[Nabla7]

Superseded: #5033–#5041 now depend directly on Jeff's USD-manager prerequisite #5111 and use ordinary startup RPCs and explicit camera dependencies, so the shared-config hook and coordinator changes are no longer needed.

[github-actions]

go2 replay realtime (arm64)

Details

Benchmark suite	Current: 9cb3cea	Previous: 0e021a9	Ratio
peak memory	1745.422 MB	1768.871 MB	0.99
peak threads	377 threads	370 threads	1.02
network (transport)	2725.808 MB	2736.293 MB	1.00
disk write	1.629 MB	1.59 MB	1.02
instructions	136.859 G	138.629 G	0.99

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

[codecov]

❌ 2 Tests Failed:

Tests completed	Failed	Passed	Skipped
7905	2	7903	113

View the top 2 failed test(s) by shortest run time

dimos.robot.assets.test_model::test_a_usd_model_from_a_file_is_read_lazily

Stack Traces | 0.003s run time

def load_pxr() -> Pxr:
        global _PXR
        if _PXR is not None:
            return _PXR
        with _PXR_LOCK:
            if _PXR is None:
                _let_mujoco_register_its_schemas_first()
                try:
>                   from pxr import Gf, Sdf, Tf, Usd, UsdGeom, UsdPhysics, Vt
E                   ModuleNotFoundError: No module named 'pxr'


.../robot/assets/usd.py:53: ModuleNotFoundError

The above exception was the direct cause of the following exception:

tmp_path = PosixPath('.../pytest-0/popen-gw0/test_a_usd_model_from_a_file_i0')

    def test_a_usd_model_from_a_file_is_read_lazily(tmp_path: Path) -> None:
        scene = tmp_path / "room.usda"
        model = robot_model.UsdModel.from_file(scene)
    
        scene.write_text(_SCENE_USDA)
    
        assert model.usd == _SCENE_USDA
>       assert model.root_link == "room"

model      = UsdModel(_source_path=PosixPath('.../pytest-0/popen-gw0/test_a_usd_model_from_a_file_i0/room.usda'), _urdf=None, _text=None, _added_frames=())
scene      = PosixPath('.../pytest-0/popen-gw0/test_a_usd_model_from_a_file_i0/room.usda')
tmp_path   = PosixPath('.../pytest-0/popen-gw0/test_a_usd_model_from_a_file_i0')

.../robot/assets/test_model.py:871: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../robot/assets/model.py:200: in root_link
    return usd_root_link(self.usd, self._asset_root())
        self       = UsdModel(_source_path=PosixPath('.../pytest-0/popen-gw0/test_a_usd_model_from_a_file_i0/room.usda'), _urdf=None, _text=None, _added_frames=())
        usd_root_link = <function usd_root_link at 0xff62f7213420>
.../robot/assets/usd_to_urdf.py:73: in usd_root_link
    pxr = load_pxr()
        root       = PosixPath('.../pytest-0/popen-gw0/test_a_usd_model_from_a_file_i0')
        usd        = '#usda 1.0\n(\n    defaultPrim = "room"\n)\n\ndef Xform "room" (\n    prepend apiSchemas = ["PhysicsRigidBodyAPI"]\n)\n{\n}\n'
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    def load_pxr() -> Pxr:
        global _PXR
        if _PXR is not None:
            return _PXR
        with _PXR_LOCK:
            if _PXR is None:
                _let_mujoco_register_its_schemas_first()
                try:
                    from pxr import Gf, Sdf, Tf, Usd, UsdGeom, UsdPhysics, Vt
                except ImportError as exc:  # pragma: no cover - only where the extra is absent
>                   raise ImportError(_NO_USD) from exc
E                   ImportError: Reading or writing USD needs usd-core (pxr), which is in the 'sim' and 'scene' extras: uv sync --extra sim. On linux-aarch64 a wheel exists only from usd-core 26.11 and only for Python 3.11 and up, so a 3.10 arm robot cannot serve USD at all.


.../robot/assets/usd.py:55: ImportError

dimos.robot.test_usd_manager::test_a_world_manager_has_no_asset_root_to_offer

Stack Traces | 0.036s run time

def load_pxr() -> Pxr:
        global _PXR
        if _PXR is not None:
            return _PXR
        with _PXR_LOCK:
            if _PXR is None:
                _let_mujoco_register_its_schemas_first()
                try:
>                   from pxr import Gf, Sdf, Tf, Usd, UsdGeom, UsdPhysics, Vt
E                   ModuleNotFoundError: No module named 'pxr'


.../robot/assets/usd.py:53: ModuleNotFoundError

The above exception was the direct cause of the following exception:

    def test_a_world_manager_has_no_asset_root_to_offer() -> None:
        module = UsdManager()
        try:
>           assert module.get_usd()[0] == ""

module     = <dimos.robot.usd_manager.UsdManager object at 0xffe3865c20f0>

dimos/robot/test_usd_manager.py:1229: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/usd_manager.py:259: in get_usd
    usd = self._description.usd
        self       = <dimos.robot.usd_manager.UsdManager object at 0xffe3865c20f0>
../...../_temp/uv-python-dir/cpython-3.12.16-linux-aarch64-gnu/lib/python3.12/functools.py:998: in __get__
    val = self.func(instance)
        cache      = {'_added_frames': (), '_source_path': None, '_text': None, '_urdf': LoadedRobotModel(xml='<robot name="world"><link name="world" /></robot>', source_path=None, package_paths={})}
        instance   = UsdModel(_source_path=None, _urdf=LoadedRobotModel(xml='<robot name="world"><link name="world" /></robot>', source_path=None, package_paths={}), _text=None, _added_frames=())
        owner      = <class 'dimos.robot.assets.model.UsdModel'>
        self       = <functools.cached_property object at 0xffe43cbbf890>
        val        = <object object at 0xffe481c00290>
.../robot/assets/model.py:143: in usd
    return self._with_added_frames(self._layer())
        self       = UsdModel(_source_path=None, _urdf=LoadedRobotModel(xml='<robot name="world"><link name="world" /></robot>', source_path=None, package_paths={}), _text=None, _added_frames=())
.../robot/assets/model.py:166: in _layer
    return urdf_to_usd(self._urdf)
        self       = UsdModel(_source_path=None, _urdf=LoadedRobotModel(xml='<robot name="world"><link name="world" /></robot>', source_path=None, package_paths={}), _text=None, _added_frames=())
        urdf_to_usd = <function urdf_to_usd at 0xffe3ffa611c0>
.../robot/assets/urdf_to_usd.py:62: in urdf_to_usd
    pxr = load_pxr()
        include_collision = True
        model      = LoadedRobotModel(xml='<robot name="world"><link name="world" /></robot>', source_path=None, package_paths={})
        name       = None
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    def load_pxr() -> Pxr:
        global _PXR
        if _PXR is not None:
            return _PXR
        with _PXR_LOCK:
            if _PXR is None:
                _let_mujoco_register_its_schemas_first()
                try:
                    from pxr import Gf, Sdf, Tf, Usd, UsdGeom, UsdPhysics, Vt
                except ImportError as exc:  # pragma: no cover - only where the extra is absent
>                   raise ImportError(_NO_USD) from exc
E                   ImportError: Reading or writing USD needs usd-core (pxr), which is in the 'sim' and 'scene' extras: uv sync --extra sim. On linux-aarch64 a wheel exists only from usd-core 26.11 and only for Python 3.11 and up, so a 3.10 arm robot cannot serve USD at all.


.../robot/assets/usd.py:55: ImportError

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[greptile-apps]

Confidence Score: 4/5

[Medium impact] The change adds an opt-in config-sharing path to module startup.

Fix shared-configuration delivery during receiver restart before merging.

Findings

1.  Restart loses shared settings ▶

Summary

Adds @shared_config getters and a SharedConfigModule receiver.

• Modules can share config values before they build.

_{Reviews (1) · Last reviewed commit: "Keep Jeff shared configuration above his..." · Reviewed by Greptile}

[greptile-apps]

Restart loses shared settings

Restarting a SharedConfigModule creates a fresh receiver, but _restart_module() calls its build() and start() without delivering its shared configuration. Delivery only runs during initial build and load_blueprint(). For example, restarting the supplied _Collector leaves _received empty and _built_after_receive false, even though its senders are still running.

Call _share_configs([name]) after restoring the restarted module's connections and before new_proxy.build().

Knowledge Base Used: Distributed runtime and module hosting