleop_module.cpython-312.pyc'
        __doc__    = '\nQuest Teleoperation Module.\n\nReceives VR controller tracking data from the Quest web app via an embedded\nFastAPI WebSocket server.  Transforms from WebXR to robot frame, computes\ndeltas, and publishes PoseStamped commands.\n'
        __file__   = '.../work/dimos/dimos/.../teleop/quest/quest_teleop_module.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff687315b5c0>
        __name__   = 'dimos.teleop.quest.quest_teleop_module'
        __package__ = 'dimos.teleop.quest'
        __spec__   = ModuleSpec(name='dimos.teleop.quest.quest_teleop_module', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff687315b5c0>, origin='.../work/dimos/dimos/.../teleop/quest/quest_teleop_module.py')
        asyncio    = <module 'asyncio' from '............/usr/lib/python3.12/asyncio/__init__.py'>
        dataclass  = <function dataclass at 0xff696ccfe660>
        json       = <module 'json' from '............/usr/lib/python3.12/json/__init__.py'>
        math       = <module 'math' (built-in)>
        rpc        = <function rpc at 0xff6962f7fba0>
        threading  = <module 'threading' from '............/usr/lib/python3.12/threading.py'>
        time       = <module 'time' (built-in)>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # Copyright 2026 Dimensional Inc.
    #
    # Licensed under the Apache License, Version 2.0 (the "License");
    # you may not use this file except in compliance with the License.
    # You may obtain a copy of the License at
    #
    #     http://www.apache.org/licenses/LICENSE-2.0
    #
    # Unless required by applicable law or agreed to in writing, software
    # distributed under the License is distributed on an "AS IS" BASIS,
    # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    # See the License for the specific language governing permissions and
    # limitations under the License.
    
    from __future__ import annotations
    
    from typing import ClassVar, Literal, TypeAlias, cast
    
>   from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

ClassVar   = typing.ClassVar
Literal    = typing.Literal
TypeAlias  = typing.TypeAlias
__annotations__ = {}
__builtins__ = <builtins>
__cached__ = '.../work/dimos/dimos/dimos/msgs/imitation_msgs/__pycache__/EpisodeStatus.cpython-312.pyc'
__doc__    = None
__file__   = '.../work/dimos/dimos/.../msgs/imitation_msgs/EpisodeStatus.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff68731bc950>
__name__   = 'dimos.msgs.imitation_msgs.EpisodeStatus'
__package__ = 'dimos.msgs.imitation_msgs'
__spec__   = ModuleSpec(name='dimos.msgs.imitation_msgs.EpisodeStatus', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff68731bc950>, origin='.../work/dimos/dimos/.../msgs/imitation_msgs/EpisodeStatus.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
cast       = <function cast at 0xff696d43e8e0>

.../msgs/imitation_msgs/EpisodeStatus.py:19: ModuleNotFoundError

dimos.robot.test_all_blueprints::test_blueprint_is_valid[unitree-g1-teleop]

Stack Traces | 0.003s run time

blueprint_name = 'unitree-g1-teleop'

    @pytest.mark.parametrize("blueprint_name", UBUNTU_BLUEPRINTS)
    def test_blueprint_is_valid(blueprint_name: str) -> None:
        """Validate blueprints that should import on the ubuntu-latest runner."""
>       _check_blueprint(blueprint_name)

blueprint_name = 'unitree-g1-teleop'

dimos/robot/test_all_blueprints.py:107: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/test_all_blueprints.py:83: in _check_blueprint
    blueprint = get_blueprint_by_name(blueprint_name)
        blueprint_name = 'unitree-g1-teleop'
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'unitree_g1_teleop'
        module_path = 'dimos.robot.unitree.g1.blueprints.basic.unitree_g1_teleop'
        name       = 'unitree-g1-teleop'
.../blueprints/basic/unitree_g1_teleop.py:57: in <module>
    from dimos.imitation.collection.episode_monitor import EpisodeMonitorModule
        Blueprint  = <class 'dimos.core.coordination.blueprints.Blueprint'>
        DEFAULT_CAPACITY_COLOR_IMAGE = 6224896
        In         = <class 'dimos.core.stream.In'>
        STATE_DIR  = PosixPath('.../tmp/dimos-test-state-gw2-5ey7xxgd/dimos')
        __builtins__ = <builtins>
        __cached__ = '.../basic/__pycache__/unitree_g1_teleop.cpython-312.pyc'
        __doc__    = 'Unitree G1 GR00T WBC + Quest teleop + manipulation + recording.\n\nThe GR00T locomotion/control core (without navigat...o --scene-package office run unitree-g1-teleop\n    dimos run unitree-g1-teleop                      # real hardware\n'
        __file__   = '/home/runner/work/dimos/dimos/.../blueprints/basic/unitree_g1_teleop.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff6873401a00>
        __name__   = 'dimos.robot.unitree.g1.blueprints.basic.unitree_g1_teleop'
        __package__ = 'dimos.robot.unitree.g1.blueprints.basic'
        __spec__   = ModuleSpec(name='dimos.robot.unitree.g1.blueprints.basic.unitree_g1_teleop', loader=<_frozen_importlib_external.Source...t 0xff6873401a00>, origin='/home/runner/work/dimos/dimos/.../blueprints/basic/unitree_g1_teleop.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xff6951ce3600>
        datetime   = <class 'datetime.datetime'>
        global_config = GlobalConfig(robot_ip=None, robot_ips=None, unitree_aes_128_key=None, xarm7_ip=None, xarm6_ip=None, can_port=None, dev...load_retries=2, dimos_upload_chunk_mb=None, dimos_upload_quiet_s=30.0, dimos_http_timeout=60.0, dimos_staging_dir=None)
        pSHMTransport = <class 'dimos.core.transport.pSHMTransport'>
.../imitation/collection/episode_monitor.py:36: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import (
        Any        = typing.Any
        Disposable = <class 'reactivex.disposable.disposable.Disposable'>
        DisposableBase = <class 'reactivex.abc.disposable.DisposableBase'>
        Field      = <function Field at 0xff696380b2e0>
        In         = <class 'dimos.core.stream.In'>
        Literal    = typing.Literal
        Module     = <class 'dimos.core.module.Module'>
        ModuleConfig = <class 'dimos.core.module.ModuleConfig'>
        Out        = <class 'dimos.core.stream.Out'>
        TypeAlias  = typing.TypeAlias
        __annotations__ = {}
        __builtins__ = <builtins>
        __cached__ = '.../collection/__pycache__/episode_monitor.cpython-312.pyc'
        __doc__    = 'Single point of operator-input → EpisodeStatus translation.\n\nWatches Quest buttons and accepts RPC commands, runs t...t stream into session.db; DataPrep reads only\nthe recorded EpisodeStatus events offline — never raw operator input.\n'
        __file__   = '/home/runner/work/dimos/dimos/.../imitation/collection/episode_monitor.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff6873401a30>
        __name__   = 'dimos.imitation.collection.episode_monitor'
        __package__ = 'dimos.imitation.collection'
        __spec__   = ModuleSpec(name='dimos.imitation.collection.episode_monitor', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff6873401a30>, origin='/home/runner/work/dimos/dimos/.../imitation/collection/episode_monitor.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        field_validator = <function field_validator at 0xff6963917f60>
        rpc        = <function rpc at 0xff6962f7fba0>
        threading  = <module 'threading' from '.../usr/lib/python3.12/threading.py'>
        time       = <module 'time' (built-in)>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # Copyright 2026 Dimensional Inc.
    #
    # Licensed under the Apache License, Version 2.0 (the "License");
    # you may not use this file except in compliance with the License.
    # You may obtain a copy of the License at
    #
    #     http://www.apache.org/licenses/LICENSE-2.0
    #
    # Unless required by applicable law or agreed to in writing, software
    # distributed under the License is distributed on an "AS IS" BASIS,
    # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    # See the License for the specific language governing permissions and
    # limitations under the License.
    
    from __future__ import annotations
    
    from typing import ClassVar, Literal, TypeAlias, cast
    
>   from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

ClassVar   = typing.ClassVar
Literal    = typing.Literal
TypeAlias  = typing.TypeAlias
__annotations__ = {}
__builtins__ = <builtins>
__cached__ = '.../imitation_msgs/__pycache__/EpisodeStatus.cpython-312.pyc'
__doc__    = None
__file__   = '.../msgs/imitation_msgs/EpisodeStatus.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff696d5851c0>
__name__   = 'dimos.msgs.imitation_msgs.EpisodeStatus'
__package__ = 'dimos.msgs.imitation_msgs'
__spec__   = ModuleSpec(name='dimos.msgs.imitation_msgs.EpisodeStatus', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff696d5851c0>, origin='.../msgs/imitation_msgs/EpisodeStatus.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
cast       = <function cast at 0xff696d43e8e0>

.../msgs/imitation_msgs/EpisodeStatus.py:19: ModuleNotFoundError

dimos.codebase_checks.test_blueprint_kwargs::test_blueprint_atom_kwargs_match_module_config[keyboard-teleop-openyam-planner]

Stack Traces | 0.004s run time

blueprint_name = 'keyboard-teleop-openyam-planner'

    @pytest.mark.parametrize("blueprint_name", _blueprint_params())
    def test_blueprint_atom_kwargs_match_module_config(blueprint_name: str) -> None:
        """Fail when blueprint kwargs cannot be consumed by their target module."""
>       blueprint = _get_blueprint_or_skip(blueprint_name)

blueprint_name = 'keyboard-teleop-openyam-planner'

dimos/codebase_checks/test_blueprint_kwargs.py:91: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/codebase_checks/test_blueprint_kwargs.py:36: in _get_blueprint_or_skip
    return get_blueprint_by_name(blueprint_name)
        blueprint_name = 'keyboard-teleop-openyam-planner'
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'keyboard_teleop_openyam_planner'
        module_path = 'dimos.robot.manipulators.openyam.blueprints.teleop'
        name       = 'keyboard-teleop-openyam-planner'
.../openyam/blueprints/teleop.py:44: in <module>
    from dimos.teleop.quest.quest_extensions import ArmTeleopModule
        ArmTwistCoordinator = <class 'dimos.robot.manipulators.common.coordinators.ArmTwistCoordinator'>
        EEF_TWIST_TASK_NAME = 'eef_twist_arm'
        KeyboardTeleopModule = <class 'dimos.teleop.keyboard.keyboard_teleop_module.KeyboardTeleopModule'>
        ManipulationModule = <class 'dimos.manipulation.manipulation_module.ManipulationModule'>
        OPENYAM_ARM_JOINTS = ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_joint5', 'yam_joint6']
        OPENYAM_GRIPPER_JOINT = 'arm/gripper'
        OPENYAM_HARDWARE_ID = 'openyam'
        OPENYAM_JOINTS = ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_joint5', 'yam_joint6', ...]
        OpenYamPinkPoseTargetSolver = <class 'dimos.robot.manipulators.openyam.teleop_ik.OpenYamPinkPoseTargetSolver'>
        PinkKinematicsConfig = <class 'dimos.manipulation.planning.kinematics.config.PinkKinematicsConfig'>
        TaskConfig = <class 'dimos.control.coordinator.TaskConfig'>
        TeleopControlCoordinator = <class 'dimos.control.teleop_coordinator.TeleopControlCoordinator'>
        __builtins__ = <builtins>
        __cached__ = '.../blueprints/__pycache__/teleop.cpython-312.pyc'
        __doc__    = 'OpenYAM keyboard and Quest teleop blueprints.'
        __file__   = '.../work/dimos/dimos/.../openyam/blueprints/teleop.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10b0150d70>
        __name__   = 'dimos.robot.manipulators.openyam.blueprints.teleop'
        __package__ = 'dimos.robot.manipulators.openyam.blueprints'
        __spec__   = ModuleSpec(name='dimos.robot.manipulators.openyam.blueprints.teleop', loader=<_frozen_importlib_external.SourceFileLoa...bject at 0xff10b0150d70>, origin='.../work/dimos/dimos/.../openyam/blueprints/teleop.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xff118e9ff600>
        coordinator = <function coordinator at 0xff10b2ba2e80>
        joint_trajectory_task = <function joint_trajectory_task at 0xff114fbf8ea0>
        make_openyam_model_config = <function make_openyam_model_config at 0xff1129a565c0>
        openyam_hardware = <function openyam_hardware at 0xff1129a56520>
        planner    = <function planner at 0xff10b2ba2f20>
        teleop_ik_task = <function teleop_ik_task at 0xff10b2ba2de0>
.../teleop/quest/quest_extensions.py:38: in <module>
    from dimos.teleop.quest.quest_teleop_module import QuestTeleopConfig, QuestTeleopModule
        Any        = typing.Any
        Float32    = <class 'dimos.msgs.std_msgs.Float32.Float32'>
        Image      = <class 'dimos.msgs.sensor_msgs.Image.Image'>
        In         = <class 'dimos.core.stream.In'>
        Out        = <class 'dimos.core.stream.Out'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        Twist      = <class 'dimos.msgs.geometry_msgs.Twist.Twist'>
        TwistStamped = <class 'dimos.msgs.geometry_msgs.TwistStamped.TwistStamped'>
        Vector3    = <class 'dimos.msgs.geometry_msgs.Vector3.Vector3'>
        WebSocket  = <class 'starlette.websockets.WebSocket'>
        __builtins__ = <builtins>
        __cached__ = '.../quest/__pycache__/quest_extensions.cpython-312.pyc'
        __doc__    = 'Quest teleop module extensions and subclasses.\n\nAvailable subclasses:\n    - ArmTeleopModule: Raw arm poses with mi...rames pushed to the Quest over /ws\n    - Go2TeleopModule: Thumbstick → Twist velocity for the Go2 + camera over /ws\n'
        __file__   = '.../work/dimos/dimos/.../teleop/quest/quest_extensions.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10b0150f80>
        __name__   = 'dimos.teleop.quest.quest_extensions'
        __package__ = 'dimos.teleop.quest'
        __spec__   = ModuleSpec(name='dimos.teleop.quest.quest_extensions', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff10b0150f80>, origin='.../work/dimos/dimos/.../teleop/quest/quest_extensions.py')
        asyncio    = <module 'asyncio' from '............/usr/lib/python3.12/asyncio/__init__.py'>
        rpc        = <function rpc at 0xff119fc7bba0>
.../teleop/quest/quest_teleop_module.py:46: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
        Any        = typing.Any
        DIMOS_PROJECT_ROOT = PosixPath('.../work/dimos/dimos')
        Disposable = <class 'reactivex.disposable.disposable.Disposable'>
        Field      = <function Field at 0xff11a05072e0>
        HTMLResponse = <class 'starlette.responses.HTMLResponse'>
        In         = <class 'dimos.core.stream.In'>
        LCMJoy     = <class 'dimos_lcm.sensor_msgs.Joy.Joy'>
        LCMPoseStamped = <class 'dimos_lcm.geometry_msgs.PoseStamped.PoseStamped'>
        Module     = <class 'dimos.core.module.Module'>
        ModuleConfig = <class 'dimos.core.module.ModuleConfig'>
        Out        = <class 'dimos.core.stream.Out'>
        Path       = <class 'pathlib.Path'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        StaticFiles = <class 'starlette.staticfiles.StaticFiles'>
        TypeVar    = <class 'typing.TypeVar'>
        WebSocket  = <class 'starlette.websockets.WebSocket'>
        WebSocketDisconnect = <class 'starlette.websockets.WebSocketDisconnect'>
        __builtins__ = <builtins>
        __cached__ = '.../work/dimos/dimos/dimos/teleop/quest/__pycache__/quest_teleop_module.cpython-312.pyc'
        __doc__    = '\nQuest Teleoperation Module.\n\nReceives VR controller tracking data from the Quest web app via an embedded\nFastAPI WebSocket server.  Transforms from WebXR to robot frame, computes\ndeltas, and publishes PoseStamped commands.\n'
        __file__   = '.../work/dimos/dimos/.../teleop/quest/quest_teleop_module.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10b01516a0>
        __name__   = 'dimos.teleop.quest.quest_teleop_module'
        __package__ = 'dimos.teleop.quest'
        __spec__   = ModuleSpec(name='dimos.teleop.quest.quest_teleop_module', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff10b01516a0>, origin='.../work/dimos/dimos/.../teleop/quest/quest_teleop_module.py')
        asyncio    = <module 'asyncio' from '............/usr/lib/python3.12/asyncio/__init__.py'>
        dataclass  = <function dataclass at 0xff11a99da660>
        json       = <module 'json' from '............/usr/lib/python3.12/json/__init__.py'>
        math       = <module 'math' (built-in)>
        rpc        = <function rpc at 0xff119fc7bba0>
        threading  = <module 'threading' from '............/usr/lib/python3.12/threading.py'>
        time       = <module 'time' (built-in)>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # Copyright 2026 Dimensional Inc.
    #
    # Licensed under the Apache License, Version 2.0 (the "License");
    # you may not use this file except in compliance with the License.
    # You may obtain a copy of the License at
    #
    #     http://www.apache.org/licenses/LICENSE-2.0
    #
    # Unless required by applicable law or agreed to in writing, software
    # distributed under the License is distributed on an "AS IS" BASIS,
    # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    # See the License for the specific language governing permissions and
    # limitations under the License.
    
    from __future__ import annotations
    
    from typing import ClassVar, Literal, TypeAlias, cast
    
>   from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

ClassVar   = typing.ClassVar
Literal    = typing.Literal
TypeAlias  = typing.TypeAlias
__annotations__ = {}
__builtins__ = <builtins>
__cached__ = '.../work/dimos/dimos/dimos/msgs/imitation_msgs/__pycache__/EpisodeStatus.cpython-312.pyc'
__doc__    = None
__file__   = '.../work/dimos/dimos/.../msgs/imitation_msgs/EpisodeStatus.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10b0152150>
__name__   = 'dimos.msgs.imitation_msgs.EpisodeStatus'
__package__ = 'dimos.msgs.imitation_msgs'
__spec__   = ModuleSpec(name='dimos.msgs.imitation_msgs.EpisodeStatus', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff10b0152150>, origin='.../work/dimos/dimos/.../msgs/imitation_msgs/EpisodeStatus.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
cast       = <function cast at 0xff11aa11a8e0>

.../msgs/imitation_msgs/EpisodeStatus.py:19: ModuleNotFoundError

dimos.codebase_checks.test_blueprint_kwargs::test_blueprint_atom_kwargs_match_module_config[keyboard-teleop-openyam]

Stack Traces | 0.004s run time

blueprint_name = 'keyboard-teleop-openyam'

    @pytest.mark.parametrize("blueprint_name", _blueprint_params())
    def test_blueprint_atom_kwargs_match_module_config(blueprint_name: str) -> None:
        """Fail when blueprint kwargs cannot be consumed by their target module."""
>       blueprint = _get_blueprint_or_skip(blueprint_name)

blueprint_name = 'keyboard-teleop-openyam'

dimos/codebase_checks/test_blueprint_kwargs.py:91: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/codebase_checks/test_blueprint_kwargs.py:36: in _get_blueprint_or_skip
    return get_blueprint_by_name(blueprint_name)
        blueprint_name = 'keyboard-teleop-openyam'
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'keyboard_teleop_openyam'
        module_path = 'dimos.robot.manipulators.openyam.blueprints.teleop'
        name       = 'keyboard-teleop-openyam'
.../openyam/blueprints/teleop.py:44: in <module>
    from dimos.teleop.quest.quest_extensions import ArmTeleopModule
        ArmTwistCoordinator = <class 'dimos.robot.manipulators.common.coordinators.ArmTwistCoordinator'>
        EEF_TWIST_TASK_NAME = 'eef_twist_arm'
        KeyboardTeleopModule = <class 'dimos.teleop.keyboard.keyboard_teleop_module.KeyboardTeleopModule'>
        ManipulationModule = <class 'dimos.manipulation.manipulation_module.ManipulationModule'>
        OPENYAM_ARM_JOINTS = ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_joint5', 'yam_joint6']
        OPENYAM_GRIPPER_JOINT = 'arm/gripper'
        OPENYAM_HARDWARE_ID = 'openyam'
        OPENYAM_JOINTS = ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_joint5', 'yam_joint6', ...]
        OpenYamPinkPoseTargetSolver = <class 'dimos.robot.manipulators.openyam.teleop_ik.OpenYamPinkPoseTargetSolver'>
        PinkKinematicsConfig = <class 'dimos.manipulation.planning.kinematics.config.PinkKinematicsConfig'>
        TaskConfig = <class 'dimos.control.coordinator.TaskConfig'>
        TeleopControlCoordinator = <class 'dimos.control.teleop_coordinator.TeleopControlCoordinator'>
        __builtins__ = <builtins>
        __cached__ = '.../blueprints/__pycache__/teleop.cpython-312.pyc'
        __doc__    = 'OpenYAM keyboard and Quest teleop blueprints.'
        __file__   = '.../work/dimos/dimos/.../openyam/blueprints/teleop.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10b016a180>
        __name__   = 'dimos.robot.manipulators.openyam.blueprints.teleop'
        __package__ = 'dimos.robot.manipulators.openyam.blueprints'
        __spec__   = ModuleSpec(name='dimos.robot.manipulators.openyam.blueprints.teleop', loader=<_frozen_importlib_external.SourceFileLoa...bject at 0xff10b016a180>, origin='.../work/dimos/dimos/.../openyam/blueprints/teleop.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xff118e9ff600>
        coordinator = <function coordinator at 0xff10b2ba2e80>
        joint_trajectory_task = <function joint_trajectory_task at 0xff114fbf8ea0>
        make_openyam_model_config = <function make_openyam_model_config at 0xff1129a565c0>
        openyam_hardware = <function openyam_hardware at 0xff1129a56520>
        planner    = <function planner at 0xff10b2ba2f20>
        teleop_ik_task = <function teleop_ik_task at 0xff10b2ba2de0>
.../teleop/quest/quest_extensions.py:38: in <module>
    from dimos.teleop.quest.quest_teleop_module import QuestTeleopConfig, QuestTeleopModule
        Any        = typing.Any
        Float32    = <class 'dimos.msgs.std_msgs.Float32.Float32'>
        Image      = <class 'dimos.msgs.sensor_msgs.Image.Image'>
        In         = <class 'dimos.core.stream.In'>
        Out        = <class 'dimos.core.stream.Out'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        Twist      = <class 'dimos.msgs.geometry_msgs.Twist.Twist'>
        TwistStamped = <class 'dimos.msgs.geometry_msgs.TwistStamped.TwistStamped'>
        Vector3    = <class 'dimos.msgs.geometry_msgs.Vector3.Vector3'>
        WebSocket  = <class 'starlette.websockets.WebSocket'>
        __builtins__ = <builtins>
        __cached__ = '.../quest/__pycache__/quest_extensions.cpython-312.pyc'
        __doc__    = 'Quest teleop module extensions and subclasses.\n\nAvailable subclasses:\n    - ArmTeleopModule: Raw arm poses with mi...rames pushed to the Quest over /ws\n    - Go2TeleopModule: Thumbstick → Twist velocity for the Go2 + camera over /ws\n'
        __file__   = '.../work/dimos/dimos/.../teleop/quest/quest_extensions.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10b01691f0>
        __name__   = 'dimos.teleop.quest.quest_extensions'
        __package__ = 'dimos.teleop.quest'
        __spec__   = ModuleSpec(name='dimos.teleop.quest.quest_extensions', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff10b01691f0>, origin='.../work/dimos/dimos/.../teleop/quest/quest_extensions.py')
        asyncio    = <module 'asyncio' from '............/usr/lib/python3.12/asyncio/__init__.py'>
        rpc        = <function rpc at 0xff119fc7bba0>
.../teleop/quest/quest_teleop_module.py:46: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
        Any        = typing.Any
        DIMOS_PROJECT_ROOT = PosixPath('.../work/dimos/dimos')
        Disposable = <class 'reactivex.disposable.disposable.Disposable'>
        Field      = <function Field at 0xff11a05072e0>
        HTMLResponse = <class 'starlette.responses.HTMLResponse'>
        In         = <class 'dimos.core.stream.In'>
        LCMJoy     = <class 'dimos_lcm.sensor_msgs.Joy.Joy'>
        LCMPoseStamped = <class 'dimos_lcm.geometry_msgs.PoseStamped.PoseStamped'>
        Module     = <class 'dimos.core.module.Module'>
        ModuleConfig = <class 'dimos.core.module.ModuleConfig'>
        Out        = <class 'dimos.core.stream.Out'>
        Path       = <class 'pathlib.Path'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        StaticFiles = <class 'starlette.staticfiles.StaticFiles'>
        TypeVar    = <class 'typing.TypeVar'>
        WebSocket  = <class 'starlette.websockets.WebSocket'>
        WebSocketDisconnect = <class 'starlette.websockets.WebSocketDisconnect'>
        __builtins__ = <builtins>
        __cached__ = '.../work/dimos/dimos/dimos/teleop/quest/__pycache__/quest_teleop_module.cpython-312.pyc'
        __doc__    = '\nQuest Teleoperation Module.\n\nReceives VR controller tracking data from the Quest web app via an embedded\nFastAPI WebSocket server.  Transforms from WebXR to robot frame, computes\ndeltas, and publishes PoseStamped commands.\n'
        __file__   = '.../work/dimos/dimos/.../teleop/quest/quest_teleop_module.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10b01696d0>
        __name__   = 'dimos.teleop.quest.quest_teleop_module'
        __package__ = 'dimos.teleop.quest'
        __spec__   = ModuleSpec(name='dimos.teleop.quest.quest_teleop_module', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff10b01696d0>, origin='.../work/dimos/dimos/.../teleop/quest/quest_teleop_module.py')
        asyncio    = <module 'asyncio' from '............/usr/lib/python3.12/asyncio/__init__.py'>
        dataclass  = <function dataclass at 0xff11a99da660>
        json       = <module 'json' from '............/usr/lib/python3.12/json/__init__.py'>
        math       = <module 'math' (built-in)>
        rpc        = <function rpc at 0xff119fc7bba0>
        threading  = <module 'threading' from '............/usr/lib/python3.12/threading.py'>
        time       = <module 'time' (built-in)>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # Copyright 2026 Dimensional Inc.
    #
    # Licensed under the Apache License, Version 2.0 (the "License");
    # you may not use this file except in compliance with the License.
    # You may obtain a copy of the License at
    #
    #     http://www.apache.org/licenses/LICENSE-2.0
    #
    # Unless required by applicable law or agreed to in writing, software
    # distributed under the License is distributed on an "AS IS" BASIS,
    # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    # See the License for the specific language governing permissions and
    # limitations under the License.
    
    from __future__ import annotations
    
    from typing import ClassVar, Literal, TypeAlias, cast
    
>   from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

ClassVar   = typing.ClassVar
Literal    = typing.Literal
TypeAlias  = typing.TypeAlias
__annotations__ = {}
__builtins__ = <builtins>
__cached__ = '.../work/dimos/dimos/dimos/msgs/imitation_msgs/__pycache__/EpisodeStatus.cpython-312.pyc'
__doc__    = None
__file__   = '.../work/dimos/dimos/.../msgs/imitation_msgs/EpisodeStatus.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10b016b320>
__name__   = 'dimos.msgs.imitation_msgs.EpisodeStatus'
__package__ = 'dimos.msgs.imitation_msgs'
__spec__   = ModuleSpec(name='dimos.msgs.imitation_msgs.EpisodeStatus', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff10b016b320>, origin='.../work/dimos/dimos/.../msgs/imitation_msgs/EpisodeStatus.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
cast       = <function cast at 0xff11aa11a8e0>

.../msgs/imitation_msgs/EpisodeStatus.py:19: ModuleNotFoundError

dimos.codebase_checks.test_blueprint_kwargs::test_blueprint_atom_kwargs_match_module_config[learning-collect-quest-piper]

Stack Traces | 0.004s run time

blueprint_name = 'learning-collect-quest-piper'

    @pytest.mark.parametrize("blueprint_name", _blueprint_params())
    def test_blueprint_atom_kwargs_match_module_config(blueprint_name: str) -> None:
        """Fail when blueprint kwargs cannot be consumed by their target module."""
>       blueprint = _get_blueprint_or_skip(blueprint_name)

blueprint_name = 'learning-collect-quest-piper'

dimos/codebase_checks/test_blueprint_kwargs.py:91: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/codebase_checks/test_blueprint_kwargs.py:36: in _get_blueprint_or_skip
    return get_blueprint_by_name(blueprint_name)
        blueprint_name = 'learning-collect-quest-piper'
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'learning_collect_quest_piper'
        module_path = 'dimos.imitation.collection.blueprint'
        name       = 'learning-collect-quest-piper'
.../imitation/collection/blueprint.py:30: in <module>
    from dimos.imitation.collection.episode_monitor import EpisodeMonitorModule
        Blueprint  = <class 'dimos.core.coordination.blueprints.Blueprint'>
        RECORDINGS_DIR = PosixPath('.../dimos/dimos/recordings')
        RealSenseCamera = <class 'dimos.hardware.sensors.camera.realsense.camera.RealSenseCamera'>
        __builtins__ = <builtins>
        __cached__ = '.../collection/__pycache__/blueprint.cpython-312.pyc'
        __doc__    = 'Recording blueprints.\n\n`CollectionRecorder` (a memory Recorder) captures the obs/action/status\nstreams to a SQLite session DB during the run and flushes it durably on\nshutdown. DataPrep reads that DB afterwards.\n'
        __file__   = '/home/runner/work/dimos/dimos/.../imitation/collection/blueprint.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10b00ddbe0>
        __name__   = 'dimos.imitation.collection.blueprint'
        __package__ = 'dimos.imitation.collection'
        __spec__   = ModuleSpec(name='dimos.imitation.collection.blueprint', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff10b00ddbe0>, origin='/home/runner/work/dimos/dimos/.../imitation/collection/blueprint.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xff118e9ff600>
        datetime   = <class 'datetime.datetime'>
        global_config = GlobalConfig(robot_ip=None, robot_ips=None, unitree_aes_128_key=None, xarm7_ip=None, xarm6_ip=None, can_port=None, dev...load_retries=2, dimos_upload_chunk_mb=None, dimos_upload_quiet_s=30.0, dimos_http_timeout=60.0, dimos_staging_dir=None)
.../imitation/collection/episode_monitor.py:36: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import (
        Any        = typing.Any
        Disposable = <class 'reactivex.disposable.disposable.Disposable'>
        DisposableBase = <class 'reactivex.abc.disposable.DisposableBase'>
        Field      = <function Field at 0xff11a05072e0>
        In         = <class 'dimos.core.stream.In'>
        Literal    = typing.Literal
        Module     = <class 'dimos.core.module.Module'>
        ModuleConfig = <class 'dimos.core.module.ModuleConfig'>
        Out        = <class 'dimos.core.stream.Out'>
        TypeAlias  = typing.TypeAlias
        __annotations__ = {}
        __builtins__ = <builtins>
        __cached__ = '.../collection/__pycache__/episode_monitor.cpython-312.pyc'
        __doc__    = 'Single point of operator-input → EpisodeStatus translation.\n\nWatches Quest buttons and accepts RPC commands, runs t...t stream into session.db; DataPrep reads only\nthe recorded EpisodeStatus events offline — never raw operator input.\n'
        __file__   = '/home/runner/work/dimos/dimos/.../imitation/collection/episode_monitor.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10b00dde20>
        __name__   = 'dimos.imitation.collection.episode_monitor'
        __package__ = 'dimos.imitation.collection'
        __spec__   = ModuleSpec(name='dimos.imitation.collection.episode_monitor', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff10b00dde20>, origin='/home/runner/work/dimos/dimos/.../imitation/collection/episode_monitor.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        field_validator = <function field_validator at 0xff11a060ff60>
        rpc        = <function rpc at 0xff119fc7bba0>
        threading  = <module 'threading' from '.../usr/lib/python3.12/threading.py'>
        time       = <module 'time' (built-in)>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # Copyright 2026 Dimensional Inc.
    #
    # Licensed under the Apache License, Version 2.0 (the "License");
    # you may not use this file except in compliance with the License.
    # You may obtain a copy of the License at
    #
    #     http://www.apache.org/licenses/LICENSE-2.0
    #
    # Unless required by applicable law or agreed to in writing, software
    # distributed under the License is distributed on an "AS IS" BASIS,
    # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    # See the License for the specific language governing permissions and
    # limitations under the License.
    
    from __future__ import annotations
    
    from typing import ClassVar, Literal, TypeAlias, cast
    
>   from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

ClassVar   = typing.ClassVar
Literal    = typing.Literal
TypeAlias  = typing.TypeAlias
__annotations__ = {}
__builtins__ = <builtins>
__cached__ = '.../imitation_msgs/__pycache__/EpisodeStatus.cpython-312.pyc'
__doc__    = None
__file__   = '.../msgs/imitation_msgs/EpisodeStatus.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10b00de330>
__name__   = 'dimos.msgs.imitation_msgs.EpisodeStatus'
__package__ = 'dimos.msgs.imitation_msgs'
__spec__   = ModuleSpec(name='dimos.msgs.imitation_msgs.EpisodeStatus', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff10b00de330>, origin='.../msgs/imitation_msgs/EpisodeStatus.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
cast       = <function cast at 0xff11aa11a8e0>

.../msgs/imitation_msgs/EpisodeStatus.py:19: ModuleNotFoundError

dimos.codebase_checks.test_blueprint_kwargs::test_blueprint_atom_kwargs_match_module_config[teleop-quest-openarm]

Stack Traces | 0.004s run time

blueprint_name = 'teleop-quest-openarm'

    @pytest.mark.parametrize("blueprint_name", _blueprint_params())
    def test_blueprint_atom_kwargs_match_module_config(blueprint_name: str) -> None:
        """Fail when blueprint kwargs cannot be consumed by their target module."""
>       blueprint = _get_blueprint_or_skip(blueprint_name)

blueprint_name = 'teleop-quest-openarm'

dimos/codebase_checks/test_blueprint_kwargs.py:91: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/codebase_checks/test_blueprint_kwargs.py:36: in _get_blueprint_or_skip
    return get_blueprint_by_name(blueprint_name)
        blueprint_name = 'teleop-quest-openarm'
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'teleop_quest_openarm'
        module_path = 'dimos.robot.manipulators.openarm.blueprints.teleop'
        name       = 'teleop-quest-openarm'
.../openarm/blueprints/teleop.py:35: in <module>
    from dimos.teleop.quest.quest_extensions import ArmTeleopModule
        ControlCoordinatorConfig = <class 'dimos.control.coordinator.ControlCoordinatorConfig'>
        JOINT_TRAJECTORY_TASK_NAME = 'joint_trajectory'
        ManipulationModule = <class 'dimos.manipulation.manipulation_module.ManipulationModule'>
        OPENARM_ARM_JOINTS = ['openarm_left_joint1', 'openarm_left_joint2', 'openarm_left_joint3', 'openarm_left_joint4', 'openarm_left_joint5', 'openarm_left_joint6', ...]
        OPENARM_GRIPPER_JOINTS = ['left_arm/gripper', 'right_arm/gripper']
        OPENARM_JOINTS = ['openarm_left_joint1', 'openarm_left_joint2', 'openarm_left_joint3', 'openarm_left_joint4', 'openarm_left_joint5', 'openarm_left_joint6', ...]
        OpenArmPinkPoseTargetSolver = <class 'dimos.robot.manipulators.openarm.teleop_ik.OpenArmPinkPoseTargetSolver'>
        PinkKinematicsConfig = <class 'dimos.manipulation.planning.kinematics.config.PinkKinematicsConfig'>
        TaskConfig = <class 'dimos.control.coordinator.TaskConfig'>
        TeleopControlCoordinator = <class 'dimos.control.teleop_coordinator.TeleopControlCoordinator'>
        __builtins__ = <builtins>
        __cached__ = '.../blueprints/__pycache__/teleop.cpython-312.pyc'
        __doc__    = 'OpenArm Quest teleop blueprint.'
        __file__   = '.../work/dimos/dimos/.../openarm/blueprints/teleop.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10b01ec500>
        __name__   = 'dimos.robot.manipulators.openarm.blueprints.teleop'
        __package__ = 'dimos.robot.manipulators.openarm.blueprints'
        __spec__   = ModuleSpec(name='dimos.robot.manipulators.openarm.blueprints.teleop', loader=<_frozen_importlib_external.SourceFileLoa...bject at 0xff10b01ec500>, origin='.../work/dimos/dimos/.../openarm/blueprints/teleop.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xff118e9ff600>
        openarm_bimanual_model_config = <function openarm_bimanual_model_config at 0xff1129a48ae0>
        openarm_hardware = <function openarm_hardware at 0xff1129a48c20>
        replace    = <function replace at 0xff11a99dac00>
.../teleop/quest/quest_extensions.py:38: in <module>
    from dimos.teleop.quest.quest_teleop_module import QuestTeleopConfig, QuestTeleopModule
        Any        = typing.Any
        Float32    = <class 'dimos.msgs.std_msgs.Float32.Float32'>
        Image      = <class 'dimos.msgs.sensor_msgs.Image.Image'>
        In         = <class 'dimos.core.stream.In'>
        Out        = <class 'dimos.core.stream.Out'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        Twist      = <class 'dimos.msgs.geometry_msgs.Twist.Twist'>
        TwistStamped = <class 'dimos.msgs.geometry_msgs.TwistStamped.TwistStamped'>
        Vector3    = <class 'dimos.msgs.geometry_msgs.Vector3.Vector3'>
        WebSocket  = <class 'starlette.websockets.WebSocket'>
        __builtins__ = <builtins>
        __cached__ = '.../quest/__pycache__/quest_extensions.cpython-312.pyc'
        __doc__    = 'Quest teleop module extensions and subclasses.\n\nAvailable subclasses:\n    - ArmTeleopModule: Raw arm poses with mi...rames pushed to the Quest over /ws\n    - Go2TeleopModule: Thumbstick → Twist velocity for the Go2 + camera over /ws\n'
        __file__   = '.../work/dimos/dimos/.../teleop/quest/quest_extensions.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10b01ec770>
        __name__   = 'dimos.teleop.quest.quest_extensions'
        __package__ = 'dimos.teleop.quest'
        __spec__   = ModuleSpec(name='dimos.teleop.quest.quest_extensions', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff10b01ec770>, origin='.../work/dimos/dimos/.../teleop/quest/quest_extensions.py')
        asyncio    = <module 'asyncio' from '............/usr/lib/python3.12/asyncio/__init__.py'>
        rpc        = <function rpc at 0xff119fc7bba0>
.../teleop/quest/quest_teleop_module.py:46: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
        Any        = typing.Any
        DIMOS_PROJECT_ROOT = PosixPath('.../work/dimos/dimos')
        Disposable = <class 'reactivex.disposable.disposable.Disposable'>
        Field      = <function Field at 0xff11a05072e0>
        HTMLResponse = <class 'starlette.responses.HTMLResponse'>
        In         = <class 'dimos.core.stream.In'>
        LCMJoy     = <class 'dimos_lcm.sensor_msgs.Joy.Joy'>
        LCMPoseStamped = <class 'dimos_lcm.geometry_msgs.PoseStamped.PoseStamped'>
        Module     = <class 'dimos.core.module.Module'>
        ModuleConfig = <class 'dimos.core.module.ModuleConfig'>
        Out        = <class 'dimos.core.stream.Out'>
        Path       = <class 'pathlib.Path'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        StaticFiles = <class 'starlette.staticfiles.StaticFiles'>
        TypeVar    = <class 'typing.TypeVar'>
        WebSocket  = <class 'starlette.websockets.WebSocket'>
        WebSocketDisconnect = <class 'starlette.websockets.WebSocketDisconnect'>
        __builtins__ = <builtins>
        __cached__ = '.../work/dimos/dimos/dimos/teleop/quest/__pycache__/quest_teleop_module.cpython-312.pyc'
        __doc__    = '\nQuest Teleoperation Module.\n\nReceives VR controller tracking data from the Quest web app via an embedded\nFastAPI WebSocket server.  Transforms from WebXR to robot frame, computes\ndeltas, and publishes PoseStamped commands.\n'
        __file__   = '.../work/dimos/dimos/.../teleop/quest/quest_teleop_module.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10b01ecfb0>
        __name__   = 'dimos.teleop.quest.quest_teleop_module'
        __package__ = 'dimos.teleop.quest'
        __spec__   = ModuleSpec(name='dimos.teleop.quest.quest_teleop_module', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff10b01ecfb0>, origin='.../work/dimos/dimos/.../teleop/quest/quest_teleop_module.py')
        asyncio    = <module 'asyncio' from '............/usr/lib/python3.12/asyncio/__init__.py'>
        dataclass  = <function dataclass at 0xff11a99da660>
        json       = <module 'json' from '............/usr/lib/python3.12/json/__init__.py'>
        math       = <module 'math' (built-in)>
        rpc        = <function rpc at 0xff119fc7bba0>
        threading  = <module 'threading' from '............/usr/lib/python3.12/threading.py'>
        time       = <module 'time' (built-in)>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # Copyright 2026 Dimensional Inc.
    #
    # Licensed under the Apache License, Version 2.0 (the "License");
    # you may not use this file except in compliance with the License.
    # You may obtain a copy of the License at
    #
    #     http://www.apache.org/licenses/LICENSE-2.0
    #
    # Unless required by applicable law or agreed to in writing, software
    # distributed under the License is distributed on an "AS IS" BASIS,
    # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    # See the License for the specific language governing permissions and
    # limitations under the License.
    
    from __future__ import annotations
    
    from typing import ClassVar, Literal, TypeAlias, cast
    
>   from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

ClassVar   = typing.ClassVar
Literal    = typing.Literal
TypeAlias  = typing.TypeAlias
__annotations__ = {}
__builtins__ = <builtins>
__cached__ = '.../work/dimos/dimos/dimos/msgs/imitation_msgs/__pycache__/EpisodeStatus.cpython-312.pyc'
__doc__    = None
__file__   = '.../work/dimos/dimos/.../msgs/imitation_msgs/EpisodeStatus.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10b01ee180>
__name__   = 'dimos.msgs.imitation_msgs.EpisodeStatus'
__package__ = 'dimos.msgs.imitation_msgs'
__spec__   = ModuleSpec(name='dimos.msgs.imitation_msgs.EpisodeStatus', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff10b01ee180>, origin='.../work/dimos/dimos/.../msgs/imitation_msgs/EpisodeStatus.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
cast       = <function cast at 0xff11aa11a8e0>

.../msgs/imitation_msgs/EpisodeStatus.py:19: ModuleNotFoundError

dimos.codebase_checks.test_blueprint_kwargs::test_blueprint_atom_kwargs_match_module_config[teleop-quest-openyam]

Stack Traces | 0.004s run time

blueprint_name = 'teleop-quest-openyam'

    @pytest.mark.parametrize("blueprint_name", _blueprint_params())
    def test_blueprint_atom_kwargs_match_module_config(blueprint_name: str) -> None:
        """Fail when blueprint kwargs cannot be consumed by their target module."""
>       blueprint = _get_blueprint_or_skip(blueprint_name)

blueprint_name = 'teleop-quest-openyam'

dimos/codebase_checks/test_blueprint_kwargs.py:91: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/codebase_checks/test_blueprint_kwargs.py:36: in _get_blueprint_or_skip
    return get_blueprint_by_name(blueprint_name)
        blueprint_name = 'teleop-quest-openyam'
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'teleop_quest_openyam'
        module_path = 'dimos.robot.manipulators.openyam.blueprints.teleop'
        name       = 'teleop-quest-openyam'
.../openyam/blueprints/teleop.py:44: in <module>
    from dimos.teleop.quest.quest_extensions import ArmTeleopModule
        ArmTwistCoordinator = <class 'dimos.robot.manipulators.common.coordinators.ArmTwistCoordinator'>
        EEF_TWIST_TASK_NAME = 'eef_twist_arm'
        KeyboardTeleopModule = <class 'dimos.teleop.keyboard.keyboard_teleop_module.KeyboardTeleopModule'>
        ManipulationModule = <class 'dimos.manipulation.manipulation_module.ManipulationModule'>
        OPENYAM_ARM_JOINTS = ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_joint5', 'yam_joint6']
        OPENYAM_GRIPPER_JOINT = 'arm/gripper'
        OPENYAM_HARDWARE_ID = 'openyam'
        OPENYAM_JOINTS = ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_joint5', 'yam_joint6', ...]
        OpenYamPinkPoseTargetSolver = <class 'dimos.robot.manipulators.openyam.teleop_ik.OpenYamPinkPoseTargetSolver'>
        PinkKinematicsConfig = <class 'dimos.manipulation.planning.kinematics.config.PinkKinematicsConfig'>
        TaskConfig = <class 'dimos.control.coordinator.TaskConfig'>
        TeleopControlCoordinator = <class 'dimos.control.teleop_coordinator.TeleopControlCoordinator'>
        __builtins__ = <builtins>
        __cached__ = '.../blueprints/__pycache__/teleop.cpython-312.pyc'
        __doc__    = 'OpenYAM keyboard and Quest teleop blueprints.'
        __file__   = '.../work/dimos/dimos/.../openyam/blueprints/teleop.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10b01d81a0>
        __name__   = 'dimos.robot.manipulators.openyam.blueprints.teleop'
        __package__ = 'dimos.robot.manipulators.openyam.blueprints'
        __spec__   = ModuleSpec(name='dimos.robot.manipulators.openyam.blueprints.teleop', loader=<_frozen_importlib_external.SourceFileLoa...bject at 0xff10b01d81a0>, origin='.../work/dimos/dimos/.../openyam/blueprints/teleop.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xff118e9ff600>
        coordinator = <function coordinator at 0xff10b2ba2e80>
        joint_trajectory_task = <function joint_trajectory_task at 0xff114fbf8ea0>
        make_openyam_model_config = <function make_openyam_model_config at 0xff1129a565c0>
        openyam_hardware = <function openyam_hardware at 0xff1129a56520>
        planner    = <function planner at 0xff10b2ba2f20>
        teleop_ik_task = <function teleop_ik_task at 0xff10b2ba2de0>
.../teleop/quest/quest_extensions.py:38: in <module>
    from dimos.teleop.quest.quest_teleop_module import QuestTeleopConfig, QuestTeleopModule
        Any        = typing.Any
        Float32    = <class 'dimos.msgs.std_msgs.Float32.Float32'>
        Image      = <class 'dimos.msgs.sensor_msgs.Image.Image'>
        In         = <class 'dimos.core.stream.In'>
        Out        = <class 'dimos.core.stream.Out'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        Twist      = <class 'dimos.msgs.geometry_msgs.Twist.Twist'>
        TwistStamped = <class 'dimos.msgs.geometry_msgs.TwistStamped.TwistStamped'>
        Vector3    = <class 'dimos.msgs.geometry_msgs.Vector3.Vector3'>
        WebSocket  = <class 'starlette.websockets.WebSocket'>
        __builtins__ = <builtins>
        __cached__ = '.../quest/__pycache__/quest_extensions.cpython-312.pyc'
        __doc__    = 'Quest teleop module extensions and subclasses.\n\nAvailable subclasses:\n    - ArmTeleopModule: Raw arm poses with mi...rames pushed to the Quest over /ws\n    - Go2TeleopModule: Thumbstick → Twist velocity for the Go2 + camera over /ws\n'
        __file__   = '.../work/dimos/dimos/.../teleop/quest/quest_extensions.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10b01d8440>
        __name__   = 'dimos.teleop.quest.quest_extensions'
        __package__ = 'dimos.teleop.quest'
        __spec__   = ModuleSpec(name='dimos.teleop.quest.quest_extensions', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff10b01d8440>, origin='.../work/dimos/dimos/.../teleop/quest/quest_extensions.py')
        asyncio    = <module 'asyncio' from '............/usr/lib/python3.12/asyncio/__init__.py'>
        rpc        = <function rpc at 0xff119fc7bba0>
.../teleop/quest/quest_teleop_module.py:46: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
        Any        = typing.Any
        DIMOS_PROJECT_ROOT = PosixPath('.../work/dimos/dimos')
        Disposable = <class 'reactivex.disposable.disposable.Disposable'>
        Field      = <function Field at 0xff11a05072e0>
        HTMLResponse = <class 'starlette.responses.HTMLResponse'>
        In         = <class 'dimos.core.stream.In'>
        LCMJoy     = <class 'dimos_lcm.sensor_msgs.Joy.Joy'>
        LCMPoseStamped = <class 'dimos_lcm.geometry_msgs.PoseStamped.PoseStamped'>
        Module     = <class 'dimos.core.module.Module'>
        ModuleConfig = <class 'dimos.core.module.ModuleConfig'>
        Out        = <class 'dimos.core.stream.Out'>
        Path       = <class 'pathlib.Path'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        StaticFiles = <class 'starlette.staticfiles.StaticFiles'>
        TypeVar    = <class 'typing.TypeVar'>
        WebSocket  = <class 'starlette.websockets.WebSocket'>
        WebSocketDisconnect = <class 'starlette.websockets.WebSocketDisconnect'>
        __builtins__ = <builtins>
        __cached__ = '.../work/dimos/dimos/dimos/teleop/quest/__pycache__/quest_teleop_module.cpython-312.pyc'
        __doc__    = '\nQuest Teleoperation Module.\n\nReceives VR controller tracking data from the Quest web app via an embedded\nFastAPI WebSocket server.  Transforms from WebXR to robot frame, computes\ndeltas, and publishes PoseStamped commands.\n'
        __file__   = '.../work/dimos/dimos/.../teleop/quest/quest_teleop_module.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10b01d8b90>
        __name__   = 'dimos.teleop.quest.quest_teleop_module'
        __package__ = 'dimos.teleop.quest'
        __spec__   = ModuleSpec(name='dimos.teleop.quest.quest_teleop_module', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff10b01d8b90>, origin='.../work/dimos/dimos/.../teleop/quest/quest_teleop_module.py')
        asyncio    = <module 'asyncio' from '............/usr/lib/python3.12/asyncio/__init__.py'>
        dataclass  = <function dataclass at 0xff11a99da660>
        json       = <module 'json' from '............/usr/lib/python3.12/json/__init__.py'>
        math       = <module 'math' (built-in)>
        rpc        = <function rpc at 0xff119fc7bba0>
        threading  = <module 'threading' from '............/usr/lib/python3.12/threading.py'>
        time       = <module 'time' (built-in)>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # Copyright 2026 Dimensional Inc.
    #
    # Licensed under the Apache License, Version 2.0 (the "License");
    # you may not use this file except in compliance with the License.
    # You may obtain a copy of the License at
    #
    #     http://www.apache.org/licenses/LICENSE-2.0
    #
    # Unless required by applicable law or agreed to in writing, software
    # distributed under the License is distributed on an "AS IS" BASIS,
    # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    # See the License for the specific language governing permissions and
    # limitations under the License.
    
    from __future__ import annotations
    
    from typing import ClassVar, Literal, TypeAlias, cast
    
>   from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

ClassVar   = typing.ClassVar
Literal    = typing.Literal
TypeAlias  = typing.TypeAlias
__annotations__ = {}
__builtins__ = <builtins>
__cached__ = '.../work/dimos/dimos/dimos/msgs/imitation_msgs/__pycache__/EpisodeStatus.cpython-312.pyc'
__doc__    = None
__file__   = '.../work/dimos/dimos/.../msgs/imitation_msgs/EpisodeStatus.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10b01d9760>
__name__   = 'dimos.msgs.imitation_msgs.EpisodeStatus'
__package__ = 'dimos.msgs.imitation_msgs'
__spec__   = ModuleSpec(name='dimos.msgs.imitation_msgs.EpisodeStatus', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff10b01d9760>, origin='.../work/dimos/dimos/.../msgs/imitation_msgs/EpisodeStatus.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
cast       = <function cast at 0xff11aa11a8e0>

.../msgs/imitation_msgs/EpisodeStatus.py:19: ModuleNotFoundError

dimos.robot.test_all_blueprints::test_blueprint_is_valid[keyboard-teleop-openyam]

Stack Traces | 0.004s run time

blueprint_name = 'keyboard-teleop-openyam'

    @pytest.mark.parametrize("blueprint_name", UBUNTU_BLUEPRINTS)
    def test_blueprint_is_valid(blueprint_name: str) -> None:
        """Validate blueprints that should import on the ubuntu-latest runner."""
>       _check_blueprint(blueprint_name)

blueprint_name = 'keyboard-teleop-openyam'

dimos/robot/test_all_blueprints.py:107: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/test_all_blueprints.py:83: in _check_blueprint
    blueprint = get_blueprint_by_name(blueprint_name)
        blueprint_name = 'keyboard-teleop-openyam'
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'keyboard_teleop_openyam'
        module_path = 'dimos.robot.manipulators.openyam.blueprints.teleop'
        name       = 'keyboard-teleop-openyam'
.../openyam/blueprints/teleop.py:44: in <module>
    from dimos.teleop.quest.quest_extensions import ArmTeleopModule
        ArmTwistCoordinator = <class 'dimos.robot.manipulators.common.coordinators.ArmTwistCoordinator'>
        EEF_TWIST_TASK_NAME = 'eef_twist_arm'
        KeyboardTeleopModule = <class 'dimos.teleop.keyboard.keyboard_teleop_module.KeyboardTeleopModule'>
        ManipulationModule = <class 'dimos.manipulation.manipulation_module.ManipulationModule'>
        OPENYAM_ARM_JOINTS = ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_joint5', 'yam_joint6']
        OPENYAM_GRIPPER_JOINT = 'arm/gripper'
        OPENYAM_HARDWARE_ID = 'openyam'
        OPENYAM_JOINTS = ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_joint5', 'yam_joint6', ...]
        OpenYamPinkPoseTargetSolver = <class 'dimos.robot.manipulators.openyam.teleop_ik.OpenYamPinkPoseTargetSolver'>
        PinkKinematicsConfig = <class 'dimos.manipulation.planning.kinematics.config.PinkKinematicsConfig'>
        TaskConfig = <class 'dimos.control.coordinator.TaskConfig'>
        TeleopControlCoordinator = <class 'dimos.control.teleop_coordinator.TeleopControlCoordinator'>
        __builtins__ = <builtins>
        __cached__ = '.../blueprints/__pycache__/teleop.cpython-312.pyc'
        __doc__    = 'OpenYAM keyboard and Quest teleop blueprints.'
        __file__   = '.../work/dimos/dimos/.../openyam/blueprints/teleop.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff6872e20470>
        __name__   = 'dimos.robot.manipulators.openyam.blueprints.teleop'
        __package__ = 'dimos.robot.manipulators.openyam.blueprints'
        __spec__   = ModuleSpec(name='dimos.robot.manipulators.openyam.blueprints.teleop', loader=<_frozen_importlib_external.SourceFileLoa...bject at 0xff6872e20470>, origin='.../work/dimos/dimos/.../openyam/blueprints/teleop.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xff6951ce3600>
        coordinator = <function coordinator at 0xff6884392980>
        joint_trajectory_task = <function joint_trajectory_task at 0xff6912f12de0>
        make_openyam_model_config = <function make_openyam_model_config at 0xff68ecd46660>
        openyam_hardware = <function openyam_hardware at 0xff68ecd465c0>
        planner    = <function planner at 0xff6884392a20>
        teleop_ik_task = <function teleop_ik_task at 0xff68843928e0>
.../teleop/quest/quest_extensions.py:38: in <module>
    from dimos.teleop.quest.quest_teleop_module import QuestTeleopConfig, QuestTeleopModule
        Any        = typing.Any
        Float32    = <class 'dimos.msgs.std_msgs.Float32.Float32'>
        Image      = <class 'dimos.msgs.sensor_msgs.Image.Image'>
        In         = <class 'dimos.core.stream.In'>
        Out        = <class 'dimos.core.stream.Out'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        Twist      = <class 'dimos.msgs.geometry_msgs.Twist.Twist'>
        TwistStamped = <class 'dimos.msgs.geometry_msgs.TwistStamped.TwistStamped'>
        Vector3    = <class 'dimos.msgs.geometry_msgs.Vector3.Vector3'>
        WebSocket  = <class 'starlette.websockets.WebSocket'>
        __builtins__ = <builtins>
        __cached__ = '.../quest/__pycache__/quest_extensions.cpython-312.pyc'
        __doc__    = 'Quest teleop module extensions and subclasses.\n\nAvailable subclasses:\n    - ArmTeleopModule: Raw arm poses with mi...rames pushed to the Quest over /ws\n    - Go2TeleopModule: Thumbstick → Twist velocity for the Go2 + camera over /ws\n'
        __file__   = '.../work/dimos/dimos/.../teleop/quest/quest_extensions.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff6872e206e0>
        __name__   = 'dimos.teleop.quest.quest_extensions'
        __package__ = 'dimos.teleop.quest'
        __spec__   = ModuleSpec(name='dimos.teleop.quest.quest_extensions', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff6872e206e0>, origin='.../work/dimos/dimos/.../teleop/quest/quest_extensions.py')
        asyncio    = <module 'asyncio' from '............/usr/lib/python3.12/asyncio/__init__.py'>
        rpc        = <function rpc at 0xff6962f7fba0>
.../teleop/quest/quest_teleop_module.py:46: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
        Any        = typing.Any
        DIMOS_PROJECT_ROOT = PosixPath('.../work/dimos/dimos')
        Disposable = <class 'reactivex.disposable.disposable.Disposable'>
        Field      = <function Field at 0xff696380b2e0>
        HTMLResponse = <class 'starlette.responses.HTMLResponse'>
        In         = <class 'dimos.core.stream.In'>
        LCMJoy     = <class 'dimos_lcm.sensor_msgs.Joy.Joy'>
        LCMPoseStamped = <class 'dimos_lcm.geometry_msgs.PoseStamped.PoseStamped'>
        Module     = <class 'dimos.core.module.Module'>
        ModuleConfig = <class 'dimos.core.module.ModuleConfig'>
        Out        = <class 'dimos.core.stream.Out'>
        Path       = <class 'pathlib.Path'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        StaticFiles = <class 'starlette.staticfiles.StaticFiles'>
        TypeVar    = <class 'typing.TypeVar'>
        WebSocket  = <class 'starlette.websockets.WebSocket'>
        WebSocketDisconnect = <class 'starlette.websockets.WebSocketDisconnect'>
        __builtins__ = <builtins>
        __cached__ = '.../work/dimos/dimos/dimos/teleop/quest/__pycache__/quest_teleop_module.cpython-312.pyc'
        __doc__    = '\nQuest Teleoperation Module.\n\nReceives VR controller tracking data from the Quest web app via an embedded\nFastAPI WebSocket server.  Transforms from WebXR to robot frame, computes\ndeltas, and publishes PoseStamped commands.\n'
        __file__   = '.../work/dimos/dimos/.../teleop/quest/quest_teleop_module.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff6872e20cb0>
        __name__   = 'dimos.teleop.quest.quest_teleop_module'
        __package__ = 'dimos.teleop.quest'
        __spec__   = ModuleSpec(name='dimos.teleop.quest.quest_teleop_module', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff6872e20cb0>, origin='.../work/dimos/dimos/.../teleop/quest/quest_teleop_module.py')
        asyncio    = <module 'asyncio' from '............/usr/lib/python3.12/asyncio/__init__.py'>
        dataclass  = <function dataclass at 0xff696ccfe660>
        json       = <module 'json' from '............/usr/lib/python3.12/json/__init__.py'>
        math       = <module 'math' (built-in)>
        rpc        = <function rpc at 0xff6962f7fba0>
        threading  = <module 'threading' from '............/usr/lib/python3.12/threading.py'>
        time       = <module 'time' (built-in)>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # Copyright 2026 Dimensional Inc.
    #
    # Licensed under the Apache License, Version 2.0 (the "License");
    # you may not use this file except in compliance with the License.
    # You may obtain a copy of the License at
    #
    #     http://www.apache.org/licenses/LICENSE-2.0
    #
    # Unless required by applicable law or agreed to in writing, software
    # distributed under the License is distributed on an "AS IS" BASIS,
    # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    # See the License for the specific language governing permissions and
    # limitations under the License.
    
    from __future__ import annotations
    
    from typing import ClassVar, Literal, TypeAlias, cast
    
>   from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

ClassVar   = typing.ClassVar
Literal    = typing.Literal
TypeAlias  = typing.TypeAlias
__annotations__ = {}
__builtins__ = <builtins>
__cached__ = '.../work/dimos/dimos/dimos/msgs/imitation_msgs/__pycache__/EpisodeStatus.cpython-312.pyc'
__doc__    = None
__file__   = '.../work/dimos/dimos/.../msgs/imitation_msgs/EpisodeStatus.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff6872e21670>
__name__   = 'dimos.msgs.imitation_msgs.EpisodeStatus'
__package__ = 'dimos.msgs.imitation_msgs'
__spec__   = ModuleSpec(name='dimos.msgs.imitation_msgs.EpisodeStatus', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff6872e21670>, origin='.../work/dimos/dimos/.../msgs/imitation_msgs/EpisodeStatus.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
cast       = <function cast at 0xff696d43e8e0>

.../msgs/imitation_msgs/EpisodeStatus.py:19: ModuleNotFoundError

dimos.robot.test_all_blueprints::test_blueprint_is_valid[teleop-quest-dual-openyam]

Stack Traces | 0.004s run time

blueprint_name = 'teleop-quest-dual-openyam'

    @pytest.mark.parametrize("blueprint_name", UBUNTU_BLUEPRINTS)
    def test_blueprint_is_valid(blueprint_name: str) -> None:
        """Validate blueprints that should import on the ubuntu-latest runner."""
>       _check_blueprint(blueprint_name)

blueprint_name = 'teleop-quest-dual-openyam'

dimos/robot/test_all_blueprints.py:107: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/test_all_blueprints.py:83: in _check_blueprint
    blueprint = get_blueprint_by_name(blueprint_name)
        blueprint_name = 'teleop-quest-dual-openyam'
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'teleop_quest_dual_openyam'
        module_path = 'dimos.robot.manipulators.dual_openyam.blueprints.teleop'
        name       = 'teleop-quest-dual-openyam'
.../dual_openyam/blueprints/teleop.py:35: in <module>
    from dimos.teleop.quest.quest_extensions import ArmTeleopModule
        Blueprint  = <class 'dimos.core.coordination.blueprints.Blueprint'>
        DUAL_OPENYAM_ARM_JOINTS = ['left_joint1', 'left_joint2', 'left_joint3', 'left_joint4', 'left_joint5', 'left_joint6', ...]
        DUAL_OPENYAM_GRIPPER_JOINTS = ['left_arm/gripper', 'right_arm/gripper']
        DualOpenYamCoordinator = <class 'dimos.robot.manipulators.dual_openyam.blueprints.basic.DualOpenYamCoordinator'>
        DualOpenYamPinkPoseTargetSolver = <class 'dimos.robot.manipulators.dual_openyam.teleop_ik.DualOpenYamPinkPoseTargetSolver'>
        ManipulationModule = <class 'dimos.manipulation.manipulation_module.ManipulationModule'>
        PinkKinematicsConfig = <class 'dimos.manipulation.planning.kinematics.config.PinkKinematicsConfig'>
        TaskConfig = <class 'dimos.control.coordinator.TaskConfig'>
        __builtins__ = <builtins>
        __cached__ = '.../blueprints/__pycache__/teleop.cpython-312.pyc'
        __doc__    = 'Coupled Quest teleoperation for the complete Dual OpenYAM entity.'
        __file__   = '.../work/dimos/dimos/.../dual_openyam/blueprints/teleop.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff68731bef30>
        __name__   = 'dimos.robot.manipulators.dual_openyam.blueprints.teleop'
        __package__ = 'dimos.robot.manipulators.dual_openyam.blueprints'
        __spec__   = ModuleSpec(name='dimos.robot.manipulators.dual_openyam.blueprints.teleop', loader=<_frozen_importlib_external.SourceFi... at 0xff68731bef30>, origin='.../work/dimos/dimos/.../dual_openyam/blueprints/teleop.py')
        autoconnect = <function autoconnect at 0xff6951ce3600>
        dual_openyam_hardware = <function dual_openyam_hardware at 0xff68ecd46700>
        dual_openyam_model_config = <function dual_openyam_model_config at 0xff68ecd46980>
        dual_openyam_trajectory_task = <function dual_openyam_trajectory_task at 0xff6873f23100>
        teleop_ik_task = <function teleop_ik_task at 0xff68843928e0>
.../teleop/quest/quest_extensions.py:38: in <module>
    from dimos.teleop.quest.quest_teleop_module import QuestTeleopConfig, QuestTeleopModule
        Any        = typing.Any
        Float32    = <class 'dimos.msgs.std_msgs.Float32.Float32'>
        Image      = <class 'dimos.msgs.sensor_msgs.Image.Image'>
        In         = <class 'dimos.core.stream.In'>
        Out        = <class 'dimos.core.stream.Out'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        Twist      = <class 'dimos.msgs.geometry_msgs.Twist.Twist'>
        TwistStamped = <class 'dimos.msgs.geometry_msgs.TwistStamped.TwistStamped'>
        Vector3    = <class 'dimos.msgs.geometry_msgs.Vector3.Vector3'>
        WebSocket  = <class 'starlette.websockets.WebSocket'>
        __builtins__ = <builtins>
        __cached__ = '.../quest/__pycache__/quest_extensions.cpython-312.pyc'
        __doc__    = 'Quest teleop module extensions and subclasses.\n\nAvailable subclasses:\n    - ArmTeleopModule: Raw arm poses with mi...rames pushed to the Quest over /ws\n    - Go2TeleopModule: Thumbstick → Twist velocity for the Go2 + camera over /ws\n'
        __file__   = '.../work/dimos/dimos/.../teleop/quest/quest_extensions.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff68731becf0>
        __name__   = 'dimos.teleop.quest.quest_extensions'
        __package__ = 'dimos.teleop.quest'
        __spec__   = ModuleSpec(name='dimos.teleop.quest.quest_extensions', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff68731becf0>, origin='.../work/dimos/dimos/.../teleop/quest/quest_extensions.py')
        asyncio    = <module 'asyncio' from '............/usr/lib/python3.12/asyncio/__init__.py'>
        rpc        = <function rpc at 0xff6962f7fba0>
.../teleop/quest/quest_teleop_module.py:46: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
        Any        = typing.Any
        DIMOS_PROJECT_ROOT = PosixPath('.../work/dimos/dimos')
        Disposable = <class 'reactivex.disposable.disposable.Disposable'>
        Field      = <function Field at 0xff696380b2e0>
        HTMLResponse = <class 'starlette.responses.HTMLResponse'>
        In         = <class 'dimos.core.stream.In'>
        LCMJoy     = <class 'dimos_lcm.sensor_msgs.Joy.Joy'>
        LCMPoseStamped = <class 'dimos_lcm.geometry_msgs.PoseStamped.PoseStamped'>
        Module     = <class 'dimos.core.module.Module'>
        ModuleConfig = <class 'dimos.core.module.ModuleConfig'>
        Out        = <class 'dimos.core.stream.Out'>
        Path       = <class 'pathlib.Path'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        StaticFiles = <class 'starlette.staticfiles.StaticFiles'>
        TypeVar    = <class 'typing.TypeVar'>
        WebSocket  = <class 'starlette.websockets.WebSocket'>
        WebSocketDisconnect = <class 'starlette.websockets.WebSocketDisconnect'>
        __builtins__ = <builtins>
        __cached__ = '.../work/dimos/dimos/dimos/teleop/quest/__pycache__/quest_teleop_module.cpython-312.pyc'
        __doc__    = '\nQuest Teleoperation Module.\n\nReceives VR controller tracking data from the Quest web app via an embedded\nFastAPI WebSocket server.  Transforms from WebXR to robot frame, computes\ndeltas, and publishes PoseStamped commands.\n'
        __file__   = '.../work/dimos/dimos/.../teleop/quest/quest_teleop_module.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff68731bdc70>
        __name__   = 'dimos.teleop.quest.quest_teleop_module'
        __package__ = 'dimos.teleop.quest'
        __spec__   = ModuleSpec(name='dimos.teleop.quest.quest_teleop_module', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff68731bdc70>, origin='.../work/dimos/dimos/.../teleop/quest/quest_teleop_module.py')
        asyncio    = <module 'asyncio' from '............/usr/lib/python3.12/asyncio/__init__.py'>
        dataclass  = <function dataclass at 0xff696ccfe660>
        json       = <module 'json' from '............/usr/lib/python3.12/json/__init__.py'>
        math       = <module 'math' (built-in)>
        rpc        = <function rpc at 0xff6962f7fba0>
        threading  = <module 'threading' from '............/usr/lib/python3.12/threading.py'>
        time       = <module 'time' (built-in)>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # Copyright 2026 Dimensional Inc.
    #
    # Licensed under the Apache License, Version 2.0 (the "License");
    # you may not use this file except in compliance with the License.
    # You may obtain a copy of the License at
    #
    #     http://www.apache.org/licenses/LICENSE-2.0
    #
    # Unless required by applicable law or agreed to in writing, software
    # distributed under the License is distributed on an "AS IS" BASIS,
    # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    # See the License for the specific language governing permissions and
    # limitations under the License.
    
    from __future__ import annotations
    
    from typing import ClassVar, Literal, TypeAlias, cast
    
>   from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

ClassVar   = typing.ClassVar
Literal    = typing.Literal
TypeAlias  = typing.TypeAlias
__annotations__ = {}
__builtins__ = <builtins>
__cached__ = '.../work/dimos/dimos/dimos/msgs/imitation_msgs/__pycache__/EpisodeStatus.cpython-312.pyc'
__doc__    = None
__file__   = '.../work/dimos/dimos/.../msgs/imitation_msgs/EpisodeStatus.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff68731bff20>
__name__   = 'dimos.msgs.imitation_msgs.EpisodeStatus'
__package__ = 'dimos.msgs.imitation_msgs'
__spec__   = ModuleSpec(name='dimos.msgs.imitation_msgs.EpisodeStatus', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff68731bff20>, origin='.../work/dimos/dimos/.../msgs/imitation_msgs/EpisodeStatus.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
cast       = <function cast at 0xff696d43e8e0>

.../msgs/imitation_msgs/EpisodeStatus.py:19: ModuleNotFoundError

dimos.robot.test_all_blueprints::test_blueprint_is_valid[teleop-quest-openarm]

Stack Traces | 0.004s run time

blueprint_name = 'teleop-quest-openarm'

    @pytest.mark.parametrize("blueprint_name", UBUNTU_BLUEPRINTS)
    def test_blueprint_is_valid(blueprint_name: str) -> None:
        """Validate blueprints that should import on the ubuntu-latest runner."""
>       _check_blueprint(blueprint_name)

blueprint_name = 'teleop-quest-openarm'

dimos/robot/test_all_blueprints.py:107: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/test_all_blueprints.py:83: in _check_blueprint
    blueprint = get_blueprint_by_name(blueprint_name)
        blueprint_name = 'teleop-quest-openarm'
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'teleop_quest_openarm'
        module_path = 'dimos.robot.manipulators.openarm.blueprints.teleop'
        name       = 'teleop-quest-openarm'
.../openarm/blueprints/teleop.py:35: in <module>
    from dimos.teleop.quest.quest_extensions import ArmTeleopModule
        ControlCoordinatorConfig = <class 'dimos.control.coordinator.ControlCoordinatorConfig'>
        JOINT_TRAJECTORY_TASK_NAME = 'joint_trajectory'
        ManipulationModule = <class 'dimos.manipulation.manipulation_module.ManipulationModule'>
        OPENARM_ARM_JOINTS = ['openarm_left_joint1', 'openarm_left_joint2', 'openarm_left_joint3', 'openarm_left_joint4', 'openarm_left_joint5', 'openarm_left_joint6', ...]
        OPENARM_GRIPPER_JOINTS = ['left_arm/gripper', 'right_arm/gripper']
        OPENARM_JOINTS = ['openarm_left_joint1', 'openarm_left_joint2', 'openarm_left_joint3', 'openarm_left_joint4', 'openarm_left_joint5', 'openarm_left_joint6', ...]
        OpenArmPinkPoseTargetSolver = <class 'dimos.robot.manipulators.openarm.teleop_ik.OpenArmPinkPoseTargetSolver'>
        PinkKinematicsConfig = <class 'dimos.manipulation.planning.kinematics.config.PinkKinematicsConfig'>
        TaskConfig = <class 'dimos.control.coordinator.TaskConfig'>
        TeleopControlCoordinator = <class 'dimos.control.teleop_coordinator.TeleopControlCoordinator'>
        __builtins__ = <builtins>
        __cached__ = '.../blueprints/__pycache__/teleop.cpython-312.pyc'
        __doc__    = 'OpenArm Quest teleop blueprint.'
        __file__   = '.../work/dimos/dimos/.../openarm/blueprints/teleop.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff6873125220>
        __name__   = 'dimos.robot.manipulators.openarm.blueprints.teleop'
        __package__ = 'dimos.robot.manipulators.openarm.blueprints'
        __spec__   = ModuleSpec(name='dimos.robot.manipulators.openarm.blueprints.teleop', loader=<_frozen_importlib_external.SourceFileLoa...bject at 0xff6873125220>, origin='.../work/dimos/dimos/.../openarm/blueprints/teleop.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xff6951ce3600>
        openarm_bimanual_model_config = <function openarm_bimanual_model_config at 0xff68ecdeca40>
        openarm_hardware = <function openarm_hardware at 0xff68ecdecb80>
        replace    = <function replace at 0xff696ccfec00>
.../teleop/quest/quest_extensions.py:38: in <module>
    from dimos.teleop.quest.quest_teleop_module import QuestTeleopConfig, QuestTeleopModule
        Any        = typing.Any
        Float32    = <class 'dimos.msgs.std_msgs.Float32.Float32'>
        Image      = <class 'dimos.msgs.sensor_msgs.Image.Image'>
        In         = <class 'dimos.core.stream.In'>
        Out        = <class 'dimos.core.stream.Out'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        Twist      = <class 'dimos.msgs.geometry_msgs.Twist.Twist'>
        TwistStamped = <class 'dimos.msgs.geometry_msgs.TwistStamped.TwistStamped'>
        Vector3    = <class 'dimos.msgs.geometry_msgs.Vector3.Vector3'>
        WebSocket  = <class 'starlette.websockets.WebSocket'>
        __builtins__ = <builtins>
        __cached__ = '.../quest/__pycache__/quest_extensions.cpython-312.pyc'
        __doc__    = 'Quest teleop module extensions and subclasses.\n\nAvailable subclasses:\n    - ArmTeleopModule: Raw arm poses with mi...rames pushed to the Quest over /ws\n    - Go2TeleopModule: Thumbstick → Twist velocity for the Go2 + camera over /ws\n'
        __file__   = '.../work/dimos/dimos/.../teleop/quest/quest_extensions.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff68731254f0>
        __name__   = 'dimos.teleop.quest.quest_extensions'
        __package__ = 'dimos.teleop.quest'
        __spec__   = ModuleSpec(name='dimos.teleop.quest.quest_extensions', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff68731254f0>, origin='.../work/dimos/dimos/.../teleop/quest/quest_extensions.py')
        asyncio    = <module 'asyncio' from '............/usr/lib/python3.12/asyncio/__init__.py'>
        rpc        = <function rpc at 0xff6962f7fba0>
.../teleop/quest/quest_teleop_module.py:46: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
        Any        = typing.Any
        DIMOS_PROJECT_ROOT = PosixPath('.../work/dimos/dimos')
        Disposable = <class 'reactivex.disposable.disposable.Disposable'>
        Field      = <function Field at 0xff696380b2e0>
        HTMLResponse = <class 'starlette.responses.HTMLResponse'>
        In         = <class 'dimos.core.stream.In'>
        LCMJoy     = <class 'dimos_lcm.sensor_msgs.Joy.Joy'>
        LCMPoseStamped = <class 'dimos_lcm.geometry_msgs.PoseStamped.PoseStamped'>
        Module     = <class 'dimos.core.module.Module'>
        ModuleConfig = <class 'dimos.core.module.ModuleConfig'>
        Out        = <class 'dimos.core.stream.Out'>
        Path       = <class 'pathlib.Path'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        StaticFiles = <class 'starlette.staticfiles.StaticFiles'>
        TypeVar    = <class 'typing.TypeVar'>
        WebSocket  = <class 'starlette.websockets.WebSocket'>
        WebSocketDisconnect = <class 'starlette.websockets.WebSocketDisconnect'>
        __builtins__ = <builtins>
        __cached__ = '.../work/dimos/dimos/dimos/teleop/quest/__pycache__/quest_teleop_module.cpython-312.pyc'
        __doc__    = '\nQuest Teleoperation Module.\n\nReceives VR controller tracking data from the Quest web app via an embedded\nFastAPI WebSocket server.  Transforms from WebXR to robot frame, computes\ndeltas, and publishes PoseStamped commands.\n'
        __file__   = '.../work/dimos/dimos/.../teleop/quest/quest_teleop_module.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff6873125dc0>
        __name__   = 'dimos.teleop.quest.quest_teleop_module'
        __package__ = 'dimos.teleop.quest'
        __spec__   = ModuleSpec(name='dimos.teleop.quest.quest_teleop_module', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff6873125dc0>, origin='.../work/dimos/dimos/.../teleop/quest/quest_teleop_module.py')
        asyncio    = <module 'asyncio' from '............/usr/lib/python3.12/asyncio/__init__.py'>
        dataclass  = <function dataclass at 0xff696ccfe660>
        json       = <module 'json' from '............/usr/lib/python3.12/json/__init__.py'>
        math       = <module 'math' (built-in)>
        rpc        = <function rpc at 0xff6962f7fba0>
        threading  = <module 'threading' from '............/usr/lib/python3.12/threading.py'>
        time       = <module 'time' (built-in)>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # Copyright 2026 Dimensional Inc.
    #
    # Licensed under the Apache License, Version 2.0 (the "License");
    # you may not use this file except in compliance with the License.
    # You may obtain a copy of the License at
    #
    #     http://www.apache.org/licenses/LICENSE-2.0
    #
    # Unless required by applicable law or agreed to in writing, software
    # distributed under the License is distributed on an "AS IS" BASIS,
    # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    # See the License for the specific language governing permissions and
    # limitations under the License.
    
    from __future__ import annotations
    
    from typing import ClassVar, Literal, TypeAlias, cast
    
>   from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

ClassVar   = typing.ClassVar
Literal    = typing.Literal
TypeAlias  = typing.TypeAlias
__annotations__ = {}
__builtins__ = <builtins>
__cached__ = '.../work/dimos/dimos/dimos/msgs/imitation_msgs/__pycache__/EpisodeStatus.cpython-312.pyc'
__doc__    = None
__file__   = '.../work/dimos/dimos/.../msgs/imitation_msgs/EpisodeStatus.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff6873126930>
__name__   = 'dimos.msgs.imitation_msgs.EpisodeStatus'
__package__ = 'dimos.msgs.imitation_msgs'
__spec__   = ModuleSpec(name='dimos.msgs.imitation_msgs.EpisodeStatus', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff6873126930>, origin='.../work/dimos/dimos/.../msgs/imitation_msgs/EpisodeStatus.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
cast       = <function cast at 0xff696d43e8e0>

.../msgs/imitation_msgs/EpisodeStatus.py:19: ModuleNotFoundError

dimos.robot.test_all_blueprints::test_blueprint_is_valid[teleop-quest-openyam]

Stack Traces | 0.004s run time

blueprint_name = 'teleop-quest-openyam'

    @pytest.mark.parametrize("blueprint_name", UBUNTU_BLUEPRINTS)
    def test_blueprint_is_valid(blueprint_name: str) -> None:
        """Validate blueprints that should import on the ubuntu-latest runner."""
>       _check_blueprint(blueprint_name)

blueprint_name = 'teleop-quest-openyam'

dimos/robot/test_all_blueprints.py:107: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/test_all_blueprints.py:83: in _check_blueprint
    blueprint = get_blueprint_by_name(blueprint_name)
        blueprint_name = 'teleop-quest-openyam'
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'teleop_quest_openyam'
        module_path = 'dimos.robot.manipulators.openyam.blueprints.teleop'
        name       = 'teleop-quest-openyam'
.../openyam/blueprints/teleop.py:44: in <module>
    from dimos.teleop.quest.quest_extensions import ArmTeleopModule
        ArmTwistCoordinator = <class 'dimos.robot.manipulators.common.coordinators.ArmTwistCoordinator'>
        EEF_TWIST_TASK_NAME = 'eef_twist_arm'
        KeyboardTeleopModule = <class 'dimos.teleop.keyboard.keyboard_teleop_module.KeyboardTeleopModule'>
        ManipulationModule = <class 'dimos.manipulation.manipulation_module.ManipulationModule'>
        OPENYAM_ARM_JOINTS = ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_joint5', 'yam_joint6']
        OPENYAM_GRIPPER_JOINT = 'arm/gripper'
        OPENYAM_HARDWARE_ID = 'openyam'
        OPENYAM_JOINTS = ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_joint5', 'yam_joint6', ...]
        OpenYamPinkPoseTargetSolver = <class 'dimos.robot.manipulators.openyam.teleop_ik.OpenYamPinkPoseTargetSolver'>
        PinkKinematicsConfig = <class 'dimos.manipulation.planning.kinematics.config.PinkKinematicsConfig'>
        TaskConfig = <class 'dimos.control.coordinator.TaskConfig'>
        TeleopControlCoordinator = <class 'dimos.control.teleop_coordinator.TeleopControlCoordinator'>
        __builtins__ = <builtins>
        __cached__ = '.../blueprints/__pycache__/teleop.cpython-312.pyc'
        __doc__    = 'OpenYAM keyboard and Quest teleop blueprints.'
        __file__   = '.../work/dimos/dimos/.../openyam/blueprints/teleop.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff6873244680>
        __name__   = 'dimos.robot.manipulators.openyam.blueprints.teleop'
        __package__ = 'dimos.robot.manipulators.openyam.blueprints'
        __spec__   = ModuleSpec(name='dimos.robot.manipulators.openyam.blueprints.teleop', loader=<_frozen_importlib_external.SourceFileLoa...bject at 0xff6873244680>, origin='.../work/dimos/dimos/.../openyam/blueprints/teleop.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xff6951ce3600>
        coordinator = <function coordinator at 0xff6884392980>
        joint_trajectory_task = <function joint_trajectory_task at 0xff6912f12de0>
        make_openyam_model_config = <function make_openyam_model_config at 0xff68ecd46660>
        openyam_hardware = <function openyam_hardware at 0xff68ecd465c0>
        planner    = <function planner at 0xff6884392a20>
        teleop_ik_task = <function teleop_ik_task at 0xff68843928e0>
.../teleop/quest/quest_extensions.py:38: in <module>
    from dimos.teleop.quest.quest_teleop_module import QuestTeleopConfig, QuestTeleopModule
        Any        = typing.Any
        Float32    = <class 'dimos.msgs.std_msgs.Float32.Float32'>
        Image      = <class 'dimos.msgs.sensor_msgs.Image.Image'>
        In         = <class 'dimos.core.stream.In'>
        Out        = <class 'dimos.core.stream.Out'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        Twist      = <class 'dimos.msgs.geometry_msgs.Twist.Twist'>
        TwistStamped = <class 'dimos.msgs.geometry_msgs.TwistStamped.TwistStamped'>
        Vector3    = <class 'dimos.msgs.geometry_msgs.Vector3.Vector3'>
        WebSocket  = <class 'starlette.websockets.WebSocket'>
        __builtins__ = <builtins>
        __cached__ = '.../quest/__pycache__/quest_extensions.cpython-312.pyc'
        __doc__    = 'Quest teleop module extensions and subclasses.\n\nAvailable subclasses:\n    - ArmTeleopModule: Raw arm poses with mi...rames pushed to the Quest over /ws\n    - Go2TeleopModule: Thumbstick → Twist velocity for the Go2 + camera over /ws\n'
        __file__   = '.../work/dimos/dimos/.../teleop/quest/quest_extensions.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff6873244830>
        __name__   = 'dimos.teleop.quest.quest_extensions'
        __package__ = 'dimos.teleop.quest'
        __spec__   = ModuleSpec(name='dimos.teleop.quest.quest_extensions', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff6873244830>, origin='.../work/dimos/dimos/.../teleop/quest/quest_extensions.py')
        asyncio    = <module 'asyncio' from '............/usr/lib/python3.12/asyncio/__init__.py'>
        rpc        = <function rpc at 0xff6962f7fba0>
.../teleop/quest/quest_teleop_module.py:46: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
        Any        = typing.Any
        DIMOS_PROJECT_ROOT = PosixPath('.../work/dimos/dimos')
        Disposable = <class 'reactivex.disposable.disposable.Disposable'>
        Field      = <function Field at 0xff696380b2e0>
        HTMLResponse = <class 'starlette.responses.HTMLResponse'>
        In         = <class 'dimos.core.stream.In'>
        LCMJoy     = <class 'dimos_lcm.sensor_msgs.Joy.Joy'>
        LCMPoseStamped = <class 'dimos_lcm.geometry_msgs.PoseStamped.PoseStamped'>
        Module     = <class 'dimos.core.module.Module'>
        ModuleConfig = <class 'dimos.core.module.ModuleConfig'>
        Out        = <class 'dimos.core.stream.Out'>
        Path       = <class 'pathlib.Path'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        StaticFiles = <class 'starlette.staticfiles.StaticFiles'>
        TypeVar    = <class 'typing.TypeVar'>
        WebSocket  = <class 'starlette.websockets.WebSocket'>
        WebSocketDisconnect = <class 'starlette.websockets.WebSocketDisconnect'>
        __builtins__ = <builtins>
        __cached__ = '.../work/dimos/dimos/dimos/teleop/quest/__pycache__/quest_teleop_module.cpython-312.pyc'
        __doc__    = '\nQuest Teleoperation Module.\n\nReceives VR controller tracking data from the Quest web app via an embedded\nFastAPI WebSocket server.  Transforms from WebXR to robot frame, computes\ndeltas, and publishes PoseStamped commands.\n'
        __file__   = '.../work/dimos/dimos/.../teleop/quest/quest_teleop_module.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff6873244f20>
        __name__   = 'dimos.teleop.quest.quest_teleop_module'
        __package__ = 'dimos.teleop.quest'
        __spec__   = ModuleSpec(name='dimos.teleop.quest.quest_teleop_module', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff6873244f20>, origin='.../work/dimos/dimos/.../teleop/quest/quest_teleop_module.py')
        asyncio    = <module 'asyncio' from '............/usr/lib/python3.12/asyncio/__init__.py'>
        dataclass  = <function dataclass at 0xff696ccfe660>
        json       = <module 'json' from '............/usr/lib/python3.12/json/__init__.py'>
        math       = <module 'math' (built-in)>
        rpc        = <function rpc at 0xff6962f7fba0>
        threading  = <module 'threading' from '............/usr/lib/python3.12/threading.py'>
        time       = <module 'time' (built-in)>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # Copyright 2026 Dimensional Inc.
    #
    # Licensed under the Apache License, Version 2.0 (the "License");
    # you may not use this file except in compliance with the License.
    # You may obtain a copy of the License at
    #
    #     http://www.apache.org/licenses/LICENSE-2.0
    #
    # Unless required by applicable law or agreed to in writing, software
    # distributed under the License is distributed on an "AS IS" BASIS,
    # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    # See the License for the specific language governing permissions and
    # limitations under the License.
    
    from __future__ import annotations
    
    from typing import ClassVar, Literal, TypeAlias, cast
    
>   from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

ClassVar   = typing.ClassVar
Literal    = typing.Literal
TypeAlias  = typing.TypeAlias
__annotations__ = {}
__builtins__ = <builtins>
__cached__ = '.../work/dimos/dimos/dimos/msgs/imitation_msgs/__pycache__/EpisodeStatus.cpython-312.pyc'
__doc__    = None
__file__   = '.../work/dimos/dimos/.../msgs/imitation_msgs/EpisodeStatus.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff6873245940>
__name__   = 'dimos.msgs.imitation_msgs.EpisodeStatus'
__package__ = 'dimos.msgs.imitation_msgs'
__spec__   = ModuleSpec(name='dimos.msgs.imitation_msgs.EpisodeStatus', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff6873245940>, origin='.../work/dimos/dimos/.../msgs/imitation_msgs/EpisodeStatus.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
cast       = <function cast at 0xff696d43e8e0>

.../msgs/imitation_msgs/EpisodeStatus.py:19: ModuleNotFoundError

dimos.codebase_checks.test_blueprint_kwargs::test_blueprint_atom_kwargs_match_module_config[teleop-quest-dual-openyam]

Stack Traces | 0.005s run time

blueprint_name = 'teleop-quest-dual-openyam'

    @pytest.mark.parametrize("blueprint_name", _blueprint_params())
    def test_blueprint_atom_kwargs_match_module_config(blueprint_name: str) -> None:
        """Fail when blueprint kwargs cannot be consumed by their target module."""
>       blueprint = _get_blueprint_or_skip(blueprint_name)

blueprint_name = 'teleop-quest-dual-openyam'

dimos/codebase_checks/test_blueprint_kwargs.py:91: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/codebase_checks/test_blueprint_kwargs.py:36: in _get_blueprint_or_skip
    return get_blueprint_by_name(blueprint_name)
        blueprint_name = 'teleop-quest-dual-openyam'
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'teleop_quest_dual_openyam'
        module_path = 'dimos.robot.manipulators.dual_openyam.blueprints.teleop'
        name       = 'teleop-quest-dual-openyam'
.../dual_openyam/blueprints/teleop.py:35: in <module>
    from dimos.teleop.quest.quest_extensions import ArmTeleopModule
        Blueprint  = <class 'dimos.core.coordination.blueprints.Blueprint'>
        DUAL_OPENYAM_ARM_JOINTS = ['left_joint1', 'left_joint2', 'left_joint3', 'left_joint4', 'left_joint5', 'left_joint6', ...]
        DUAL_OPENYAM_GRIPPER_JOINTS = ['left_arm/gripper', 'right_arm/gripper']
        DualOpenYamCoordinator = <class 'dimos.robot.manipulators.dual_openyam.blueprints.basic.DualOpenYamCoordinator'>
        DualOpenYamPinkPoseTargetSolver = <class 'dimos.robot.manipulators.dual_openyam.teleop_ik.DualOpenYamPinkPoseTargetSolver'>
        ManipulationModule = <class 'dimos.manipulation.manipulation_module.ManipulationModule'>
        PinkKinematicsConfig = <class 'dimos.manipulation.planning.kinematics.config.PinkKinematicsConfig'>
        TaskConfig = <class 'dimos.control.coordinator.TaskConfig'>
        __builtins__ = <builtins>
        __cached__ = '.../blueprints/__pycache__/teleop.cpython-312.pyc'
        __doc__    = 'Coupled Quest teleoperation for the complete Dual OpenYAM entity.'
        __file__   = '.../work/dimos/dimos/.../dual_openyam/blueprints/teleop.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10b01fa300>
        __name__   = 'dimos.robot.manipulators.dual_openyam.blueprints.teleop'
        __package__ = 'dimos.robot.manipulators.dual_openyam.blueprints'
        __spec__   = ModuleSpec(name='dimos.robot.manipulators.dual_openyam.blueprints.teleop', loader=<_frozen_importlib_external.SourceFi... at 0xff10b01fa300>, origin='.../work/dimos/dimos/.../dual_openyam/blueprints/teleop.py')
        autoconnect = <function autoconnect at 0xff118e9ff600>
        dual_openyam_hardware = <function dual_openyam_hardware at 0xff1129a56660>
        dual_openyam_model_config = <function dual_openyam_model_config at 0xff1129a568e0>
        dual_openyam_trajectory_task = <function dual_openyam_trajectory_task at 0xff10b09c7560>
        teleop_ik_task = <function teleop_ik_task at 0xff10b2ba2de0>
.../teleop/quest/quest_extensions.py:38: in <module>
    from dimos.teleop.quest.quest_teleop_module import QuestTeleopConfig, QuestTeleopModule
        Any        = typing.Any
        Float32    = <class 'dimos.msgs.std_msgs.Float32.Float32'>
        Image      = <class 'dimos.msgs.sensor_msgs.Image.Image'>
        In         = <class 'dimos.core.stream.In'>
        Out        = <class 'dimos.core.stream.Out'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        Twist      = <class 'dimos.msgs.geometry_msgs.Twist.Twist'>
        TwistStamped = <class 'dimos.msgs.geometry_msgs.TwistStamped.TwistStamped'>
        Vector3    = <class 'dimos.msgs.geometry_msgs.Vector3.Vector3'>
        WebSocket  = <class 'starlette.websockets.WebSocket'>
        __builtins__ = <builtins>
        __cached__ = '.../quest/__pycache__/quest_extensions.cpython-312.pyc'
        __doc__    = 'Quest teleop module extensions and subclasses.\n\nAvailable subclasses:\n    - ArmTeleopModule: Raw arm poses with mi...rames pushed to the Quest over /ws\n    - Go2TeleopModule: Thumbstick → Twist velocity for the Go2 + camera over /ws\n'
        __file__   = '.../work/dimos/dimos/.../teleop/quest/quest_extensions.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10b01f9100>
        __name__   = 'dimos.teleop.quest.quest_extensions'
        __package__ = 'dimos.teleop.quest'
        __spec__   = ModuleSpec(name='dimos.teleop.quest.quest_extensions', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff10b01f9100>, origin='.../work/dimos/dimos/.../teleop/quest/quest_extensions.py')
        asyncio    = <module 'asyncio' from '............/usr/lib/python3.12/asyncio/__init__.py'>
        rpc        = <function rpc at 0xff119fc7bba0>
.../teleop/quest/quest_teleop_module.py:46: in <module>
    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
        Any        = typing.Any
        DIMOS_PROJECT_ROOT = PosixPath('.../work/dimos/dimos')
        Disposable = <class 'reactivex.disposable.disposable.Disposable'>
        Field      = <function Field at 0xff11a05072e0>
        HTMLResponse = <class 'starlette.responses.HTMLResponse'>
        In         = <class 'dimos.core.stream.In'>
        LCMJoy     = <class 'dimos_lcm.sensor_msgs.Joy.Joy'>
        LCMPoseStamped = <class 'dimos_lcm.geometry_msgs.PoseStamped.PoseStamped'>
        Module     = <class 'dimos.core.module.Module'>
        ModuleConfig = <class 'dimos.core.module.ModuleConfig'>
        Out        = <class 'dimos.core.stream.Out'>
        Path       = <class 'pathlib.Path'>
        PoseStamped = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
        StaticFiles = <class 'starlette.staticfiles.StaticFiles'>
        TypeVar    = <class 'typing.TypeVar'>
        WebSocket  = <class 'starlette.websockets.WebSocket'>
        WebSocketDisconnect = <class 'starlette.websockets.WebSocketDisconnect'>
        __builtins__ = <builtins>
        __cached__ = '.../work/dimos/dimos/dimos/teleop/quest/__pycache__/quest_teleop_module.cpython-312.pyc'
        __doc__    = '\nQuest Teleoperation Module.\n\nReceives VR controller tracking data from the Quest web app via an embedded\nFastAPI WebSocket server.  Transforms from WebXR to robot frame, computes\ndeltas, and publishes PoseStamped commands.\n'
        __file__   = '.../work/dimos/dimos/.../teleop/quest/quest_teleop_module.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10b01f8e90>
        __name__   = 'dimos.teleop.quest.quest_teleop_module'
        __package__ = 'dimos.teleop.quest'
        __spec__   = ModuleSpec(name='dimos.teleop.quest.quest_teleop_module', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff10b01f8e90>, origin='.../work/dimos/dimos/.../teleop/quest/quest_teleop_module.py')
        asyncio    = <module 'asyncio' from '............/usr/lib/python3.12/asyncio/__init__.py'>
        dataclass  = <function dataclass at 0xff11a99da660>
        json       = <module 'json' from '............/usr/lib/python3.12/json/__init__.py'>
        math       = <module 'math' (built-in)>
        rpc        = <function rpc at 0xff119fc7bba0>
        threading  = <module 'threading' from '............/usr/lib/python3.12/threading.py'>
        time       = <module 'time' (built-in)>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # Copyright 2026 Dimensional Inc.
    #
    # Licensed under the Apache License, Version 2.0 (the "License");
    # you may not use this file except in compliance with the License.
    # You may obtain a copy of the License at
    #
    #     http://www.apache.org/licenses/LICENSE-2.0
    #
    # Unless required by applicable law or agreed to in writing, software
    # distributed under the License is distributed on an "AS IS" BASIS,
    # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    # See the License for the specific language governing permissions and
    # limitations under the License.
    
    from __future__ import annotations
    
    from typing import ClassVar, Literal, TypeAlias, cast
    
>   from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E   ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'

ClassVar   = typing.ClassVar
Literal    = typing.Literal
TypeAlias  = typing.TypeAlias
__annotations__ = {}
__builtins__ = <builtins>
__cached__ = '.../work/dimos/dimos/dimos/msgs/imitation_msgs/__pycache__/EpisodeStatus.cpython-312.pyc'
__doc__    = None
__file__   = '.../work/dimos/dimos/.../msgs/imitation_msgs/EpisodeStatus.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff10b01f8380>
__name__   = 'dimos.msgs.imitation_msgs.EpisodeStatus'
__package__ = 'dimos.msgs.imitation_msgs'
__spec__   = ModuleSpec(name='dimos.msgs.imitation_msgs.EpisodeStatus', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff10b01f8380>, origin='.../work/dimos/dimos/.../msgs/imitation_msgs/EpisodeStatus.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
cast       = <function cast at 0xff11aa11a8e0>

.../msgs/imitation_msgs/EpisodeStatus.py:19: ModuleNotFoundError

dimos.codebase_checks.test_docs_branding::test_docs_use_current_branding

Stack Traces | 0.014s run time

def test_docs_use_current_branding() -> None:
        """Fail if any file under docs/ spells the brand "DimOS" instead of "dimOS"."""
        hits = find_old_branding()
        if hits:
            listing = "\n".join(
                f"  - {p.relative_to(DIMOS_PROJECT_ROOT)}:{lineno}: {line.strip()}"
                for p, lineno, line in hits
            )
>           raise AssertionError(f'Found "DimOS" in docs/:\n{listing}\n\nThe brand is spelled "dimOS".')
E           AssertionError: Found "DimOS" in docs/:
E             - .../capabilities/manipulation/imitation-learning.md:3: DimOS separates demonstration collection from policy rollout. A collection
E             - .../capabilities/manipulation/imitation-learning.md:20: | `dual-openyam-quest` | Left and right wrist RGB | DimOS dual 14-D |
E             - .../capabilities/manipulation/imitation-learning.md:137: `PolicyIOProfile` maps backend feature keys directly to typed DimOS image or
E           
E           The brand is spelled "dimOS".

hits       = [(PosixPath('/home/runner/work/dimos/dimos/.../capabilities/manipulation/imitation-learning.md'), 3, 'DimOS separates...pulation/imitation-learning.md'), 137, '`PolicyIOProfile` maps backend feature keys directly to typed DimOS image or')]
listing    = '  - .../capabilities/manipulation/imitation-learning.md:3: DimOS separates demonstration collection from policy roll...s/manipulation/imitation-learning.md:137: `PolicyIOProfile` maps backend feature keys directly to typed DimOS image or'

dimos/codebase_checks/test_docs_branding.py:43: AssertionError

dimos.codebase_checks.test_no_init_files::test_no_init_files

Stack Traces | 0.024s run time

def test_no_init_files():
        dimos_dir = DIMOS_PROJECT_ROOT / "dimos"
        init_files = sorted(dimos_dir.rglob("__init__.py"))
        # The root dimos/__init__.py is allowed for the porcelain lazy import.
        init_files = [f for f in init_files if f != dimos_dir / "__init__.py"]
        if init_files:
            listing = "\n".join(f"  - {f.relative_to(dimos_dir)}" for f in init_files)
>           raise AssertionError(
                f"Found __init__.py files in dimos/:\n{listing}\n\n"
                "__init__.py files are not allowed because they lead to unnecessary "
                "extraneous imports. Everything should be imported straight from the "
                "source module."
            )
E           AssertionError: Found __init__.py files in dimos/:
E             - .../python/abc_minimal/__init__.py
E             - .../python/dimos_abc/__init__.py
E           
E           __init__.py files are not allowed because they lead to unnecessary extraneous imports. Everything should be imported straight from the source module.

dimos_dir  = PosixPath('.../dimos/dimos/dimos')
init_files = [PosixPath('.../dimos/dimos/dimos/.../python/abc_minimal/__init__.py'), PosixPath('.../dimos/dimos/dimos/.../python/dimos_abc/__init__.py')]
listing    = '  - .../python/abc_minimal/__init__.py\n  - .../python/dimos_abc/__init__.py'

dimos/codebase_checks/test_no_init_files.py:25: AssertionError

dimos.cli.test_cli_startup::test_help_startup_time

Stack Traces | 1.89s run time

def test_help_startup_time() -> None:
        """`dimos --help` must finish in under {HELP_TIMEOUT_SECONDS}s."""
        start = time.monotonic()
        result = subprocess.run(
            [sys.executable, "-m", "dimos.cli.dimos", "--help"],
            capture_output=True,
            text=True,
            timeout=HELP_TIMEOUT_SECONDS + 5,  # hard kill safety margin
        )
        elapsed = time.monotonic() - start
>       assert result.returncode == 0, f"dimos --help failed:\n{result.stderr}"
E       AssertionError: dimos --help failed:
E         Traceback (most recent call last):
E           File "<frozen runpy>", line 198, in _run_module_as_main
E           File "<frozen runpy>", line 88, in _run_code
E           File ".../dimos/cli/dimos.py", line 59, in <module>
E             from dimos.cli.commands.imitation import imitation_app
E           File ".../cli/commands/imitation.py", line 47, in <module>
E             from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
E           File ".../msgs/imitation_msgs/EpisodeStatus.py", line 19, in <module>
E             from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E         ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'
E         
E       assert 1 == 0
E        +  where 1 = CompletedProcess(args=['.../dimos/dimos/.venv/bin/python', '-m', 'dimos.cli.dimos', '--help'], returncode=1, stdout='', stderr='Traceback (most recent call last):\n  File "<frozen runpy>", line 198, in _run_module_as_main\n  File "<frozen runpy>", line 88, in _run_code\n  File ".../dimos/cli/dimos.py", line 59, in <module>\n    from dimos.cli.commands.imitation import imitation_app\n  File ".../cli/commands/imitation.py", line 47, in <module>\n    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus\n  File ".../msgs/imitation_msgs/EpisodeStatus.py", line 19, in <module>\n    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus\nModuleNotFoundError: No module named \'dimos_lcm.imitation_msgs\'\n').returncode

elapsed    = 1.8830011240000317
result     = CompletedProcess(args=['.../dimos/dimos/.venv/bin/python', '-m', 'dimos.cli.dimos', '--help'], returncod...on_msgs import EpisodeStatus as LCMEpisodeStatus\nModuleNotFoundError: No module named \'dimos_lcm.imitation_msgs\'\n')
start      = 312.504038096

dimos/cli/test_cli_startup.py:74: AssertionError

dimos.cli.test_cli_startup::test_cli_import_does_not_pull_ipython

Stack Traces | 1.96s run time

def test_cli_import_does_not_pull_ipython() -> None:
        """Importing the CLI must not drag in IPython (~1700 modules, ~1.3s)."""
        result = subprocess.run(
            [
                sys.executable,
                "-c",
                "import sys; import dimos.cli.dimos; assert 'IPython' not in sys.modules",
            ],
            capture_output=True,
            text=True,
            timeout=30,
        )
>       assert result.returncode == 0, f"IPython leaked into CLI import:\n{result.stderr}"
E       AssertionError: IPython leaked into CLI import:
E         Traceback (most recent call last):
E           File "<string>", line 1, in <module>
E           File ".../dimos/cli/dimos.py", line 59, in <module>
E             from dimos.cli.commands.imitation import imitation_app
E           File ".../cli/commands/imitation.py", line 47, in <module>
E             from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
E           File ".../msgs/imitation_msgs/EpisodeStatus.py", line 19, in <module>
E             from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E         ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'
E         
E       assert 1 == 0
E        +  where 1 = CompletedProcess(args=['.../dimos/dimos/.venv/bin/python', '-c', "import sys; import dimos.cli.dimos; assert 'IPython' not in sys.modules"], returncode=1, stdout='', stderr='Traceback (most recent call last):\n  File "<string>", line 1, in <module>\n  File ".../dimos/cli/dimos.py", line 59, in <module>\n    from dimos.cli.commands.imitation import imitation_app\n  File ".../cli/commands/imitation.py", line 47, in <module>\n    from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus\n  File ".../msgs/imitation_msgs/EpisodeStatus.py", line 19, in <module>\n    from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus\nModuleNotFoundError: No module named \'dimos_lcm.imitation_msgs\'\n').returncode

result     = CompletedProcess(args=['.../dimos/dimos/.venv/bin/python', '-c', "import sys; import dimos.cli.dimos; as...on_msgs import EpisodeStatus as LCMEpisodeStatus\nModuleNotFoundError: No module named \'dimos_lcm.imitation_msgs\'\n')

dimos/cli/test_cli_startup.py:61: AssertionError

dimos.core.test_daemon_zenoh::test_daemon_serves_coordinator_ping_over_zenoh

Stack Traces | 3.94s run time

tmp_path = PosixPath('.../pytest-0/popen-gw2/test_daemon_serves_coordinator0')

    def test_daemon_serves_coordinator_ping_over_zenoh(tmp_path: Path) -> None:
        env = os.environ | {
            "DIMOS_TRANSPORT": "zenoh",
            # Never touch the developer's real registry/config, even without xdist.
            "XDG_STATE_HOME": str(tmp_path / "state"),
            "XDG_CONFIG_HOME": str(tmp_path / "config"),
        }
        # File, not pipe: the daemon's forkserver inherits the CLI's stdout/stderr
        # and holds them open forever, so a pipe would block subprocess.run.
        run_log = tmp_path / "run.log"
        try:
            with run_log.open("w") as log:
                run = subprocess.run(
                    [
                        sys.executable,
                        "-m",
                        "dimos.cli.dimos",
                        "run",
                        "demo-mcp-stress-test",
                        "--daemon",
                        "--disable",
                        "mcp-server",
                        "--viewer",
                        "none",
                        "--n-workers",
                        "1",
                    ],
                    env=env,
                    stdin=subprocess.DEVNULL,
                    stdout=log,
                    stderr=log,
                    timeout=120,
                )
>           assert run.returncode == 0, f"dimos run --daemon failed:\n{run_log.read_text()}"
E           AssertionError: dimos run --daemon failed:
E             Traceback (most recent call last):
E               File "<frozen runpy>", line 198, in _run_module_as_main
E               File "<frozen runpy>", line 88, in _run_code
E               File ".../dimos/cli/dimos.py", line 59, in <module>
E                 from dimos.cli.commands.imitation import imitation_app
E               File ".../cli/commands/imitation.py", line 47, in <module>
E                 from dimos.msgs.imitation_msgs.EpisodeStatus import EpisodeStatus
E               File ".../msgs/imitation_msgs/EpisodeStatus.py", line 19, in <module>
E                 from dimos_lcm.imitation_msgs import EpisodeStatus as LCMEpisodeStatus
E             ModuleNotFoundError: No module named 'dimos_lcm.imitation_msgs'
E             
E           assert 1 == 0
E            +  where 1 = CompletedProcess(args=['.../dimos/dimos/.venv/bin/python', '-m', 'dimos.cli.dimos', 'run', 'demo-mcp-stress-test', '--daemon', '--disable', 'mcp-server', '--viewer', 'none', '--n-workers', '1'], returncode=1).returncode

env        = {'ACCEPT_EULA': 'Y', 'ACTIONS_ID_TOKEN_REQUEST_TOKEN': 'eyJhbGciOiJSUzI1NiIsImtpZCI6IjM4ODI2YjE3LTZhMzAtNWY5Yi1iMTY5LT...-version=2.0', 'ACTIONS_ORCHESTRATION_ID': 'bc251adc-7ce4-43af-bf76-ff83a7a8591e.tests.ubuntu-24_04-arm_3_14_fal', ...}
log        = <_io.TextIOWrapper name='.../pytest-0/popen-gw2/test_daemon_serves_coordinator0/run.log' mode='w' encoding='UTF-8'>
run        = CompletedProcess(args=['.../dimos/dimos/.venv/bin/python', '-m', 'dimos.cli.dimos', 'run', 'demo-mcp-stress-test', '--daemon', '--disable', 'mcp-server', '--viewer', 'none', '--n-workers', '1'], returncode=1)
run_log    = PosixPath('.../pytest-0/popen-gw2/test_daemon_serves_coordinator0/run.log')
tmp_path   = PosixPath('.../pytest-0/popen-gw2/test_daemon_serves_coordinator0')

dimos/core/test_daemon_zenoh.py:96: AssertionError

dimos.codebase_checks.test_no_underscore_assign::test_no_underscore_assignment

Stack Traces | 8.14s run time

def test_no_underscore_assignment():
        """Fail if any file assigns to a bare `_`."""
        dimos_dir = DIMOS_PROJECT_ROOT / "dimos"
        hits = find_underscore_assignments()
        if hits:
            listing = "\n".join(f"  - {p.relative_to(dimos_dir)}:{lineno}" for p, lineno in hits)
>           raise AssertionError(
                f"Found assignment(s) to `_` in dimos/:\n{listing}\n\n"
                "Assigning to `_` is not allowed: it hides an unused variable instead "
                "of removing it. Delete the variable. If you only need the "
                "expression's side effect, evaluate it directly with a call "
                "(`obj.method()`, `getattr(obj, 'attr')`) or log it; a bare attribute "
                "access needs `# noqa: B018`. Tuple unpacking (`a, _ = f()`) is fine "
                "and not flagged by this rule."
            )
E           AssertionError: Found assignment(s) to `_` in dimos/:
E             - .../python/abc_minimal/fast_inference.py:110
E           
E           Assigning to `_` is not allowed: it hides an unused variable instead of removing it. Delete the variable. If you only need the expression's side effect, evaluate it directly with a call (`obj.method()`, `getattr(obj, 'attr')`) or log it; a bare attribute access needs `# noqa: B018`. Tuple unpacking (`a, _ = f()`) is fine and not flagged by this rule.

dimos_dir  = PosixPath('.../dimos/dimos/dimos')
hits       = [(PosixPath('.../dimos/dimos/dimos/.../python/abc_minimal/fast_inference.py'), 110)]
listing    = '  - .../python/abc_minimal/fast_inference.py:110'

dimos/codebase_checks/test_no_underscore_assign.py:55: AssertionError

dimos.e2e_tests.test_control_coordinator.TestControlCoordinatorE2E::test_coordinator_cancel_trajectory

Stack Traces | 30.1s run time

self = <dimos.e2e_tests.test_control_coordinator.TestControlCoordinatorE2E object at 0xff5c577f4a10>
lcm_spy = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0xff5bce345430>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0xff5c4292ef20>

    def test_coordinator_cancel_trajectory(self, lcm_spy, start_blueprint) -> None:
        """Test that a running trajectory can be cancelled."""
        lcm_spy.save_topic("/coordinator_joint_state#sensor_msgs.JointState")
    
        # Start coordinator
        start_blueprint("coordinator-mock")
>       lcm_spy.wait_for_saved_topic("/coordinator_joint_state#sensor_msgs.JointState")

lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0xff5bce345430>
self       = <dimos.e2e_tests.test_control_coordinator.TestControlCoordinatorE2E object at 0xff5c577f4a10>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0xff5c4292ef20>

dimos/e2e_tests/test_control_coordinator.py:160: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/e2e_tests/lcm_spy.py:97: in wait_for_saved_topic
    wait_until(
        condition  = <function LcmSpy.wait_for_saved_topic.<locals>.condition at 0xff5c4292d300>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0xff5bce345430>
        timeout    = 30.0
        topic      = '/coordinator_joint_state#sensor_msgs.JointState'
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

predicate = <function LcmSpy.wait_for_saved_topic.<locals>.condition at 0xff5c4292d300>

    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: Timeout waiting for topic /coordinator_joint_state#sensor_msgs.JointState

deadline   = 413.737675752
interval   = 0.1
message    = 'Timeout waiting for topic /coordinator_joint_state#sensor_msgs.JointState'
predicate  = <function LcmSpy.wait_for_saved_topic.<locals>.condition at 0xff5c4292d300>
timeout    = 30.0

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

dimos.e2e_tests.test_control_coordinator.TestControlCoordinatorE2E::test_coordinator_starts_and_responds_to_rpc

Stack Traces | 30.1s run time

self = <dimos.e2e_tests.test_control_coordinator.TestControlCoordinatorE2E object at 0xff5c577f4290>
lcm_spy = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0xff5bce71c4d0>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0xff5c4292d4e0>

    def test_coordinator_starts_and_responds_to_rpc(self, lcm_spy, start_blueprint) -> None:
        """Test that coordinator starts and responds to RPC queries."""
        # Save topics we care about (LCM topics include type suffix)
        joint_state_topic = "/coordinator_joint_state#sensor_msgs.JointState"
        lcm_spy.save_topic(joint_state_topic)
        lcm_spy.save_topic(".../ControlCoordinator/list_joints/res")
        lcm_spy.save_topic(".../ControlCoordinator/list_tasks/res")
    
        # Start the mock coordinator blueprint
        start_blueprint("coordinator-mock")
    
        # Wait for joint state to be published (proves tick loop is running)
>       lcm_spy.wait_for_saved_topic(joint_state_topic)

joint_state_topic = '/coordinator_joint_state#sensor_msgs.JointState'
lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0xff5bce71c4d0>
self       = <dimos.e2e_tests.test_control_coordinator.TestControlCoordinatorE2E object at 0xff5c577f4290>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0xff5c4292d4e0>

dimos/e2e_tests/test_control_coordinator.py:51: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/e2e_tests/lcm_spy.py:97: in wait_for_saved_topic
    wait_until(
        condition  = <function LcmSpy.wait_for_saved_topic.<locals>.condition at 0xff5c4292ede0>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0xff5bce71c4d0>
        timeout    = 30.0
        topic      = '/coordinator_joint_state#sensor_msgs.JointState'
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

predicate = <function LcmSpy.wait_for_saved_topic.<locals>.condition at 0xff5c4292ede0>

    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: Timeout waiting for topic /coordinator_joint_state#sensor_msgs.JointState

deadline   = 323.263227269
interval   = 0.1
message    = 'Timeout waiting for topic /coordinator_joint_state#sensor_msgs.JointState'
predicate  = <function LcmSpy.wait_for_saved_topic.<locals>.condition at 0xff5c4292ede0>
timeout    = 30.0

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

dimos.e2e_tests.test_control_coordinator.TestControlCoordinatorE2E::test_coordinator_executes_trajectory

Stack Traces | 30.1s run time

self = <dimos.e2e_tests.test_control_coordinator.TestControlCoordinatorE2E object at 0xff5c577f41d0>
lcm_spy = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0xff5bce277710>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0xff5c4292e020>
wait_until = <function wait_until at 0xff5ca9203920>

    def test_coordinator_executes_trajectory(self, lcm_spy, start_blueprint, wait_until) -> None:
        """Test that coordinator executes a trajectory via RPC."""
        # Save topics
        lcm_spy.save_topic("/coordinator_joint_state#sensor_msgs.JointState")
    
        # Start coordinator
        start_blueprint("coordinator-mock")
    
        # Wait for it to be ready
>       lcm_spy.wait_for_saved_topic("/coordinator_joint_state#sensor_msgs.JointState")

lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0xff5bce277710>
self       = <dimos.e2e_tests.test_control_coordinator.TestControlCoordinatorE2E object at 0xff5c577f41d0>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0xff5c4292e020>
wait_until = <function wait_until at 0xff5ca9203920>

dimos/e2e_tests/test_control_coordinator.py:83: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/e2e_tests/lcm_spy.py:97: in wait_for_saved_topic
    wait_until(
        condition  = <function LcmSpy.wait_for_saved_topic.<locals>.condition at 0xff5c4292f1a0>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0xff5bce277710>
        timeout    = 30.0
        topic      = '/coordinator_joint_state#sensor_msgs.JointState'
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

predicate = <function LcmSpy.wait_for_saved_topic.<locals>.condition at 0xff5c4292f1a0>

    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: Timeout waiting for topic /coordinator_joint_state#sensor_msgs.JointState

deadline   = 353.407293352
interval   = 0.1
message    = 'Timeout waiting for topic /coordinator_joint_state#sensor_msgs.JointState'
predicate  = <function LcmSpy.wait_for_saved_topic.<locals>.condition at 0xff5c4292f1a0>
timeout    = 30.0

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

dimos.e2e_tests.test_control_coordinator.TestControlCoordinatorE2E::test_dual_arm_coordinator

Stack Traces | 30.1s run time

self = <dimos.e2e_tests.test_control_coordinator.TestControlCoordinatorE2E object at 0xff5c577f4ce0>
lcm_spy = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0xff5c411f1970>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0xff5c4292cf40>
wait_until = <function wait_until at 0xff5ca9203920>

    def test_dual_arm_coordinator(self, lcm_spy, start_blueprint, wait_until) -> None:
        """Test dual-arm coordinator moving both arms with one combined trajectory."""
        lcm_spy.save_topic("/coordinator_joint_state#sensor_msgs.JointState")
    
        # Start dual-arm mock coordinator
        start_blueprint("coordinator-dual-mock")
>       lcm_spy.wait_for_saved_topic("/coordinator_joint_state#sensor_msgs.JointState")

lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0xff5c411f1970>
self       = <dimos.e2e_tests.test_control_coordinator.TestControlCoordinatorE2E object at 0xff5c577f4ce0>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0xff5c4292cf40>
wait_until = <function wait_until at 0xff5ca9203920>

dimos/e2e_tests/test_control_coordinator.py:203: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/e2e_tests/lcm_spy.py:97: in wait_for_saved_topic
    wait_until(
        condition  = <function LcmSpy.wait_for_saved_topic.<locals>.condition at 0xff5c4292e340>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0xff5c411f1970>
        timeout    = 30.0
        topic      = '/coordinator_joint_state#sensor_msgs.JointState'
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

predicate = <function LcmSpy.wait_for_saved_topic.<locals>.condition at 0xff5c4292e340>

    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: Timeout waiting for topic /coordinator_joint_state#sensor_msgs.JointState

deadline   = 443.880153911
interval   = 0.1
message    = 'Timeout waiting for topic /coordinator_joint_state#sensor_msgs.JointState'
predicate  = <function LcmSpy.wait_for_saved_topic.<locals>.condition at 0xff5c4292e340>
timeout    = 30.0

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

dimos.e2e_tests.test_control_coordinator.TestControlCoordinatorE2E::test_coordinator_joint_state_published

Stack Traces | 30.1s run time

self = <dimos.e2e_tests.test_control_coordinator.TestControlCoordinatorE2E object at 0xff5c577f4740>
lcm_spy = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0xff5bce96e5a0>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0xff5c4292ee80>

    def test_coordinator_joint_state_published(self, lcm_spy, start_blueprint) -> None:
        """Test that joint state messages are published at expected rate."""
        joint_state_topic = "/coordinator_joint_state#sensor_msgs.JointState"
        lcm_spy.save_topic(joint_state_topic)
    
        # Start coordinator
        start_blueprint("coordinator-mock")
    
        # Wait for initial message
>       lcm_spy.wait_for_saved_topic(joint_state_topic)

joint_state_topic = '/coordinator_joint_state#sensor_msgs.JointState'
lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0xff5bce96e5a0>
self       = <dimos.e2e_tests.test_control_coordinator.TestControlCoordinatorE2E object at 0xff5c577f4740>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0xff5c4292ee80>

dimos/e2e_tests/test_control_coordinator.py:133: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/e2e_tests/lcm_spy.py:97: in wait_for_saved_topic
    wait_until(
        condition  = <function LcmSpy.wait_for_saved_topic.<locals>.condition at 0xff5c4292de40>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0xff5bce96e5a0>
        timeout    = 30.0
        topic      = '/coordinator_joint_state#sensor_msgs.JointState'
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

predicate = <function LcmSpy.wait_for_saved_topic.<locals>.condition at 0xff5c4292de40>

    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: Timeout waiting for topic /coordinator_joint_state#sensor_msgs.JointState

deadline   = 383.567474832
interval   = 0.1
message    = 'Timeout waiting for topic /coordinator_joint_state#sensor_msgs.JointState'
predicate  = <function LcmSpy.wait_for_saved_topic.<locals>.condition at 0xff5c4292de40>
timeout    = 30.0

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

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[TomCC7]

specific config appearing in general cli command file is a scope pollution, meaning that some design is wrong in implementation

[TomCC7]

what is this weird helper function what is _get why is this needed...

[TomCC7]

then these connection profile are also kind of static assumption.... I guess it's generally kind of hard to define a clean enough cli interface but it's worth thinking definitely

[TomCC7]

wtf how is this even python code.... why would the class factory be this awkward...

[TomCC7]

can we make the implementation cleaner

[TomCC7]

why not put these validation logic in field validator

[TomCC7]

bad naming for a helper function