Pim/feat/g1 groot wbc part 3

[Nabla7]

Problem

Closes DIM-XXX

Solution

How to Test

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[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
2039	1	2038	69

View the top 1 failed test(s) by shortest run time

dimos.types.test_timestamped::test_timestamp_alignment

Stack Traces | 20.1s run time

test_scheduler = <reactivex.scheduler.threadpoolscheduler.ThreadPoolScheduler object at 0x7c4535fd7470>

    @pytest.mark.self_hosted
    @pytest.mark.skipif_macos_bug
    def test_timestamp_alignment(test_scheduler) -> None:
        speed = 5.0
    
        # ensure that lfs package is downloaded
        get_data("unitree_office_walk")
    
        raw_frames = []
    
        def spy(image):
            raw_frames.append(image.ts)
            print(image.ts)
            return image
    
        # sensor reply of raw video frames
        video_raw = (
            LegacyPickleStore(
                "unitree_office_walk/video", autocast=lambda x: Image.from_numpy(x).to_rgb()
            )
            .stream(speed)
            .pipe(ops.take(30))
        )
    
        processed_frames = []
    
        def process_video_frame(frame):
            processed_frames.append(frame.ts)
            time.sleep(0.5 / speed)
            return frame
    
        # fake reply of some 0.5s processor of video frames that drops messages
        # Pass the scheduler to backpressure to manage threads properly
        fake_video_processor = backpressure(
            video_raw.pipe(ops.map(spy)), scheduler=test_scheduler
        ).pipe(ops.map(process_video_frame))
    
        aligned_frames = align_timestamped(fake_video_processor, video_raw).pipe(ops.to_list()).run()
    
        assert len(raw_frames) == 30
        assert len(processed_frames) >= 2
>       assert len(aligned_frames) >= 2
E       AssertionError: assert 1 >= 2
E        +  where 1 = len([(Image(shape=(720, 1280, 3), format=RGB, dtype=uint8, frame_id='', ts=1779491439.0002713), Image(shape=(720, 1280, 3), format=RGB, dtype=uint8, frame_id='', ts=1779491438.9322538))])

aligned_frames = [(Image(shape=(720, 1280, 3), format=RGB, dtype=uint8, frame_id='', ts=1779491439.0002713), Image(shape=(720, 1280, 3), format=RGB, dtype=uint8, frame_id='', ts=1779491438.9322538))]
fake_video_processor = <reactivex.observable.observable.Observable object at 0x7c4535fe0f50>
process_video_frame = <function test_timestamp_alignment.<locals>.process_video_frame at 0x7c4535fc47c0>
processed_frames = [1779491439.0002713, 1779491439.002054, 1779491440.0448275]
raw_frames = [1779491439.0002713, 1779491439.002054, 1779491439.0034208, 1779491439.8667595, 1779491439.9635835, 1779491439.9690166, ...]
speed      = 5.0
spy        = <function test_timestamp_alignment.<locals>.spy at 0x7c4535fc5300>
test_scheduler = <reactivex.scheduler.threadpoolscheduler.ThreadPoolScheduler object at 0x7c4535fd7470>
video_raw  = <reactivex.observable.observable.Observable object at 0x7c4535fe2a80>

dimos/types/test_timestamped.py:325: AssertionError

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[Nabla7]

why is this here, unnecessary comment. Undo.

[Nabla7]

@mustafab0 is it ok if imu lives here?

[Nabla7]

@mustafab0 , same here getting imu state is now part of the control tick loop because I need to get it from somewhere and controlcoordinator is the canonical interface for hardware, it makes sense that it would provide imu bit it does extend the responsibility of controlcoordinator beyond that of pure joint control, what are your thoughts here?

[Nabla7]

this does bloat mujoco sim module, probably needs to be moved elsewhere along with other robot specific logic.