feat(galaxea): r1pro kronknav blueprint fed by lidar and head depth - #4019

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jeff/feat/r1_nav

jeff-hykin commented Sep 9, 2026 •

edited

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r1pro nav blueprint using kronk nav. Lidar and head depth both feed the raytracing map, each with its own tf frame.


          feat(galaxea): add r1pro kronknav blueprint fed by lidar and head depth

0be095e

The head camera sits on the 4-DOF torso, so its pose cannot be a static
transform. Adds a pinocchio FK publisher driven by motor_states, plus a
depth-to-cloud module, so both clouds reach the raytracing voxel map with
their own frame_id rather than being merged into one.

jeff-hykin temporarily deployed to cachix

September 9, 2026 17:32

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codecov Bot commented Sep 9, 2026 •

edited

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❌ 7 Tests Failed:

Tests completed	Failed	Passed	Skipped
5409	7	5402	108

View the full list of 7 ❄️ flaky test(s)

dimos.experimental.memory.test_rust_recorder_e2e::test_cli_recording_uses_existing_binary_for_both_formats[mcap]

Flake rate in main: 42.86% (Passed 4 times, Failed 3 times)

Stack Traces | 0s run time

@pytest.fixture(scope="module")
    def rust_recorder_executable() -> Path:
>       subprocess.run(
            [
                "nix",
                "--extra-experimental-features",
                "nix-command flakes",
                "build",
                "-L",
                ".#dimos-memory-recorder",
                "--no-write-lock-file",
            ],
            cwd=_RUST_PACKAGE,
            check=True,
        )


.../experimental/memory/test_rust_recorder_e2e.py:78: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
../../../../..../uv/python/cpython-3.12.13-macos-aarch64-none/lib/python3.12/subprocess.py:548: in run
    with Popen(*popenargs, **kwargs) as process:
        capture_output = False
        check      = True
        input      = None
        kwargs     = {'cwd': PosixPath('.../experimental/memory/rust')}
        popenargs  = (['nix', '--extra-experimental-features', 'nix-command flakes', 'build', '-L', '.#dimos-memory-recorder', ...],)
        timeout    = None
../../../../..../uv/python/cpython-3.12.13-macos-aarch64-none/lib/python3.12/subprocess.py:1026: in __init__
    self._execute_child(args, executable, preexec_fn, close_fds,
        args       = ['nix', '--extra-experimental-features', 'nix-command flakes', 'build', '-L', '.#dimos-memory-recorder', ...]
        bufsize    = -1
        c2pread    = -1
        c2pwrite   = -1
        close_fds  = True
        creationflags = 0
        cwd        = PosixPath('.../experimental/memory/rust')
        encoding   = None
        env        = None
        errors     = None
        errread    = -1
        errwrite   = -1
        executable = None
        extra_groups = None
        gid        = None
        gids       = None
        group      = None
        p2cread    = -1
        p2cwrite   = -1
        pass_fds   = ()
        pipesize   = -1
        preexec_fn = None
        process_group = -1
        restore_signals = True
        self       = <Popen: returncode: 255 args: ['nix', '--extra-experimental-features', 'nix-...>
        shell      = False
        start_new_session = False
        startupinfo = None
        stderr     = None
        stdin      = None
        stdout     = None
        text       = None
        uid        = None
        umask      = -1
        universal_newlines = None
        user       = None
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <Popen: returncode: 255 args: ['nix', '--extra-experimental-features', 'nix-...>
args = ['nix', '--extra-experimental-features', 'nix-command flakes', 'build', '-L', '.#dimos-memory-recorder', ...]
executable = b'nix', preexec_fn = None, close_fds = True, pass_fds = ()
cwd = PosixPath('.../experimental/memory/rust')
env = None, startupinfo = None, creationflags = 0, shell = False, p2cread = -1
p2cwrite = -1, c2pread = -1, c2pwrite = -1, errread = -1, errwrite = -1
restore_signals = True, gid = None, gids = None, uid = None, umask = -1
start_new_session = False, process_group = -1

    def _execute_child(self, args, executable, preexec_fn, close_fds,
                       pass_fds, cwd, env,
                       startupinfo, creationflags, shell,
                       p2cread, p2cwrite,
                       c2pread, c2pwrite,
                       errread, errwrite,
                       restore_signals,
                       gid, gids, uid, umask,
                       start_new_session, process_group):
        """Execute program (POSIX version)"""
    
        if isinstance(args, (str, bytes)):
            args = [args]
        elif isinstance(args, os.PathLike):
            if shell:
                raise TypeError('path-like args is not allowed when '
                                'shell is true')
            args = [args]
        else:
            args = list(args)
    
        if shell:
            # On Android the default shell is at '....../system/bin/sh'.
            unix_shell = ('....../system/bin/sh' if
                      hasattr(sys, 'getandroidapilevel') else '/bin/sh')
            args = [unix_shell, "-c"] + args
            if executable:
                args[0] = executable
    
        if executable is None:
            executable = args[0]
    
        sys.audit("subprocess.Popen", executable, args, cwd, env)
    
        if (_USE_POSIX_SPAWN
                and os.path.dirname(executable)
                and preexec_fn is None
                and not close_fds
                and not pass_fds
                and cwd is None
                and (p2cread == -1 or p2cread > 2)
                and (c2pwrite == -1 or c2pwrite > 2)
                and (errwrite == -1 or errwrite > 2)
                and not start_new_session
                and process_group == -1
                and gid is None
                and gids is None
                and uid is None
                and umask < 0):
            self._posix_spawn(args, executable, env, restore_signals,
                              p2cread, p2cwrite,
                              c2pread, c2pwrite,
                              errread, errwrite)
            return
    
        orig_executable = executable
    
        # For transferring possible exec failure from child to parent.
        # Data format: "exception name:hex errno:description"
        # Pickle is not used; it is complex and involves memory allocation.
        errpipe_read, errpipe_write = os.pipe()
        # errpipe_write must not be in the standard io 0, 1, or 2 fd range.
        low_fds_to_close = []
        while errpipe_write < 3:
            low_fds_to_close.append(errpipe_write)
            errpipe_write = os.dup(errpipe_write)
        for low_fd in low_fds_to_close:
            os.close(low_fd)
        try:
            try:
                # We must avoid complex work that could involve
                # malloc or free in the child process to avoid
                # potential deadlocks, thus we do all this here.
                # and pass it to fork_exec()
    
                if env is not None:
                    env_list = []
                    for k, v in env.items():
                        k = os.fsencode(k)
                        if b'=' in k:
                            raise ValueError("illegal environment variable name")
                        env_list.append(k + b'=' + os.fsencode(v))
                else:
                    env_list = None  # Use execv instead of execve.
                executable = os.fsencode(executable)
                if os.path.dirname(executable):
                    executable_list = (executable,)
                else:
                    # This matches the behavior of os._execvpe().
                    executable_list = tuple(
                        os.path.join(os.fsencode(dir), executable)
                        for dir in os.get_exec_path(env))
                fds_to_keep = set(pass_fds)
                fds_to_keep.add(errpipe_write)
                self.pid = _fork_exec(
                        args, executable_list,
                        close_fds, tuple(sorted(map(int, fds_to_keep))),
                        cwd, env_list,
                        p2cread, p2cwrite, c2pread, c2pwrite,
                        errread, errwrite,
                        errpipe_read, errpipe_write,
                        restore_signals, start_new_session,
                        process_group, gid, gids, uid, umask,
                        preexec_fn, _USE_VFORK)
                self._child_created = True
            finally:
                # be sure the FD is closed no matter what
                os.close(errpipe_write)
    
            self._close_pipe_fds(p2cread, p2cwrite,
                                 c2pread, c2pwrite,
                                 errread, errwrite)
    
            # Wait for exec to fail or succeed; possibly raising an
            # exception (limited in size)
            errpipe_data = bytearray()
            while True:
                part = os.read(errpipe_read, 50000)
                errpipe_data += part
                if not part or len(errpipe_data) > 50000:
                    break
        finally:
            # be sure the FD is closed no matter what
            os.close(errpipe_read)
    
        if errpipe_data:
            try:
                pid, sts = os.waitpid(self.pid, 0)
                if pid == self.pid:
                    self._handle_exitstatus(sts)
                else:
                    self.returncode = sys.maxsize
            except ChildProcessError:
                pass
    
            try:
                exception_name, hex_errno, err_msg = (
                        errpipe_data.split(b':', 2))
                # The encoding here should match the encoding
                # written in by the subprocess implementations
                # like _posixsubprocess
                err_msg = err_msg.decode()
            except ValueError:
                exception_name = b'SubprocessError'
                hex_errno = b'0'
                err_msg = 'Bad exception data from child: {!r}'.format(
                              bytes(errpipe_data))
            child_exception_type = getattr(
                    builtins, exception_name.decode('ascii'),
                    SubprocessError)
            if issubclass(child_exception_type, OSError) and hex_errno:
                errno_num = int(hex_errno, 16)
                if err_msg == "noexec:chdir":
                    err_msg = ""
                    # The error must be from chdir(cwd).
                    err_filename = cwd
                elif err_msg == "noexec":
                    err_msg = ""
                    err_filename = None
                else:
                    err_filename = orig_executable
                if errno_num != 0:
                    err_msg = os.strerror(errno_num)
                if err_filename is not None:
>                   raise child_exception_type(errno_num, err_msg, err_filename)
E                   FileNotFoundError: [Errno 2] No such file or directory: 'nix'

args       = ['nix', '--extra-experimental-features', 'nix-command flakes', 'build', '-L', '.#dimos-memory-recorder', ...]
c2pread    = -1
c2pwrite   = -1
child_exception_type = <class 'OSError'>
close_fds  = True
creationflags = 0
cwd        = PosixPath('.../experimental/memory/rust')
env        = None
env_list   = None
err_filename = 'nix'
err_msg    = 'No such file or directory'
errno_num  = 2
errpipe_data = bytearray(b'OSError:2:')
errpipe_read = 300
errpipe_write = 301
errread    = -1
errwrite   = -1
exception_name = bytearray(b'OSError')
executable = b'nix'
executable_list = (b'.../dimos/dimos/.venv/bin/nix', b'....../Users/ec2-user/.local.../uv/python/nix', b'/...l/uv/0.12.12/aarch64/nix', b'....../Users/ec2-user/.local/bin/nix', b'.../homebrew/bin/nix', b'.../homebrew/sbin/nix', ...)
fds_to_keep = {301}
gid        = None
gids       = None
hex_errno  = bytearray(b'2')
low_fds_to_close = []
orig_executable = 'nix'
p2cread    = -1
p2cwrite   = -1
part       = b''
pass_fds   = ()
pid        = 87608
preexec_fn = None
process_group = -1
restore_signals = True
self       = <Popen: returncode: 255 args: ['nix', '--extra-experimental-features', 'nix-...>
shell      = False
start_new_session = False
startupinfo = None
sts        = 65280
uid        = None
umask      = -1

../../../../..../uv/python/cpython-3.12.13-macos-aarch64-none/lib/python3.12/subprocess.py:1955: FileNotFoundError

dimos.experimental.memory.test_rust_recorder_e2e::test_cli_recording_uses_existing_binary_for_both_formats[sqlite]

Flake rate in main: 42.86% (Passed 4 times, Failed 3 times)

Stack Traces | 0s run time

@pytest.fixture(scope="module")
    def rust_recorder_executable() -> Path:
>       subprocess.run(
            [
                "nix",
                "--extra-experimental-features",
                "nix-command flakes",
                "build",
                "-L",
                ".#dimos-memory-recorder",
                "--no-write-lock-file",
            ],
            cwd=_RUST_PACKAGE,
            check=True,
        )


.../experimental/memory/test_rust_recorder_e2e.py:78: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
../../../../..../uv/python/cpython-3.12.13-macos-aarch64-none/lib/python3.12/subprocess.py:548: in run
    with Popen(*popenargs, **kwargs) as process:
        capture_output = False
        check      = True
        input      = None
        kwargs     = {'cwd': PosixPath('.../experimental/memory/rust')}
        popenargs  = (['nix', '--extra-experimental-features', 'nix-command flakes', 'build', '-L', '.#dimos-memory-recorder', ...],)
        timeout    = None
../../../../..../uv/python/cpython-3.12.13-macos-aarch64-none/lib/python3.12/subprocess.py:1026: in __init__
    self._execute_child(args, executable, preexec_fn, close_fds,
        args       = ['nix', '--extra-experimental-features', 'nix-command flakes', 'build', '-L', '.#dimos-memory-recorder', ...]
        bufsize    = -1
        c2pread    = -1
        c2pwrite   = -1
        close_fds  = True
        creationflags = 0
        cwd        = PosixPath('.../experimental/memory/rust')
        encoding   = None
        env        = None
        errors     = None
        errread    = -1
        errwrite   = -1
        executable = None
        extra_groups = None
        gid        = None
        gids       = None
        group      = None
        p2cread    = -1
        p2cwrite   = -1
        pass_fds   = ()
        pipesize   = -1
        preexec_fn = None
        process_group = -1
        restore_signals = True
        self       = <Popen: returncode: 255 args: ['nix', '--extra-experimental-features', 'nix-...>
        shell      = False
        start_new_session = False
        startupinfo = None
        stderr     = None
        stdin      = None
        stdout     = None
        text       = None
        uid        = None
        umask      = -1
        universal_newlines = None
        user       = None
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <Popen: returncode: 255 args: ['nix', '--extra-experimental-features', 'nix-...>
args = ['nix', '--extra-experimental-features', 'nix-command flakes', 'build', '-L', '.#dimos-memory-recorder', ...]
executable = b'nix', preexec_fn = None, close_fds = True, pass_fds = ()
cwd = PosixPath('.../experimental/memory/rust')
env = None, startupinfo = None, creationflags = 0, shell = False, p2cread = -1
p2cwrite = -1, c2pread = -1, c2pwrite = -1, errread = -1, errwrite = -1
restore_signals = True, gid = None, gids = None, uid = None, umask = -1
start_new_session = False, process_group = -1

    def _execute_child(self, args, executable, preexec_fn, close_fds,
                       pass_fds, cwd, env,
                       startupinfo, creationflags, shell,
                       p2cread, p2cwrite,
                       c2pread, c2pwrite,
                       errread, errwrite,
                       restore_signals,
                       gid, gids, uid, umask,
                       start_new_session, process_group):
        """Execute program (POSIX version)"""
    
        if isinstance(args, (str, bytes)):
            args = [args]
        elif isinstance(args, os.PathLike):
            if shell:
                raise TypeError('path-like args is not allowed when '
                                'shell is true')
            args = [args]
        else:
            args = list(args)
    
        if shell:
            # On Android the default shell is at '....../system/bin/sh'.
            unix_shell = ('....../system/bin/sh' if
                      hasattr(sys, 'getandroidapilevel') else '/bin/sh')
            args = [unix_shell, "-c"] + args
            if executable:
                args[0] = executable
    
        if executable is None:
            executable = args[0]
    
        sys.audit("subprocess.Popen", executable, args, cwd, env)
    
        if (_USE_POSIX_SPAWN
                and os.path.dirname(executable)
                and preexec_fn is None
                and not close_fds
                and not pass_fds
                and cwd is None
                and (p2cread == -1 or p2cread > 2)
                and (c2pwrite == -1 or c2pwrite > 2)
                and (errwrite == -1 or errwrite > 2)
                and not start_new_session
                and process_group == -1
                and gid is None
                and gids is None
                and uid is None
                and umask < 0):
            self._posix_spawn(args, executable, env, restore_signals,
                              p2cread, p2cwrite,
                              c2pread, c2pwrite,
                              errread, errwrite)
            return
    
        orig_executable = executable
    
        # For transferring possible exec failure from child to parent.
        # Data format: "exception name:hex errno:description"
        # Pickle is not used; it is complex and involves memory allocation.
        errpipe_read, errpipe_write = os.pipe()
        # errpipe_write must not be in the standard io 0, 1, or 2 fd range.
        low_fds_to_close = []
        while errpipe_write < 3:
            low_fds_to_close.append(errpipe_write)
            errpipe_write = os.dup(errpipe_write)
        for low_fd in low_fds_to_close:
            os.close(low_fd)
        try:
            try:
                # We must avoid complex work that could involve
                # malloc or free in the child process to avoid
                # potential deadlocks, thus we do all this here.
                # and pass it to fork_exec()
    
                if env is not None:
                    env_list = []
                    for k, v in env.items():
                        k = os.fsencode(k)
                        if b'=' in k:
                            raise ValueError("illegal environment variable name")
                        env_list.append(k + b'=' + os.fsencode(v))
                else:
                    env_list = None  # Use execv instead of execve.
                executable = os.fsencode(executable)
                if os.path.dirname(executable):
                    executable_list = (executable,)
                else:
                    # This matches the behavior of os._execvpe().
                    executable_list = tuple(
                        os.path.join(os.fsencode(dir), executable)
                        for dir in os.get_exec_path(env))
                fds_to_keep = set(pass_fds)
                fds_to_keep.add(errpipe_write)
                self.pid = _fork_exec(
                        args, executable_list,
                        close_fds, tuple(sorted(map(int, fds_to_keep))),
                        cwd, env_list,
                        p2cread, p2cwrite, c2pread, c2pwrite,
                        errread, errwrite,
                        errpipe_read, errpipe_write,
                        restore_signals, start_new_session,
                        process_group, gid, gids, uid, umask,
                        preexec_fn, _USE_VFORK)
                self._child_created = True
            finally:
                # be sure the FD is closed no matter what
                os.close(errpipe_write)
    
            self._close_pipe_fds(p2cread, p2cwrite,
                                 c2pread, c2pwrite,
                                 errread, errwrite)
    
            # Wait for exec to fail or succeed; possibly raising an
            # exception (limited in size)
            errpipe_data = bytearray()
            while True:
                part = os.read(errpipe_read, 50000)
                errpipe_data += part
                if not part or len(errpipe_data) > 50000:
                    break
        finally:
            # be sure the FD is closed no matter what
            os.close(errpipe_read)
    
        if errpipe_data:
            try:
                pid, sts = os.waitpid(self.pid, 0)
                if pid == self.pid:
                    self._handle_exitstatus(sts)
                else:
                    self.returncode = sys.maxsize
            except ChildProcessError:
                pass
    
            try:
                exception_name, hex_errno, err_msg = (
                        errpipe_data.split(b':', 2))
                # The encoding here should match the encoding
                # written in by the subprocess implementations
                # like _posixsubprocess
                err_msg = err_msg.decode()
            except ValueError:
                exception_name = b'SubprocessError'
                hex_errno = b'0'
                err_msg = 'Bad exception data from child: {!r}'.format(
                              bytes(errpipe_data))
            child_exception_type = getattr(
                    builtins, exception_name.decode('ascii'),
                    SubprocessError)
            if issubclass(child_exception_type, OSError) and hex_errno:
                errno_num = int(hex_errno, 16)
                if err_msg == "noexec:chdir":
                    err_msg = ""
                    # The error must be from chdir(cwd).
                    err_filename = cwd
                elif err_msg == "noexec":
                    err_msg = ""
                    err_filename = None
                else:
                    err_filename = orig_executable
                if errno_num != 0:
                    err_msg = os.strerror(errno_num)
                if err_filename is not None:
>                   raise child_exception_type(errno_num, err_msg, err_filename)
E                   FileNotFoundError: [Errno 2] No such file or directory: 'nix'

args       = ['nix', '--extra-experimental-features', 'nix-command flakes', 'build', '-L', '.#dimos-memory-recorder', ...]
c2pread    = -1
c2pwrite   = -1
child_exception_type = <class 'OSError'>
close_fds  = True
creationflags = 0
cwd        = PosixPath('.../experimental/memory/rust')
env        = None
env_list   = None
err_filename = 'nix'
err_msg    = 'No such file or directory'
errno_num  = 2
errpipe_data = bytearray(b'OSError:2:')
errpipe_read = 300
errpipe_write = 301
errread    = -1
errwrite   = -1
exception_name = bytearray(b'OSError')
executable = b'nix'
executable_list = (b'.../dimos/dimos/.venv/bin/nix', b'....../Users/ec2-user/.local.../uv/python/nix', b'/...l/uv/0.12.12/aarch64/nix', b'....../Users/ec2-user/.local/bin/nix', b'.../homebrew/bin/nix', b'.../homebrew/sbin/nix', ...)
fds_to_keep = {301}
gid        = None
gids       = None
hex_errno  = bytearray(b'2')
low_fds_to_close = []
orig_executable = 'nix'
p2cread    = -1
p2cwrite   = -1
part       = b''
pass_fds   = ()
pid        = 87608
preexec_fn = None
process_group = -1
restore_signals = True
self       = <Popen: returncode: 255 args: ['nix', '--extra-experimental-features', 'nix-...>
shell      = False
start_new_session = False
startupinfo = None
sts        = 65280
uid        = None
umask      = -1

../../../../..../uv/python/cpython-3.12.13-macos-aarch64-none/lib/python3.12/subprocess.py:1955: FileNotFoundError

dimos.experimental.memory.test_rust_recorder_e2e::test_rust_artifact_is_readable_by_python_memory2[mcap]

Flake rate in main: 42.86% (Passed 4 times, Failed 3 times)

Stack Traces | 0s run time

@pytest.fixture(scope="module")
    def rust_recorder_executable() -> Path:
>       subprocess.run(
            [
                "nix",
                "--extra-experimental-features",
                "nix-command flakes",
                "build",
                "-L",
                ".#dimos-memory-recorder",
                "--no-write-lock-file",
            ],
            cwd=_RUST_PACKAGE,
            check=True,
        )


.../experimental/memory/test_rust_recorder_e2e.py:78: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
../../../../..../uv/python/cpython-3.12.13-macos-aarch64-none/lib/python3.12/subprocess.py:548: in run
    with Popen(*popenargs, **kwargs) as process:
        capture_output = False
        check      = True
        input      = None
        kwargs     = {'cwd': PosixPath('.../experimental/memory/rust')}
        popenargs  = (['nix', '--extra-experimental-features', 'nix-command flakes', 'build', '-L', '.#dimos-memory-recorder', ...],)
        timeout    = None
../../../../..../uv/python/cpython-3.12.13-macos-aarch64-none/lib/python3.12/subprocess.py:1026: in __init__
    self._execute_child(args, executable, preexec_fn, close_fds,
        args       = ['nix', '--extra-experimental-features', 'nix-command flakes', 'build', '-L', '.#dimos-memory-recorder', ...]
        bufsize    = -1
        c2pread    = -1
        c2pwrite   = -1
        close_fds  = True
        creationflags = 0
        cwd        = PosixPath('.../experimental/memory/rust')
        encoding   = None
        env        = None
        errors     = None
        errread    = -1
        errwrite   = -1
        executable = None
        extra_groups = None
        gid        = None
        gids       = None
        group      = None
        p2cread    = -1
        p2cwrite   = -1
        pass_fds   = ()
        pipesize   = -1
        preexec_fn = None
        process_group = -1
        restore_signals = True
        self       = <Popen: returncode: 255 args: ['nix', '--extra-experimental-features', 'nix-...>
        shell      = False
        start_new_session = False
        startupinfo = None
        stderr     = None
        stdin      = None
        stdout     = None
        text       = None
        uid        = None
        umask      = -1
        universal_newlines = None
        user       = None
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <Popen: returncode: 255 args: ['nix', '--extra-experimental-features', 'nix-...>
args = ['nix', '--extra-experimental-features', 'nix-command flakes', 'build', '-L', '.#dimos-memory-recorder', ...]
executable = b'nix', preexec_fn = None, close_fds = True, pass_fds = ()
cwd = PosixPath('.../experimental/memory/rust')
env = None, startupinfo = None, creationflags = 0, shell = False, p2cread = -1
p2cwrite = -1, c2pread = -1, c2pwrite = -1, errread = -1, errwrite = -1
restore_signals = True, gid = None, gids = None, uid = None, umask = -1
start_new_session = False, process_group = -1

    def _execute_child(self, args, executable, preexec_fn, close_fds,
                       pass_fds, cwd, env,
                       startupinfo, creationflags, shell,
                       p2cread, p2cwrite,
                       c2pread, c2pwrite,
                       errread, errwrite,
                       restore_signals,
                       gid, gids, uid, umask,
                       start_new_session, process_group):
        """Execute program (POSIX version)"""
    
        if isinstance(args, (str, bytes)):
            args = [args]
        elif isinstance(args, os.PathLike):
            if shell:
                raise TypeError('path-like args is not allowed when '
                                'shell is true')
            args = [args]
        else:
            args = list(args)
    
        if shell:
            # On Android the default shell is at '....../system/bin/sh'.
            unix_shell = ('....../system/bin/sh' if
                      hasattr(sys, 'getandroidapilevel') else '/bin/sh')
            args = [unix_shell, "-c"] + args
            if executable:
                args[0] = executable
    
        if executable is None:
            executable = args[0]
    
        sys.audit("subprocess.Popen", executable, args, cwd, env)
    
        if (_USE_POSIX_SPAWN
                and os.path.dirname(executable)
                and preexec_fn is None
                and not close_fds
                and not pass_fds
                and cwd is None
                and (p2cread == -1 or p2cread > 2)
                and (c2pwrite == -1 or c2pwrite > 2)
                and (errwrite == -1 or errwrite > 2)
                and not start_new_session
                and process_group == -1
                and gid is None
                and gids is None
                and uid is None
                and umask < 0):
            self._posix_spawn(args, executable, env, restore_signals,
                              p2cread, p2cwrite,
                              c2pread, c2pwrite,
                              errread, errwrite)
            return
    
        orig_executable = executable
    
        # For transferring possible exec failure from child to parent.
        # Data format: "exception name:hex errno:description"
        # Pickle is not used; it is complex and involves memory allocation.
        errpipe_read, errpipe_write = os.pipe()
        # errpipe_write must not be in the standard io 0, 1, or 2 fd range.
        low_fds_to_close = []
        while errpipe_write < 3:
            low_fds_to_close.append(errpipe_write)
            errpipe_write = os.dup(errpipe_write)
        for low_fd in low_fds_to_close:
            os.close(low_fd)
        try:
            try:
                # We must avoid complex work that could involve
                # malloc or free in the child process to avoid
                # potential deadlocks, thus we do all this here.
                # and pass it to fork_exec()
    
                if env is not None:
                    env_list = []
                    for k, v in env.items():
                        k = os.fsencode(k)
                        if b'=' in k:
                            raise ValueError("illegal environment variable name")
                        env_list.append(k + b'=' + os.fsencode(v))
                else:
                    env_list = None  # Use execv instead of execve.
                executable = os.fsencode(executable)
                if os.path.dirname(executable):
                    executable_list = (executable,)
                else:
                    # This matches the behavior of os._execvpe().
                    executable_list = tuple(
                        os.path.join(os.fsencode(dir), executable)
                        for dir in os.get_exec_path(env))
                fds_to_keep = set(pass_fds)
                fds_to_keep.add(errpipe_write)
                self.pid = _fork_exec(
                        args, executable_list,
                        close_fds, tuple(sorted(map(int, fds_to_keep))),
                        cwd, env_list,
                        p2cread, p2cwrite, c2pread, c2pwrite,
                        errread, errwrite,
                        errpipe_read, errpipe_write,
                        restore_signals, start_new_session,
                        process_group, gid, gids, uid, umask,
                        preexec_fn, _USE_VFORK)
                self._child_created = True
            finally:
                # be sure the FD is closed no matter what
                os.close(errpipe_write)
    
            self._close_pipe_fds(p2cread, p2cwrite,
                                 c2pread, c2pwrite,
                                 errread, errwrite)
    
            # Wait for exec to fail or succeed; possibly raising an
            # exception (limited in size)
            errpipe_data = bytearray()
            while True:
                part = os.read(errpipe_read, 50000)
                errpipe_data += part
                if not part or len(errpipe_data) > 50000:
                    break
        finally:
            # be sure the FD is closed no matter what
            os.close(errpipe_read)
    
        if errpipe_data:
            try:
                pid, sts = os.waitpid(self.pid, 0)
                if pid == self.pid:
                    self._handle_exitstatus(sts)
                else:
                    self.returncode = sys.maxsize
            except ChildProcessError:
                pass
    
            try:
                exception_name, hex_errno, err_msg = (
                        errpipe_data.split(b':', 2))
                # The encoding here should match the encoding
                # written in by the subprocess implementations
                # like _posixsubprocess
                err_msg = err_msg.decode()
            except ValueError:
                exception_name = b'SubprocessError'
                hex_errno = b'0'
                err_msg = 'Bad exception data from child: {!r}'.format(
                              bytes(errpipe_data))
            child_exception_type = getattr(
                    builtins, exception_name.decode('ascii'),
                    SubprocessError)
            if issubclass(child_exception_type, OSError) and hex_errno:
                errno_num = int(hex_errno, 16)
                if err_msg == "noexec:chdir":
                    err_msg = ""
                    # The error must be from chdir(cwd).
                    err_filename = cwd
                elif err_msg == "noexec":
                    err_msg = ""
                    err_filename = None
                else:
                    err_filename = orig_executable
                if errno_num != 0:
                    err_msg = os.strerror(errno_num)
                if err_filename is not None:
>                   raise child_exception_type(errno_num, err_msg, err_filename)
E                   FileNotFoundError: [Errno 2] No such file or directory: 'nix'

args       = ['nix', '--extra-experimental-features', 'nix-command flakes', 'build', '-L', '.#dimos-memory-recorder', ...]
c2pread    = -1
c2pwrite   = -1
child_exception_type = <class 'OSError'>
close_fds  = True
creationflags = 0
cwd        = PosixPath('.../experimental/memory/rust')
env        = None
env_list   = None
err_filename = 'nix'
err_msg    = 'No such file or directory'
errno_num  = 2
errpipe_data = bytearray(b'OSError:2:')
errpipe_read = 300
errpipe_write = 301
errread    = -1
errwrite   = -1
exception_name = bytearray(b'OSError')
executable = b'nix'
executable_list = (b'.../dimos/dimos/.venv/bin/nix', b'....../Users/ec2-user/.local.../uv/python/nix', b'/...l/uv/0.12.12/aarch64/nix', b'....../Users/ec2-user/.local/bin/nix', b'.../homebrew/bin/nix', b'.../homebrew/sbin/nix', ...)
fds_to_keep = {301}
gid        = None
gids       = None
hex_errno  = bytearray(b'2')
low_fds_to_close = []
orig_executable = 'nix'
p2cread    = -1
p2cwrite   = -1
part       = b''
pass_fds   = ()
pid        = 87608
preexec_fn = None
process_group = -1
restore_signals = True
self       = <Popen: returncode: 255 args: ['nix', '--extra-experimental-features', 'nix-...>
shell      = False
start_new_session = False
startupinfo = None
sts        = 65280
uid        = None
umask      = -1

../../../../..../uv/python/cpython-3.12.13-macos-aarch64-none/lib/python3.12/subprocess.py:1955: FileNotFoundError

dimos.experimental.memory.test_rust_recorder_e2e::test_rust_artifact_is_readable_by_python_memory2[sqlite]

Flake rate in main: 42.86% (Passed 4 times, Failed 3 times)

Stack Traces | 0.018s run time

@pytest.fixture(scope="module")
    def rust_recorder_executable() -> Path:
>       subprocess.run(
            [
                "nix",
                "--extra-experimental-features",
                "nix-command flakes",
                "build",
                "-L",
                ".#dimos-memory-recorder",
                "--no-write-lock-file",
            ],
            cwd=_RUST_PACKAGE,
            check=True,
        )


.../experimental/memory/test_rust_recorder_e2e.py:78: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
../../../../..../uv/python/cpython-3.12.13-macos-aarch64-none/lib/python3.12/subprocess.py:548: in run
    with Popen(*popenargs, **kwargs) as process:
        capture_output = False
        check      = True
        input      = None
        kwargs     = {'cwd': PosixPath('.../experimental/memory/rust')}
        popenargs  = (['nix', '--extra-experimental-features', 'nix-command flakes', 'build', '-L', '.#dimos-memory-recorder', ...],)
        timeout    = None
../../../../..../uv/python/cpython-3.12.13-macos-aarch64-none/lib/python3.12/subprocess.py:1026: in __init__
    self._execute_child(args, executable, preexec_fn, close_fds,
        args       = ['nix', '--extra-experimental-features', 'nix-command flakes', 'build', '-L', '.#dimos-memory-recorder', ...]
        bufsize    = -1
        c2pread    = -1
        c2pwrite   = -1
        close_fds  = True
        creationflags = 0
        cwd        = PosixPath('.../experimental/memory/rust')
        encoding   = None
        env        = None
        errors     = None
        errread    = -1
        errwrite   = -1
        executable = None
        extra_groups = None
        gid        = None
        gids       = None
        group      = None
        p2cread    = -1
        p2cwrite   = -1
        pass_fds   = ()
        pipesize   = -1
        preexec_fn = None
        process_group = -1
        restore_signals = True
        self       = <Popen: returncode: 255 args: ['nix', '--extra-experimental-features', 'nix-...>
        shell      = False
        start_new_session = False
        startupinfo = None
        stderr     = None
        stdin      = None
        stdout     = None
        text       = None
        uid        = None
        umask      = -1
        universal_newlines = None
        user       = None
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <Popen: returncode: 255 args: ['nix', '--extra-experimental-features', 'nix-...>
args = ['nix', '--extra-experimental-features', 'nix-command flakes', 'build', '-L', '.#dimos-memory-recorder', ...]
executable = b'nix', preexec_fn = None, close_fds = True, pass_fds = ()
cwd = PosixPath('.../experimental/memory/rust')
env = None, startupinfo = None, creationflags = 0, shell = False, p2cread = -1
p2cwrite = -1, c2pread = -1, c2pwrite = -1, errread = -1, errwrite = -1
restore_signals = True, gid = None, gids = None, uid = None, umask = -1
start_new_session = False, process_group = -1

    def _execute_child(self, args, executable, preexec_fn, close_fds,
                       pass_fds, cwd, env,
                       startupinfo, creationflags, shell,
                       p2cread, p2cwrite,
                       c2pread, c2pwrite,
                       errread, errwrite,
                       restore_signals,
                       gid, gids, uid, umask,
                       start_new_session, process_group):
        """Execute program (POSIX version)"""
    
        if isinstance(args, (str, bytes)):
            args = [args]
        elif isinstance(args, os.PathLike):
            if shell:
                raise TypeError('path-like args is not allowed when '
                                'shell is true')
            args = [args]
        else:
            args = list(args)
    
        if shell:
            # On Android the default shell is at '....../system/bin/sh'.
            unix_shell = ('....../system/bin/sh' if
                      hasattr(sys, 'getandroidapilevel') else '/bin/sh')
            args = [unix_shell, "-c"] + args
            if executable:
                args[0] = executable
    
        if executable is None:
            executable = args[0]
    
        sys.audit("subprocess.Popen", executable, args, cwd, env)
    
        if (_USE_POSIX_SPAWN
                and os.path.dirname(executable)
                and preexec_fn is None
                and not close_fds
                and not pass_fds
                and cwd is None
                and (p2cread == -1 or p2cread > 2)
                and (c2pwrite == -1 or c2pwrite > 2)
                and (errwrite == -1 or errwrite > 2)
                and not start_new_session
                and process_group == -1
                and gid is None
                and gids is None
                and uid is None
                and umask < 0):
            self._posix_spawn(args, executable, env, restore_signals,
                              p2cread, p2cwrite,
                              c2pread, c2pwrite,
                              errread, errwrite)
            return
    
        orig_executable = executable
    
        # For transferring possible exec failure from child to parent.
        # Data format: "exception name:hex errno:description"
        # Pickle is not used; it is complex and involves memory allocation.
        errpipe_read, errpipe_write = os.pipe()
        # errpipe_write must not be in the standard io 0, 1, or 2 fd range.
        low_fds_to_close = []
        while errpipe_write < 3:
            low_fds_to_close.append(errpipe_write)
            errpipe_write = os.dup(errpipe_write)
        for low_fd in low_fds_to_close:
            os.close(low_fd)
        try:
            try:
                # We must avoid complex work that could involve
                # malloc or free in the child process to avoid
                # potential deadlocks, thus we do all this here.
                # and pass it to fork_exec()
    
                if env is not None:
                    env_list = []
                    for k, v in env.items():
                        k = os.fsencode(k)
                        if b'=' in k:
                            raise ValueError("illegal environment variable name")
                        env_list.append(k + b'=' + os.fsencode(v))
                else:
                    env_list = None  # Use execv instead of execve.
                executable = os.fsencode(executable)
                if os.path.dirname(executable):
                    executable_list = (executable,)
                else:
                    # This matches the behavior of os._execvpe().
                    executable_list = tuple(
                        os.path.join(os.fsencode(dir), executable)
                        for dir in os.get_exec_path(env))
                fds_to_keep = set(pass_fds)
                fds_to_keep.add(errpipe_write)
                self.pid = _fork_exec(
                        args, executable_list,
                        close_fds, tuple(sorted(map(int, fds_to_keep))),
                        cwd, env_list,
                        p2cread, p2cwrite, c2pread, c2pwrite,
                        errread, errwrite,
                        errpipe_read, errpipe_write,
                        restore_signals, start_new_session,
                        process_group, gid, gids, uid, umask,
                        preexec_fn, _USE_VFORK)
                self._child_created = True
            finally:
                # be sure the FD is closed no matter what
                os.close(errpipe_write)
    
            self._close_pipe_fds(p2cread, p2cwrite,
                                 c2pread, c2pwrite,
                                 errread, errwrite)
    
            # Wait for exec to fail or succeed; possibly raising an
            # exception (limited in size)
            errpipe_data = bytearray()
            while True:
                part = os.read(errpipe_read, 50000)
                errpipe_data += part
                if not part or len(errpipe_data) > 50000:
                    break
        finally:
            # be sure the FD is closed no matter what
            os.close(errpipe_read)
    
        if errpipe_data:
            try:
                pid, sts = os.waitpid(self.pid, 0)
                if pid == self.pid:
                    self._handle_exitstatus(sts)
                else:
                    self.returncode = sys.maxsize
            except ChildProcessError:
                pass
    
            try:
                exception_name, hex_errno, err_msg = (
                        errpipe_data.split(b':', 2))
                # The encoding here should match the encoding
                # written in by the subprocess implementations
                # like _posixsubprocess
                err_msg = err_msg.decode()
            except ValueError:
                exception_name = b'SubprocessError'
                hex_errno = b'0'
                err_msg = 'Bad exception data from child: {!r}'.format(
                              bytes(errpipe_data))
            child_exception_type = getattr(
                    builtins, exception_name.decode('ascii'),
                    SubprocessError)
            if issubclass(child_exception_type, OSError) and hex_errno:
                errno_num = int(hex_errno, 16)
                if err_msg == "noexec:chdir":
                    err_msg = ""
                    # The error must be from chdir(cwd).
                    err_filename = cwd
                elif err_msg == "noexec":
                    err_msg = ""
                    err_filename = None
                else:
                    err_filename = orig_executable
                if errno_num != 0:
                    err_msg = os.strerror(errno_num)
                if err_filename is not None:
>                   raise child_exception_type(errno_num, err_msg, err_filename)
E                   FileNotFoundError: [Errno 2] No such file or directory: 'nix'

args       = ['nix', '--extra-experimental-features', 'nix-command flakes', 'build', '-L', '.#dimos-memory-recorder', ...]
c2pread    = -1
c2pwrite   = -1
child_exception_type = <class 'OSError'>
close_fds  = True
creationflags = 0
cwd        = PosixPath('.../experimental/memory/rust')
env        = None
env_list   = None
err_filename = 'nix'
err_msg    = 'No such file or directory'
errno_num  = 2
errpipe_data = bytearray(b'OSError:2:')
errpipe_read = 300
errpipe_write = 301
errread    = -1
errwrite   = -1
exception_name = bytearray(b'OSError')
executable = b'nix'
executable_list = (b'.../dimos/dimos/.venv/bin/nix', b'....../Users/ec2-user/.local.../uv/python/nix', b'/...l/uv/0.12.12/aarch64/nix', b'....../Users/ec2-user/.local/bin/nix', b'.../homebrew/bin/nix', b'.../homebrew/sbin/nix', ...)
fds_to_keep = {301}
gid        = None
gids       = None
hex_errno  = bytearray(b'2')
low_fds_to_close = []
orig_executable = 'nix'
p2cread    = -1
p2cwrite   = -1
part       = b''
pass_fds   = ()
pid        = 87608
preexec_fn = None
process_group = -1
restore_signals = True
self       = <Popen: returncode: 255 args: ['nix', '--extra-experimental-features', 'nix-...>
shell      = False
start_new_session = False
startupinfo = None
sts        = 65280
uid        = None
umask      = -1

../../../../..../uv/python/cpython-3.12.13-macos-aarch64-none/lib/python3.12/subprocess.py:1955: FileNotFoundError

dimos.experimental.memory.test_rust_recorder_e2e::test_tf_records_over_zenoh_and_replays_through_python

Flake rate in main: 42.86% (Passed 4 times, Failed 3 times)

Stack Traces | 0s run time

@pytest.fixture(scope="module")
    def rust_recorder_executable() -> Path:
>       subprocess.run(
            [
                "nix",
                "--extra-experimental-features",
                "nix-command flakes",
                "build",
                "-L",
                ".#dimos-memory-recorder",
                "--no-write-lock-file",
            ],
            cwd=_RUST_PACKAGE,
            check=True,
        )


.../experimental/memory/test_rust_recorder_e2e.py:78: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
../../../../..../uv/python/cpython-3.12.13-macos-aarch64-none/lib/python3.12/subprocess.py:548: in run
    with Popen(*popenargs, **kwargs) as process:
        capture_output = False
        check      = True
        input      = None
        kwargs     = {'cwd': PosixPath('.../experimental/memory/rust')}
        popenargs  = (['nix', '--extra-experimental-features', 'nix-command flakes', 'build', '-L', '.#dimos-memory-recorder', ...],)
        timeout    = None
../../../../..../uv/python/cpython-3.12.13-macos-aarch64-none/lib/python3.12/subprocess.py:1026: in __init__
    self._execute_child(args, executable, preexec_fn, close_fds,
        args       = ['nix', '--extra-experimental-features', 'nix-command flakes', 'build', '-L', '.#dimos-memory-recorder', ...]
        bufsize    = -1
        c2pread    = -1
        c2pwrite   = -1
        close_fds  = True
        creationflags = 0
        cwd        = PosixPath('.../experimental/memory/rust')
        encoding   = None
        env        = None
        errors     = None
        errread    = -1
        errwrite   = -1
        executable = None
        extra_groups = None
        gid        = None
        gids       = None
        group      = None
        p2cread    = -1
        p2cwrite   = -1
        pass_fds   = ()
        pipesize   = -1
        preexec_fn = None
        process_group = -1
        restore_signals = True
        self       = <Popen: returncode: 255 args: ['nix', '--extra-experimental-features', 'nix-...>
        shell      = False
        start_new_session = False
        startupinfo = None
        stderr     = None
        stdin      = None
        stdout     = None
        text       = None
        uid        = None
        umask      = -1
        universal_newlines = None
        user       = None
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <Popen: returncode: 255 args: ['nix', '--extra-experimental-features', 'nix-...>
args = ['nix', '--extra-experimental-features', 'nix-command flakes', 'build', '-L', '.#dimos-memory-recorder', ...]
executable = b'nix', preexec_fn = None, close_fds = True, pass_fds = ()
cwd = PosixPath('.../experimental/memory/rust')
env = None, startupinfo = None, creationflags = 0, shell = False, p2cread = -1
p2cwrite = -1, c2pread = -1, c2pwrite = -1, errread = -1, errwrite = -1
restore_signals = True, gid = None, gids = None, uid = None, umask = -1
start_new_session = False, process_group = -1

    def _execute_child(self, args, executable, preexec_fn, close_fds,
                       pass_fds, cwd, env,
                       startupinfo, creationflags, shell,
                       p2cread, p2cwrite,
                       c2pread, c2pwrite,
                       errread, errwrite,
                       restore_signals,
                       gid, gids, uid, umask,
                       start_new_session, process_group):
        """Execute program (POSIX version)"""
    
        if isinstance(args, (str, bytes)):
            args = [args]
        elif isinstance(args, os.PathLike):
            if shell:
                raise TypeError('path-like args is not allowed when '
                                'shell is true')
            args = [args]
        else:
            args = list(args)
    
        if shell:
            # On Android the default shell is at '....../system/bin/sh'.
            unix_shell = ('....../system/bin/sh' if
                      hasattr(sys, 'getandroidapilevel') else '/bin/sh')
            args = [unix_shell, "-c"] + args
            if executable:
                args[0] = executable
    
        if executable is None:
            executable = args[0]
    
        sys.audit("subprocess.Popen", executable, args, cwd, env)
    
        if (_USE_POSIX_SPAWN
                and os.path.dirname(executable)
                and preexec_fn is None
                and not close_fds
                and not pass_fds
                and cwd is None
                and (p2cread == -1 or p2cread > 2)
                and (c2pwrite == -1 or c2pwrite > 2)
                and (errwrite == -1 or errwrite > 2)
                and not start_new_session
                and process_group == -1
                and gid is None
                and gids is None
                and uid is None
                and umask < 0):
            self._posix_spawn(args, executable, env, restore_signals,
                              p2cread, p2cwrite,
                              c2pread, c2pwrite,
                              errread, errwrite)
            return
    
        orig_executable = executable
    
        # For transferring possible exec failure from child to parent.
        # Data format: "exception name:hex errno:description"
        # Pickle is not used; it is complex and involves memory allocation.
        errpipe_read, errpipe_write = os.pipe()
        # errpipe_write must not be in the standard io 0, 1, or 2 fd range.
        low_fds_to_close = []
        while errpipe_write < 3:
            low_fds_to_close.append(errpipe_write)
            errpipe_write = os.dup(errpipe_write)
        for low_fd in low_fds_to_close:
            os.close(low_fd)
        try:
            try:
                # We must avoid complex work that could involve
                # malloc or free in the child process to avoid
                # potential deadlocks, thus we do all this here.
                # and pass it to fork_exec()
    
                if env is not None:
                    env_list = []
                    for k, v in env.items():
                        k = os.fsencode(k)
                        if b'=' in k:
                            raise ValueError("illegal environment variable name")
                        env_list.append(k + b'=' + os.fsencode(v))
                else:
                    env_list = None  # Use execv instead of execve.
                executable = os.fsencode(executable)
                if os.path.dirname(executable):
                    executable_list = (executable,)
                else:
                    # This matches the behavior of os._execvpe().
                    executable_list = tuple(
                        os.path.join(os.fsencode(dir), executable)
                        for dir in os.get_exec_path(env))
                fds_to_keep = set(pass_fds)
                fds_to_keep.add(errpipe_write)
                self.pid = _fork_exec(
                        args, executable_list,
                        close_fds, tuple(sorted(map(int, fds_to_keep))),
                        cwd, env_list,
                        p2cread, p2cwrite, c2pread, c2pwrite,
                        errread, errwrite,
                        errpipe_read, errpipe_write,
                        restore_signals, start_new_session,
                        process_group, gid, gids, uid, umask,
                        preexec_fn, _USE_VFORK)
                self._child_created = True
            finally:
                # be sure the FD is closed no matter what
                os.close(errpipe_write)
    
            self._close_pipe_fds(p2cread, p2cwrite,
                                 c2pread, c2pwrite,
                                 errread, errwrite)
    
            # Wait for exec to fail or succeed; possibly raising an
            # exception (limited in size)
            errpipe_data = bytearray()
            while True:
                part = os.read(errpipe_read, 50000)
                errpipe_data += part
                if not part or len(errpipe_data) > 50000:
                    break
        finally:
            # be sure the FD is closed no matter what
            os.close(errpipe_read)
    
        if errpipe_data:
            try:
                pid, sts = os.waitpid(self.pid, 0)
                if pid == self.pid:
                    self._handle_exitstatus(sts)
                else:
                    self.returncode = sys.maxsize
            except ChildProcessError:
                pass
    
            try:
                exception_name, hex_errno, err_msg = (
                        errpipe_data.split(b':', 2))
                # The encoding here should match the encoding
                # written in by the subprocess implementations
                # like _posixsubprocess
                err_msg = err_msg.decode()
            except ValueError:
                exception_name = b'SubprocessError'
                hex_errno = b'0'
                err_msg = 'Bad exception data from child: {!r}'.format(
                              bytes(errpipe_data))
            child_exception_type = getattr(
                    builtins, exception_name.decode('ascii'),
                    SubprocessError)
            if issubclass(child_exception_type, OSError) and hex_errno:
                errno_num = int(hex_errno, 16)
                if err_msg == "noexec:chdir":
                    err_msg = ""
                    # The error must be from chdir(cwd).
                    err_filename = cwd
                elif err_msg == "noexec":
                    err_msg = ""
                    err_filename = None
                else:
                    err_filename = orig_executable
                if errno_num != 0:
                    err_msg = os.strerror(errno_num)
                if err_filename is not None:
>                   raise child_exception_type(errno_num, err_msg, err_filename)
E                   FileNotFoundError: [Errno 2] No such file or directory: 'nix'

args       = ['nix', '--extra-experimental-features', 'nix-command flakes', 'build', '-L', '.#dimos-memory-recorder', ...]
c2pread    = -1
c2pwrite   = -1
child_exception_type = <class 'OSError'>
close_fds  = True
creationflags = 0
cwd        = PosixPath('.../experimental/memory/rust')
env        = None
env_list   = None
err_filename = 'nix'
err_msg    = 'No such file or directory'
errno_num  = 2
errpipe_data = bytearray(b'OSError:2:')
errpipe_read = 300
errpipe_write = 301
errread    = -1
errwrite   = -1
exception_name = bytearray(b'OSError')
executable = b'nix'
executable_list = (b'.../dimos/dimos/.venv/bin/nix', b'....../Users/ec2-user/.local.../uv/python/nix', b'/...l/uv/0.12.12/aarch64/nix', b'....../Users/ec2-user/.local/bin/nix', b'.../homebrew/bin/nix', b'.../homebrew/sbin/nix', ...)
fds_to_keep = {301}
gid        = None
gids       = None
hex_errno  = bytearray(b'2')
low_fds_to_close = []
orig_executable = 'nix'
p2cread    = -1
p2cwrite   = -1
part       = b''
pass_fds   = ()
pid        = 87608
preexec_fn = None
process_group = -1
restore_signals = True
self       = <Popen: returncode: 255 args: ['nix', '--extra-experimental-features', 'nix-...>
shell      = False
start_new_session = False
startupinfo = None
sts        = 65280
uid        = None
umask      = -1

../../../../..../uv/python/cpython-3.12.13-macos-aarch64-none/lib/python3.12/subprocess.py:1955: FileNotFoundError

dimos.hardware.whole_body.dual_openyam_damiao.test_adapter::test_adapter_connects_complete_dual_yam_topology

Flake rate in main: 42.86% (Passed 4 times, Failed 3 times)

Stack Traces | 0.001s run time

mocker = <pytest_mock.plugin.MockerFixture object at 0x3b3420170>

    @pytest.fixture
    def adapter(mocker: MockerFixture) -> Iterator[DualOpenYamDamiaoAdapter]:
>       mocker.patch.object(can_motor_control, "SocketCanBus", can_motor_control.MockCanBus)

mocker     = <pytest_mock.plugin.MockerFixture object at 0x3b3420170>

.../whole_body/dual_openyam_damiao/test_adapter.py:32: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.venv/lib/python3.12....../site-packages/pytest_mock/plugin.py:294: in object
    return self._start_patch(
        attribute  = 'SocketCanBus'
        autospec   = None
        create     = False
        kwargs     = {}
        new        = <class 'can_motor_control.MockCanBus'>
        new_callable = None
        self       = <pytest_mock.plugin.MockerFixture._Patcher object at 0x3b34201d0>
        spec       = None
        spec_set   = None
        target     = <module 'can_motor_control' from '.../dimos/dimos/.venv/lib/python3.12............/site-packages/can_motor_control/__init__.py'>
.venv/lib/python3.12....../site-packages/pytest_mock/plugin.py:263: in _start_patch
    mocked: MockType = p.start()
        args       = (<module 'can_motor_control' from '.../dimos/dimos/.venv/lib/python3.12............/site-packages/can_motor_control/__init__.py'>, 'SocketCanBus')
        kwargs     = {'autospec': None, 'create': False, 'new': <class 'can_motor_control.MockCanBus'>, 'new_callable': None, ...}
        mock_func  = <function _patch_object at 0x1056e72e0>
        p          = <unittest.mock._patch object at 0x3b34200b0>
        self       = <pytest_mock.plugin.MockerFixture._Patcher object at 0x3b34201d0>
        warn_on_mock_enter = True
../../../../..../uv/python/cpython-3.12.13-macos-aarch64-none/lib/python3.12/unittest/mock.py:1624: in start
    result = self.__enter__()
        self       = <unittest.mock._patch object at 0x3b34200b0>
../../../../..../uv/python/cpython-3.12.13-macos-aarch64-none/lib/python3.12/unittest/mock.py:1467: in __enter__
    original, local = self.get_original()
        autospec   = None
        kwargs     = {}
        new        = <class 'can_motor_control.MockCanBus'>
        new_callable = None
        self       = <unittest.mock._patch object at 0x3b34200b0>
        spec       = None
        spec_set   = None
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <unittest.mock._patch object at 0x3b34200b0>

    def get_original(self):
        target = self.getter()
        name = self.attribute
    
        original = DEFAULT
        local = False
    
        try:
            original = target.__dict__[name]
        except (AttributeError, KeyError):
            original = getattr(target, name, DEFAULT)
        else:
            local = True
    
        if name in _builtins and isinstance(target, ModuleType):
            self.create = True
    
        if not self.create and original is DEFAULT:
>           raise AttributeError(
                "%s does not have the attribute %r" % (target, name)
            )
E           AttributeError: <module 'can_motor_control' from '.../dimos/dimos/.venv/lib/python3.12............/site-packages/can_motor_control/__init__.py'> does not have the attribute 'SocketCanBus'

local      = False
name       = 'SocketCanBus'
original   = sentinel.DEFAULT
self       = <unittest.mock._patch object at 0x3b34200b0>
target     = <module 'can_motor_control' from '.../dimos/dimos/.venv/lib/python3.12............/site-packages/can_motor_control/__init__.py'>

../../../../..../uv/python/cpython-3.12.13-macos-aarch64-none/lib/python3.12/unittest/mock.py:1437: AttributeError

dimos.hardware.whole_body.openarm_damiao.test_adapter::test_openarm_feedback_limits_match_urdf_joint_limits

Flake rate in main: 42.86% (Passed 4 times, Failed 3 times)

Stack Traces | 0.001s run time

mocker = <pytest_mock.plugin.MockerFixture object at 0x3b3432270>

    @pytest.fixture
    def openarm_adapter(mocker: MockerFixture) -> Iterator[OpenArmDamiaoAdapter]:
>       mocker.patch.object(can_motor_control, "SocketCanBus", can_motor_control.MockCanBus)

mocker     = <pytest_mock.plugin.MockerFixture object at 0x3b3432270>

.../whole_body/openarm_damiao/test_adapter.py:33: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.venv/lib/python3.12....../site-packages/pytest_mock/plugin.py:294: in object
    return self._start_patch(
        attribute  = 'SocketCanBus'
        autospec   = None
        create     = False
        kwargs     = {}
        new        = <class 'can_motor_control.MockCanBus'>
        new_callable = None
        self       = <pytest_mock.plugin.MockerFixture._Patcher object at 0x3b34322d0>
        spec       = None
        spec_set   = None
        target     = <module 'can_motor_control' from '.../dimos/dimos/.venv/lib/python3.12............/site-packages/can_motor_control/__init__.py'>
.venv/lib/python3.12....../site-packages/pytest_mock/plugin.py:263: in _start_patch
    mocked: MockType = p.start()
        args       = (<module 'can_motor_control' from '.../dimos/dimos/.venv/lib/python3.12............/site-packages/can_motor_control/__init__.py'>, 'SocketCanBus')
        kwargs     = {'autospec': None, 'create': False, 'new': <class 'can_motor_control.MockCanBus'>, 'new_callable': None, ...}
        mock_func  = <function _patch_object at 0x1056e72e0>
        p          = <unittest.mock._patch object at 0x3b3432300>
        self       = <pytest_mock.plugin.MockerFixture._Patcher object at 0x3b34322d0>
        warn_on_mock_enter = True
../../../../..../uv/python/cpython-3.12.13-macos-aarch64-none/lib/python3.12/unittest/mock.py:1624: in start
    result = self.__enter__()
        self       = <unittest.mock._patch object at 0x3b3432300>
../../../../..../uv/python/cpython-3.12.13-macos-aarch64-none/lib/python3.12/unittest/mock.py:1467: in __enter__
    original, local = self.get_original()
        autospec   = None
        kwargs     = {}
        new        = <class 'can_motor_control.MockCanBus'>
        new_callable = None
        self       = <unittest.mock._patch object at 0x3b3432300>
        spec       = None
        spec_set   = None
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <unittest.mock._patch object at 0x3b3432300>

    def get_original(self):
        target = self.getter()
        name = self.attribute
    
        original = DEFAULT
        local = False
    
        try:
            original = target.__dict__[name]
        except (AttributeError, KeyError):
            original = getattr(target, name, DEFAULT)
        else:
            local = True
    
        if name in _builtins and isinstance(target, ModuleType):
            self.create = True
    
        if not self.create and original is DEFAULT:
>           raise AttributeError(
                "%s does not have the attribute %r" % (target, name)
            )
E           AttributeError: <module 'can_motor_control' from '.../dimos/dimos/.venv/lib/python3.12............/site-packages/can_motor_control/__init__.py'> does not have the attribute 'SocketCanBus'

local      = False
name       = 'SocketCanBus'
original   = sentinel.DEFAULT
self       = <unittest.mock._patch object at 0x3b3432300>
target     = <module 'can_motor_control' from '.../dimos/dimos/.venv/lib/python3.12............/site-packages/can_motor_control/__init__.py'>

../../../../..../uv/python/cpython-3.12.13-macos-aarch64-none/lib/python3.12/unittest/mock.py:1437: AttributeError

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jeff-hykin added 2 commits

September 9, 2026 11:24


          refactor(galaxea): let the connection publish every R1 transform

ac3772a

Frame ids are configuration, not constants, so they move out of
constants.py onto R1ProConnectionConfig. The standalone
JointStateTfPublisher goes away with them: R1ProConnection already owns the
joint states, so it derives the articulated transforms itself and publishes
the whole R1 tree on one port.

test_replay gains the head camera's reason to exist. A slab is authored in
base_link above the chassis lidar, back-projected into a depth image through
the transform the connection derives from joint angles, then rebuilt through
replay, DepthCloud and tf. Dropping that transform, stacking a second optical
rotation on it, or letting the cloud inherit the vendor's optical frame
instead of the calibration frame each move the points somewhere else.

Both suites start the shared reactivex pool's workers in a module fixture.
The pool spawns them lazily, so the first test to move a message through one
otherwise looks to conftest's thread monitor like it leaked them.


          Merge remote-tracking branch 'origin/jeff/fix/depth_codec' into jeff/…

ffbed7e

…feat/r1_nav

jeff-hykin changed the base branch from main to jeff/fix/depth_codec

September 9, 2026 18:37

jeff-hykin temporarily deployed to cachix

September 9, 2026 18:38

— with

GitHub Actions Inactive


          feat(depth_cloud): make depth unprojection a Rust native module

5c0fd0d

Per-pixel unprojection of a 1280x720 frame in numpy was the slowest link
in the head-camera path. Move it into a native module so the work runs in
a subprocess off the Python bus, and drive the R1's replay streams and
zenoh transports off one topic table instead of two hand-kept lists.

- depth_cloud is now a declarative NativeModule over a Rust binary; the
  11 geometry tests move to unproject.rs, and module.rs gains three more
  pinning the frame_id precedence the Python test used to cover.
- topics.py holds every R1 Pro wire topic. r1pro_coordinator builds its
  transports from it and R1ProReplay derives its stream names from it, so
  renaming a topic can no longer make a replayed stream silently vanish.
- Replay's camera_info YAML fallback is gone. Galaxea publishes no
  camera_info, so the connection puts the robot's per-unit calibration on
  head_camera_info; a recording that skipped that stream is one to redo.

Clippy was run by hand (`cargo clippy -p dimos-depth-cloud --all-targets
-- -D warnings`, clean) because the pre-commit hook's nix devShell cannot
evaluate on macOS.

jeff-hykin had a problem deploying to cachix

September 9, 2026 19:45

— with

GitHub Actions Failure


          fix(memory): let the recorder's nix source see the depth_cloud crate

7b9c9b5

Its fileset lists every root-workspace member by hand, so adding one
without adding it here makes cargo fail to load the manifest before the
recorder builds at all.

jeff-hykin temporarily deployed to cachix

September 9, 2026 20:00

— with

GitHub Actions Inactive


          fix(robot): regenerate all_blueprints for the R1 replay and depth cloud

350db50

Both modules were added without regenerating the registry, so
test_all_blueprints_is_current has been failing since the blueprint
landed; earlier CI runs only masked it by cancelling the test job.

jeff-hykin temporarily deployed to cachix

September 9, 2026 20:27

— with

GitHub Actions Inactive

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