feat(manipulation): select grasp proposal backend through module config

[TomCC7]

Contribution path

Focused refactor following the agreed backend-selection plan; no tracking issue.

Problem

The xArm perception blueprints hardcode the heuristic grasp provider. Selecting GraspGenX requires changing module composition even though the CLI already supports module-config overrides.

Solution

Introduce one GraspProposalModule with a backend selector and separate GraspGenX settings. The xArm blueprints default to heuristic proposals and supply gripper geometry and the TCP transform from XARM_GRASPGENX_CONFIG in the existing xArm config.py. Switching to GraspGenX requires one CLI flag. No additional JSON file is required.

Move the existing algorithms into ordinary backend implementations and remove the old provider modules. Preserve ranked TCP proposals, initialize only the selected backend in a dedicated worker, and report GraspGenX failures without fallback. Update the generated registry and document configuration and proposal inspection.

The gripper profile is derived from MuJoCo finger-pad geometry and link_tcp. Physical calibration and the real blueprint's camera TF and hardware coordinator remain separate work. Pick-and-place still generates a fresh candidate set and attempts its first candidate.

How to Test

uv sync --extra all --extra graspgenx
MUJOCO_GL=egl LIBGL_ALWAYS_SOFTWARE=true MESA_LOADER_DRIVER_OVERRIDE=llvmpipe \
  dimos --viewer none run xarm-room-sim --graspproposalmodule.backend graspgenx

If another DimOS instance is running on the default discovery address, select a distinct address with the global --zenoh-scout-addr option to isolate this run.

Validation completed:

• 52 tests passed in the latest run covering both backends, module lifecycle, configuration parsing, all three blueprint defaults and overrides, optional import safety, and registry freshness.
• Ruff, Mypy for five changed production files, CLI help inspection, and commit hooks passed.
• An isolated headless simulation started with all seven joints, detected the brown box, and generated 100 GraspGenX proposals on an RTX 3090.
• End-to-end picking remains blocked: the highest-ranked candidate failed pregrasp IK. A planning-only check found the next candidate feasible, but the current pick pipeline does not retry candidates. Place was not reached. Real hardware was not tested.

AI assistance

Implemented and tested with OpenAI Codex (GPT-6), following the user-reviewed plan.

Checklist

• I have read and approved the CLA.

[codecov]

❌ 7 Tests Failed:

Tests completed	Failed	Passed	Skipped
5515	7	5508	109

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: 30.00% (Passed 7 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 = 287
errpipe_write = 288
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/0.12.13/aarch64/nix', b'....../Users/ec2-user/.local/bin/nix', b'.../homebrew/bin/nix', b'.../homebrew/sbin/nix', ...)
fds_to_keep = {288}
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        = 52925
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: 30.00% (Passed 7 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 = 287
errpipe_write = 288
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/0.12.13/aarch64/nix', b'....../Users/ec2-user/.local/bin/nix', b'.../homebrew/bin/nix', b'.../homebrew/sbin/nix', ...)
fds_to_keep = {288}
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        = 52925
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: 30.00% (Passed 7 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 = 287
errpipe_write = 288
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/0.12.13/aarch64/nix', b'....../Users/ec2-user/.local/bin/nix', b'.../homebrew/bin/nix', b'.../homebrew/sbin/nix', ...)
fds_to_keep = {288}
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        = 52925
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: 30.00% (Passed 7 times, Failed 3 times)

Stack Traces | 0.017s 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 = 287
errpipe_write = 288
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/0.12.13/aarch64/nix', b'....../Users/ec2-user/.local/bin/nix', b'.../homebrew/bin/nix', b'.../homebrew/sbin/nix', ...)
fds_to_keep = {288}
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        = 52925
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: 30.00% (Passed 7 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 = 287
errpipe_write = 288
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/0.12.13/aarch64/nix', b'....../Users/ec2-user/.local/bin/nix', b'.../homebrew/bin/nix', b'.../homebrew/sbin/nix', ...)
fds_to_keep = {288}
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        = 52925
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: 30.00% (Passed 7 times, Failed 3 times)

Stack Traces | 0.001s run time

mocker = <pytest_mock.plugin.MockerFixture object at 0x3669a5280>

    @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 0x3669a5280>

.../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 0x3669a7a40>
        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 0x1059032e0>
        p          = <unittest.mock._patch object at 0x367b67ec0>
        self       = <pytest_mock.plugin.MockerFixture._Patcher object at 0x3669a7a40>
        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 0x367b67ec0>
../../../../..../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 0x367b67ec0>
        spec       = None
        spec_set   = None
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <unittest.mock._patch object at 0x367b67ec0>

    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 0x367b67ec0>
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: 30.00% (Passed 7 times, Failed 3 times)

Stack Traces | 0.001s run time

mocker = <pytest_mock.plugin.MockerFixture object at 0x3b35fdd30>

    @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 0x3b35fdd30>

.../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 0x3b35fde50>
        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 0x1059032e0>
        p          = <unittest.mock._patch object at 0x3b35fde20>
        self       = <pytest_mock.plugin.MockerFixture._Patcher object at 0x3b35fde50>
        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 0x3b35fde20>
../../../../..../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 0x3b35fde20>
        spec       = None
        spec_set   = None
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <unittest.mock._patch object at 0x3b35fde20>

    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 0x3b35fde20>
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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[greptile-apps]

Confidence Score: 5/5

Safe to merge.

What we checked:

• I exercised the GraspProposalModule startup with an injected first-attempt backend failure and then retried startup, ending with a successful exit.
• On the first attempt the _backend was unset and base_start_calls counted as 1; after the retry the backend was initialized and base_start_calls reached 2 with handler_bind_calls also at 2, and there were no declared handlers.
• I executed the grasp-proposal-lifecycle-check.py script and observed exit code 0, with the run showing the backend transition and the updated start/bind call counts; the environment lacked the reactivex dependency, so the test harness stubbed dependencies.

Summary

• Consolidates heuristic and GraspGenX grasp generation behind a configurable GraspProposalModule.
• Updates xArm blueprint integration, backend configuration, tests, and documentation.
• The exercised startup retry path completes without handler duplication for this module.

_{Reviews (1) · Last reviewed commit: "refactor(grasping): keep xArm backend se..."}