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cuvslam: multicam mode — Spot's five-camera rig - #3485

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cuvslam: multicam mode — Spot's five-camera rig#3485
jeff-hykin wants to merge 9 commits into
jeff/feat/cuvslamfrom
jeff/feat/cuvslam_multi

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@jeff-hykin

@jeff-hykin jeff-hykin commented Aug 16, 2026 •
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Multi-camera cuVSLAM, tested on the Spot data

Screenshot_20260816-182811

@jeff-hykin
cuvslam: spot 5-camera multicam replay demo vs recorded odometry
5e4b684 
Multisensor mode with depth anchoring scale from the side/back cameras;
front pair contributes features only (its floor-dominated depth degrades
ATE 1.7m -> 14.5m on spot_small_loop). Portrait front images are fed as
their landscape rotation with adjusted intrinsics/extrinsics.
@jeff-hykin
cuvslam: spot multicam snippet integration test + LFS data
5005c7b 
4s of steady walking (all five cameras + depth + odometry + tf) cut from
spot_small_loop.db; the test replays it through the Multisensor rig and
sanity-checks pose flow against the recorded odometry.
@jeff-hykin
cuvslam: multicam camera mode — Spot's five-camera rig
42bff1e 
camera_mode=multicam with depth_camera_frames runs the dimSLAM binary in
cuVSLAM's Multisensor mode: an explicit rig of mono cameras with metric
scale anchored by the named cameras' registered depth. Pin the dimSLAM
build to the multicam rev.
@codecov

codecov Bot commented Aug 16, 2026 •
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❌ 5 Tests Failed:

Tests completed Failed Passed Skipped
4265 5 4260 69
View the top 3 failed test(s) by shortest run time 
dimos.mapping.cuvslam.test_cuvslam_spot::test_spot_multicam_snippet_tracks
Stack Traces | 49.7s run time 
+ Exception Group Traceback (most recent call last):
  |   File ".../dimos/dimos/.venv/lib/python3.12........./site-packages/_pytest/runner.py", line 341, in from_call
  |     result: TResult | None = func()
  |                              ^^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12........./site-packages/_pytest/runner.py", line 242, in <lambda>
  |     lambda: runtest_hook(item=item, **kwds), when=when, reraise=reraise
  |             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12....../site-packages/pluggy/_hooks.py", line 512, in __call__
  |     return self._hookexec(self.name, self._hookimpls.copy(), kwargs, firstresult)
  |            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12....../site-packages/pluggy/_manager.py", line 120, in _hookexec
  |     return self._inner_hookexec(hook_name, methods, kwargs, firstresult)
  |            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 167, in _multicall
  |     raise exception
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 139, in _multicall
  |     teardown.throw(exception)
  |   File ".../dimos/dimos/.venv/lib/python3.12....../site-packages/_pytest/threadexception.py", line 92, in pytest_runtest_call
  |     yield from thread_exception_runtest_hook()
  |   File ".../dimos/dimos/.venv/lib/python3.12....../site-packages/_pytest/threadexception.py", line 68, in thread_exception_runtest_hook
  |     yield
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 139, in _multicall
  |     teardown.throw(exception)
  |   File ".../dimos/dimos/.venv/lib/python3.12....../site-packages/_pytest/unraisableexception.py", line 95, in pytest_runtest_call
  |     yield from unraisable_exception_runtest_hook()
  |   File ".../dimos/dimos/.venv/lib/python3.12....../site-packages/_pytest/unraisableexception.py", line 70, in unraisable_exception_runtest_hook
  |     yield
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 139, in _multicall
  |     teardown.throw(exception)
  |   File ".../dimos/dimos/.venv/lib/python3.12....../site-packages/_pytest/logging.py", line 846, in pytest_runtest_call
  |     yield from self._runtest_for(item, "call")
  |   File ".../dimos/dimos/.venv/lib/python3.12....../site-packages/_pytest/logging.py", line 829, in _runtest_for
  |     yield
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 139, in _multicall
  |     teardown.throw(exception)
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 53, in run_old_style_hookwrapper
  |     return result.get_result()
  |            ^^^^^^^^^^^^^^^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12............/site-packages/pluggy/_result.py", line 103, in get_result
  |     raise exc.with_traceback(tb)
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 38, in run_old_style_hookwrapper
  |     res = yield
  |           ^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 139, in _multicall
  |     teardown.throw(exception)
  |   File ".../dimos/dimos/.venv/lib/python3.12.../site-packages/_pytest/capture.py", line 898, in pytest_runtest_call
  |     return (yield)
  |             ^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 139, in _multicall
  |     teardown.throw(exception)
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 53, in run_old_style_hookwrapper
  |     return result.get_result()
  |            ^^^^^^^^^^^^^^^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12............/site-packages/pluggy/_result.py", line 103, in get_result
  |     raise exc.with_traceback(tb)
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 38, in run_old_style_hookwrapper
  |     res = yield
  |           ^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 139, in _multicall
  |     teardown.throw(exception)
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 53, in run_old_style_hookwrapper
  |     return result.get_result()
  |            ^^^^^^^^^^^^^^^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12............/site-packages/pluggy/_result.py", line 103, in get_result
  |     raise exc.with_traceback(tb)
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 38, in run_old_style_hookwrapper
  |     res = yield
  |           ^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 139, in _multicall
  |     teardown.throw(exception)
  |   File ".../dimos/dimos/.venv/lib/python3.12.../site-packages/_pytest/skipping.py", line 257, in pytest_runtest_call
  |     return (yield)
  |             ^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 121, in _multicall
  |     res = hook_impl.function(*args)
  |           ^^^^^^^^^^^^^^^^^^^^^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12........./site-packages/_pytest/runner.py", line 174, in pytest_runtest_call
  |     item.runtest()
  |   File ".../dimos/dimos/.venv/lib/python3.12....../site-packages/_pytest/python.py", line 1627, in runtest
  |     self.ihook.pytest_pyfunc_call(pyfuncitem=self)
  |   File ".../dimos/dimos/.venv/lib/python3.12....../site-packages/pluggy/_hooks.py", line 512, in __call__
  |     return self._hookexec(self.name, self._hookimpls.copy(), kwargs, firstresult)
  |            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12....../site-packages/pluggy/_manager.py", line 120, in _hookexec
  |     return self._inner_hookexec(hook_name, methods, kwargs, firstresult)
  |            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 167, in _multicall
  |     raise exception
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 139, in _multicall
  |     teardown.throw(exception)
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 53, in run_old_style_hookwrapper
  |     return result.get_result()
  |            ^^^^^^^^^^^^^^^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12............/site-packages/pluggy/_result.py", line 103, in get_result
  |     raise exc.with_traceback(tb)
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 38, in run_old_style_hookwrapper
  |     res = yield
  |           ^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 121, in _multicall
  |     res = hook_impl.function(*args)
  |           ^^^^^^^^^^^^^^^^^^^^^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12....../site-packages/_pytest/python.py", line 159, in pytest_pyfunc_call
  |     result = testfunction(**testargs)
  |              ^^^^^^^^^^^^^^^^^^^^^^^^
  |   File ".../mapping/cuvslam/test_cuvslam_spot.py", line 200, in test_spot_multicam_snippet_tracks
  |     coordinator = ModuleCoordinator.build(blueprint)
  |                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  |   File ".../core/coordination/module_coordinator.py", line 367, in build
  |     coordinator.build_all_modules()
  |   File ".../core/coordination/module_coordinator.py", line 247, in build_all_modules
  |     safe_thread_map(modules, lambda m: m.build())
  |   File ".../dimos/utils/safe_thread_map.py", line 84, in safe_thread_map
  |     raise ExceptionGroup("safe_thread_map failed", errors)
  | ExceptionGroup: safe_thread_map failed (1 sub-exception)
  +-+---------------- 1 ----------------
    | dimos.protocol.rpc.rpc_utils.RemoteError: [Remote builtins.RuntimeError] [CuvslamOdometry(cuvslam_odometry)] Build command failed after 43.08s (exit 1): nix build github:dimensionalOS/dimSLAM/v0.3.0-rc1#x86_64-cuda12
    | 
    | Remote traceback:
    | Traceback (most recent call last):
    |   File ".../protocol/rpc/pubsubrpc.py", line 280, in execute_and_respond
    |     response = f(*args[0], **args[1])
    |                ^^^^^^^^^^^^^^^^^^^^^^
    |   File ".../protocol/rpc/spec.py", line 116, in override_f
    |     return getattr(module, fname)(*args, **kwargs)
    |            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
    |   File ".../dimos/core/native_module.py", line 221, in build
    |     self._maybe_build()
    |   File ".../dimos/core/native_module.py", line 460, in _maybe_build
    |     raise RuntimeError(
    | RuntimeError: [CuvslamOdometry(cuvslam_odometry)] Build command failed after 43.08s (exit 1): nix build github:dimensionalOS/dimSLAM/v0.3.0-rc1#x86_64-cuda12
    | 
    | 
    | The above exception was the direct cause of the following exception:
    | 
    | Traceback (most recent call last):
    |   File ".../dimos/utils/safe_thread_map.py", line 68, in safe_thread_map
    |     outcomes[idx] = fut.result()
    |                     ^^^^^^^^^^^^
    |   File "........./usr/lib/python3.12....../concurrent/futures/_base.py", line 449, in result
    |     return self.__get_result()
    |            ^^^^^^^^^^^^^^^^^^^
    |   File "........./usr/lib/python3.12....../concurrent/futures/_base.py", line 401, in __get_result
    |     raise self._exception
    |   File "........./usr/lib/python3.12.../concurrent/futures/thread.py", line 58, in run
    |     result = self.fn(*self.args, **self.kwargs)
    |              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
    |   File ".../core/coordination/module_coordinator.py", line 247, in <lambda>
    |     safe_thread_map(modules, lambda m: m.build())
    |                                        ^^^^^^^^^
    |   File ".../dimos/core/rpc_client.py", line 93, in __call__
    |     result, unsub_fn = self._rpc.call_sync(
    |                        ^^^^^^^^^^^^^^^^^^^^
    |   File ".../protocol/rpc/spec.py", line 88, in call_sync
    |     raise result
    | RuntimeError: [CuvslamOdometry(cuvslam_odometry)] Build command failed after 43.08s (exit 1): nix build github:dimensionalOS/dimSLAM/v0.3.0-rc1#x86_64-cuda12
    +------------------------------------
dimos.e2e_tests.test_dimsim_path_replaning::test_path_replanning
Stack Traces | 118s run time 
lcm_spy = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7b069dfef950>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7b069da45c60>
dim_sim = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x7b069e3bfa70>
direct_cmd_vel_explorer = <dimos.simulation.mujoco.direct_cmd_vel_explorer.DirectCmdVelExplorer object at 0x7b07be5701d0>
spawn_wall_on_pose = <function spawn_wall_on_pose.<locals>.spawn at 0x7b069da46520>

    @pytest.mark.self_hosted_large
    def test_path_replanning(
        lcm_spy, start_blueprint, dim_sim, direct_cmd_vel_explorer, spawn_wall_on_pose
    ) -> None:
        start_blueprint(
            "--dimsim-scene=empty",
            "run",
            "unitree-go2-agentic",
            simulator="dimsim",
        )
        lcm_spy.save_topic(".../McpClient/on_system_modules/res")
        lcm_spy.wait_for_saved_topic(".../McpClient/on_system_modules/res", timeout=1200.0)
    
        # robot spawns at (3, 2)
    
        # side wall
        dim_sim.add_wall(2, -2.5, 12, -2.5)
        # other side wall
        dim_sim.add_wall(2, 3.5, 12, 3.5)
        # back wall (behind robot)
        dim_sim.add_wall(2, -2.5, 2, 3.5)
        # forward wall (far end)
        dim_sim.add_wall(12, -2.5, 12, 3.5)
        # dividing wall at x=7 with doors at y=[-1.5,-0.5] and y=[1.5,2.5]
        dim_sim.add_wall(7, -2.5, 7, -1.5)
        dim_sim.add_wall(7, -0.5, 7, 1.5)
        dim_sim.add_wall(7, 2.5, 7, 3.5)
    
        direct_cmd_vel_explorer.linear_speed = 0.8
>       direct_cmd_vel_explorer.follow_points([(10, 2), (2.5, 2), (3, 2)])

dim_sim    = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x7b069e3bfa70>
direct_cmd_vel_explorer = <dimos.simulation.mujoco.direct_cmd_vel_explorer.DirectCmdVelExplorer object at 0x7b07be5701d0>
lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7b069dfef950>
spawn_wall_on_pose = <function spawn_wall_on_pose.<locals>.spawn at 0x7b069da46520>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7b069da45c60>

dimos/e2e_tests/test_dimsim_path_replaning.py:47: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../simulation/mujoco/direct_cmd_vel_explorer.py:105: in follow_points
    self._wait_for_pose()
        self       = <dimos.simulation.mujoco.direct_cmd_vel_explorer.DirectCmdVelExplorer object at 0x7b07be5701d0>
        waypoints  = [(10, 2), (2.5, 2), (3, 2)]
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <dimos.simulation.mujoco.direct_cmd_vel_explorer.DirectCmdVelExplorer object at 0x7b07be5701d0>

    def _wait_for_pose(self) -> PoseStamped:
        self._new_pose.clear()
        self._new_pose.wait(timeout=5.0)
>       assert self._pose is not None, "No odom received"
E       AssertionError: No odom received

self       = <dimos.simulation.mujoco.direct_cmd_vel_explorer.DirectCmdVelExplorer object at 0x7b07be5701d0>

.../simulation/mujoco/direct_cmd_vel_explorer.py:65: AssertionError
dimos.e2e_tests.test_dimsim_walk_forward::test_walk_forward
Stack Traces | 198s run time 
lcm_spy = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7b069fd4bef0>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7b069da472e0>
human_input = <function human_input.<locals>.send_human_input at 0x7b069da47380>
dim_sim = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x7b0708dd78c0>

    @pytest.mark.self_hosted_large
    def test_walk_forward(lcm_spy, start_blueprint, human_input, dim_sim) -> None:
        start_blueprint(
            "run",
            "--disable",
            "spatial-memory",
            "--disable",
            "security-module",
            "unitree-go2-agentic",
            simulator="dimsim",
        )
        lcm_spy.save_topic(".../McpClient/on_system_modules/res")
        lcm_spy.wait_for_saved_topic(".../McpClient/on_system_modules/res", timeout=1200.0)
    
        origin_x, origin_y = 1, 2
        dim_sim.set_agent_position(origin_x, origin_y)
    
        human_input("move forward 3 meter")
    
>       lcm_spy.wait_until_odom_position(origin_x + 3, origin_y, threshold=0.4, timeout=120)

dim_sim    = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x7b0708dd78c0>
human_input = <function human_input.<locals>.send_human_input at 0x7b069da47380>
lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7b069fd4bef0>
origin_x   = 1
origin_y   = 2
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7b069da472e0>

dimos/e2e_tests/test_dimsim_walk_forward.py:37: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/e2e_tests/lcm_spy.py:167: in wait_until_odom_position
    self.wait_for_message_result(
        predicate  = <function LcmSpy.wait_until_odom_position.<locals>.predicate at 0x7b069da471a0>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7b069fd4bef0>
        threshold  = 0.4
        timeout    = 120
        x          = 4
        y          = 2
dimos/e2e_tests/lcm_spy.py:153: in wait_for_message_result
    wait_until(
        event      = <threading.Event at 0x7b0714207320: unset>
        fail_message = 'Failed to get to position x=4, y=2'
        listener   = <function LcmSpy.wait_for_message_result.<locals>.listener at 0x7b069da1c360>
        predicate  = <function LcmSpy.wait_until_odom_position.<locals>.predicate at 0x7b069da471a0>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7b069fd4bef0>
        timeout    = 120
        topic      = '/odom#geometry_msgs.PoseStamped'
        type       = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

predicate = <bound method Event.is_set of <threading.Event at 0x7b0714207320: unset>>

    def wait_until(
        predicate: Callable[[], bool],
        *,
        timeout: float,
        interval: float = 0.1,
        message: str | None = None,
    ) -> None:
        """Poll ``predicate`` until it returns truthy or ``timeout`` elapses."""
        deadline = time.monotonic() + timeout
        while time.monotonic() < deadline:
            if predicate():
                return
            time.sleep(interval)
>       raise TimeoutError(message or f"Timed out after {timeout}s waiting for condition")
E       TimeoutError: Failed to get to position x=4, y=2

deadline   = 3405025.456906333
interval   = 0.1
message    = 'Failed to get to position x=4, y=2'
predicate  = <bound method Event.is_set of <threading.Event at 0x7b0714207320: unset>>
timeout    = 120

.../utils/testing/waiting.py:35: TimeoutError
View the full list of 2 ❄️ flaky test(s) 
dimos.e2e_tests.test_dimsim_spatial_memory::test_go_to_the_bed

Flake rate in main: 16.67% (Passed 125 times, Failed 25 times)

Stack Traces | 105s run time 
lcm_spy = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7b07be3d5a60>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7b069da46e80>
human_input = <function human_input.<locals>.send_human_input at 0x7b069da47060>
dim_sim = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x7b069fd4e330>
explore_house = <function explore_house.<locals>.explore at 0x7b069da47740>

    @pytest.mark.self_hosted_large
    def test_go_to_the_bed(lcm_spy, start_blueprint, human_input, dim_sim, explore_house) -> None:
        start_blueprint(
            "run",
            "unitree-go2-agentic",
            simulator="dimsim",
        )
        lcm_spy.save_topic(".../McpClient/on_system_modules/res")
        lcm_spy.wait_for_saved_topic(".../McpClient/on_system_modules/res", timeout=1200.0)
    
>       explore_house()

dim_sim    = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x7b069fd4e330>
explore_house = <function explore_house.<locals>.explore at 0x7b069da47740>
human_input = <function human_input.<locals>.send_human_input at 0x7b069da47060>
lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7b07be3d5a60>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7b069da46e80>

dimos/e2e_tests/test_dimsim_spatial_memory.py:28: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/e2e_tests/conftest.py:249: in explore
    direct_cmd_vel_explorer.follow_points(points)
        direct_cmd_vel_explorer = <dimos.simulation.mujoco.direct_cmd_vel_explorer.DirectCmdVelExplorer object at 0x7b069f759070>
        points     = [(3.881, 4.803), (4.16, 1.615), (1.596, 1.505), (1.649, 0.137), (-3.644, -0.064), (-3.759, -2.661), ...]
.../simulation/mujoco/direct_cmd_vel_explorer.py:105: in follow_points
    self._wait_for_pose()
        self       = <dimos.simulation.mujoco.direct_cmd_vel_explorer.DirectCmdVelExplorer object at 0x7b069f759070>
        waypoints  = [(3.881, 4.803), (4.16, 1.615), (1.596, 1.505), (1.649, 0.137), (-3.644, -0.064), (-3.759, -2.661), ...]
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <dimos.simulation.mujoco.direct_cmd_vel_explorer.DirectCmdVelExplorer object at 0x7b069f759070>

    def _wait_for_pose(self) -> PoseStamped:
        self._new_pose.clear()
        self._new_pose.wait(timeout=5.0)
>       assert self._pose is not None, "No odom received"
E       AssertionError: No odom received

self       = <dimos.simulation.mujoco.direct_cmd_vel_explorer.DirectCmdVelExplorer object at 0x7b069f759070>

.../simulation/mujoco/direct_cmd_vel_explorer.py:65: AssertionError
dimos.e2e_tests.test_manipulation_planning_groups::test_single_arm_plans_and_executes_through_control_coordinator

Flake rate in main: 100.00% (Passed 0 times, Failed 1 times)

Stack Traces | 139s run time 
lcm_spy = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7b0708dea900>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7b069da1c4a0>

    def test_single_arm_plans_and_executes_through_control_coordinator(
        lcm_spy: LcmSpy,
        start_blueprint: Callable[..., DimosCliCall],
    ) -> None:
        """Plan with one arm and execute through its trajectory task."""
        _start_openarm_mock_planner(start_blueprint, lcm_spy)
    
        client = RPCClient(None, ManipulationModule)
        coordinator_client = RPCClient(None, ControlCoordinator)
        try:
>           [left] = _wait_for_groups(client, 1)

client     = <dimos.core.rpc_client.RPCClient object at 0x7b071e506120>
coordinator_client = <dimos.core.rpc_client.RPCClient object at 0x7b07204ec9e0>
lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7b0708dea900>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7b069da1c4a0>

dimos/e2e_tests/test_manipulation_planning_groups.py:158: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

client = <dimos.core.rpc_client.RPCClient object at 0x7b071e506120>, count = 1

    def _wait_for_groups(
        client: RPCClient,
        count: int,
        *,
        timeout: float = 120.0,
    ) -> tuple[PlanningGroupInfo, ...]:
        deadline = time.time() + timeout
        last_error: BaseException | None = None
        while time.time() < deadline:
            try:
                groups = client.list_planning_groups()
                if len(groups) == count:
                    return groups
            except Exception as exc:
                last_error = exc
            time.sleep(0.5)
>       raise TimeoutError(f"Timed out waiting for {count} planning groups") from last_error
E       TimeoutError: Timed out waiting for 1 planning groups

client     = <dimos.core.rpc_client.RPCClient object at 0x7b071e506120>
count      = 1
deadline   = 1786936080.6398187
groups     = (PlanningGroupInfo('left_arm/manipulator', joints=('left_arm/openarm_left_joint1', 'left_arm/openarm_left_joint2', 'le...right_joint6', 'right_arm/openarm_right_joint7'), base='openarm_body_link0', tip='openarm_right_link7', gripper=False))
last_error = None
timeout    = 120.0

dimos/e2e_tests/test_manipulation_planning_groups.py:64: TimeoutError

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@jeff-hykin
cuvslam: fix CI for envs without pycuvslam; pin dimSLAM to tag v0.3.0…
c6729fd 
…-rc1

mypy override + importorskip cover machines where the pycuvslam wheel is
not installed. The test stays on the GPU deliberately: Multisensor's
depth path runs CUDA kernels even in an ENFORCE_GPU=OFF build, so CPU
mode aborts with CUDA error 700 and cannot serve as the reproducible
path.
@jeff-hykin
Merge remote-tracking branch 'origin/jeff/feat/cuvslam' into jeff/fea…
bd92d10 
…t/cuvslam_multi

# Conflicts:
#	dimos/mapping/cuvslam/cuvslam.py
@jeff-hykin
cuvslam: inline the cv2 import, per the heavy-imports codebase check
2380c08
@jeff-hykin
cuvslam: drive the integration test through the native module, not py…
3b6c8fc 
…cuvslam

The test now boots the dimSLAM binary via CuvslamOdometry (multicam, three
landscape cameras + depth) and feeds the LFS snippet over LCM, asserting
the published odometry flows and agrees with the robot's own. The
pycuvslam replay demo moves out of the repo; the PR ships only the
native path.
@jeff-hykin
cuvslam: structure the spot test as a blueprint with a publisher module
0e85a3c 
autoconnect(SpotSnippetPublisher, CuvslamOdometry, OdometrySink): the
publisher module replays the LFS snippet on its Out ports, the tracker
runs the dimSLAM binary, the sink collects odometry — no hand-wired
transports in the test body.
@jeff-hykin
cuvslam: refresh two stale comments (module is no longer stereo-only)
d1d6fa5
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@jeff-hykin