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This was referenced Nov 4, 2026
Codecov Report✅ All modified and coverable lines are covered by tests. @@ Coverage Diff @@
## jeff/feat/usd_manager_rename #5033 +/- ##
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+ Coverage 82.46% 83.80% +1.33%
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Files 1872 1879 +7
Lines 184720 185634 +914
Branches 15505 15389 -116
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+ Hits 152338 155566 +3228
+ Misses 28396 26039 -2357
- Partials 3986 4029 +43
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Nabla7
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go2 replay realtime (arm64)
Details
| Benchmark suite | Current: 467453a | Previous: 5bc57a0 | Ratio |
|---|---|---|---|
peak memory |
1743.148 MB |
1776.91 MB |
0.98 |
peak threads |
371 threads |
376 threads |
0.99 |
network (transport) |
2725.802 MB |
2730.972 MB |
1.00 |
disk write |
1.828 MB |
1.59 MB |
1.15 |
instructions |
137.132 G |
138.52 G |
0.99 |
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Nabla7
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changed the base branch from
jeff/feat/shared_config
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pim/feat/sim2-usd-shared-config
November 10, 2026 00:07
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November 10, 2026 00:27
Nabla7
requested review from
Dreamsorcerer,
TomCC7,
aclauer,
jeff-hykin,
leshy,
mustafab0,
paul-nechifor and
spomichter
as code owners
November 10, 2026 00:27
Contributor
 [Medium impact] The changes reach manipulator command paths, sensor timestamp decoding, and optional simulation installs. The reviewed changes appear safe to merge, with a non-blocking fix needed for JPEG tests on machines without libturbojpeg. Findings
SummaryReplaces the local joint-command type with
Nabla7 explicitly identifies the draft Reviews (1) · Last reviewed commit: "Respect USD wheel availability in the si..." · Reviewed by Greptile |
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| @pytest.mark.parametrize("stamp", [0.0, 0.125]) | ||
| def test_lcm_round_trip_preserves_zero_and_subsecond_timestamps(stamp): |
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The new timestamp test calls lcm_jpeg_encode() without @pytest.mark.skipif_no_turbojpeg. If native libturbojpeg is missing on a developer's machine, both cases fail instead of skipping, unlike the existing JPEG test below. Add the same marker, or split the raw and JPEG checks so the raw checks still run.
Suggested change
| @pytest.mark.parametrize("stamp", [0.0, 0.125]) | |
| def test_lcm_round_trip_preserves_zero_and_subsecond_timestamps(stamp): | |
| @pytest.mark.skipif_no_turbojpeg | |
| @pytest.mark.parametrize("stamp", [0.0, 0.125]) | |
| def test_lcm_round_trip_preserves_zero_and_subsecond_timestamps(stamp): |
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Nabla7
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November 11, 2026 02:48
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Integrate Option G codecs directly above Jeff's USD-manager prerequisite (#5111), preserving ROS JointCommand and sensor/TF schemas with the pinned dimos-lcm #31 and native MuJoCo 4.0 USD support.