feat: connect BEHAVIOR R1 Pro navigation and manipulation by TomCC7 · Pull Request #4198 · dimensionalOS/dimos

TomCC7 · 2026-09-17T00:38:39Z

What changes

Connect BEHAVIOR's 2026 R1 Pro to KronkNav and the existing DimOS manipulation stack in one behavior-r1pro blueprint. The robot loads the selected training task's prescribed start pose, navigates using three RGB-D cameras, and executes planned motions through the existing ControlCoordinator.

Use the pinned evaluator's R1 Pro robot/controllers and the simulator's matching URDF, while reusing the hardware integration's joint names and planning groups.
Feed measured base pose and grippers into the planning model; expose only arm/torso groups for execution. Select the existing RRT-Connect planner so measured unbounded base translation stays outside the arm search space.
Add a repeatable navigate → stop → move each arm → cancel/hold demo, with measured FK and tracking thresholds and JSON reports.
Provide the native Isaac viewport and Viser manipulation controls; document scene/task browsing and development limits.

Integration fixes

The live proof also required robot self-filtering with fixed-link geometry and cached Open3D distance queries, removal of MLS's 64-candidate start-snap cap, serialized manipulation shutdown, and Zenoh 1.10.1's upstream loopback-discovery fix. The Nix pre-commit invocation now uses Git filtering so it excludes ignored simulator assets.

Validation

53 focused Python tests; 94 MLS planner tests; 140 native-module tests.
Mypy: 16 affected Python source files. All repository pre-commit hooks pass with the host Rust compiler aligned to Clippy (RUSTC=/usr/bin/rustc, RUSTDOC=/usr/bin/rustdoc) and Nix flakes enabled.
Fresh unattended GPU proof on RTX 3090 / driver 590.48.01: navigation moved 0.661 m with 0.140 m goal error and a stationary finish; both arms tracked within 0.002 rad; cancellation hold drift was 0.000013 rad. FK stayed within about 5.3 mm.
Fresh native-viewer repeat passed: 0.655 m displacement, 0.146 m goal error, both arms within 0.001 rad, and 0.0000024 rad cancellation hold drift. Verified the Isaac viewport and Viser HTTP server.
R1 Pro scene-only sensor proof passed in Rs_int: three RGB-D cameras, joints/TF, both arms/grippers, 0.090 m base-command motion and 0.157 m native-action motion, stable height and expired-command hold. Spawn validation now requires floor support after settling and avoids querying cloth objects in the rigid-contact table.
Native mapper/planner replay delivers maps and paths without a republish or startup delay after the Zenoh patch.

Scope

This is development integration using simulator ground-truth localization, not an official benchmark score. The arm proof checks robot self-collision; the navigation map is not yet connected to the manipulation collision world. It does not prove clutter-safe pick-and-place.

Stacked above #4194 (feat/behavior-integration).

Agent: Codex (GPT-6)

codecov · 2026-09-17T00:51:37Z

❌ 7 Tests Failed:

Tests completed	Failed	Passed	Skipped
5773	7	5766	45

View the top 3 failed test(s) by shortest run time

dimos.codebase_checks.test_docs_branding::test_docs_use_current_branding

Stack Traces | 0.038s run time

def test_docs_use_current_branding() -> None:
        """Fail if any file under docs/ spells the brand "DimOS" instead of "dimOS"."""
        hits = find_old_branding()
        if hits:
            listing = "\n".join(
                f"  - {p.relative_to(DIMOS_PROJECT_ROOT)}:{lineno}: {line.strip()}"
                for p, lineno, line in hits
            )
>           raise AssertionError(f'Found "DimOS" in docs/:\n{listing}\n\nThe brand is spelled "dimOS".')
E           AssertionError: Found "DimOS" in docs/:
E             - docs/adr/0002-isolated-runtime-dependencies.md:3: Each isolated runtime syncs its own lockfile, installs the matching host DimOS code
E             - docs/adr/0002-isolated-runtime-dependencies.md:7: their implementation and DimOS transport/message imports; the isolated environment
E             - docs/adr/0002-isolated-runtime-dependencies.md:11: DimOS version. All isolated callers use the same preparation path.
E             - .../capabilities/simulation/behavior.md:3: BEHAVIOR runs an R1 Pro mobile manipulator in an isolated Python process. DimOS owns
E             - .../capabilities/simulation/behavior.md:8: DimOS host (NumPy 2, Rerun)
E             - .../capabilities/simulation/behavior.md:41: current DimOS checkout (or exactly the installed host version) with `--no-deps`.
E             - .../capabilities/simulation/behavior.md:111: The manipulation layer reuses DimOS's R1 Pro planning groups, joint names,
E             - .../capabilities/simulation/behavior.md:117: Planning uses DimOS's selected-joint RRT-Connect with RoboPlan collision queries.
E             - .../capabilities/simulation/behavior.md:211: | navigation | Existing DimOS planner/follower reaches selected goal within 0.3 m in 120 s |
E             - .../capabilities/simulation/behavior.md:229: without DimOS or OmniGibson imports; with a clean environment and only `libxml2`
E           
E           The brand is spelled "dimOS".

hits       = [(PosixPath('.../docs/adr/0002-isolated-runtime-dependencies.md'), 3, 'Each isolated runtime...simulation/behavior.md'), 41, 'current DimOS checkout (or exactly the installed host version) with `--no-deps`.'), ...]
listing    = '  - docs/adr/0002-isolated-runtime-dependencies.md:3: Each isolated runtime syncs its own lockfile, installs the matc...abilities/simulation/behavior.md:229: without DimOS or OmniGibson imports; with a clean environment and only `libxml2`'

dimos/codebase_checks/test_docs_branding.py:43: AssertionError

dimos.codebase_checks.test_no_init_files::test_no_init_files

Stack Traces | 0.084s run time

def test_no_init_files():
        dimos_dir = DIMOS_PROJECT_ROOT / "dimos"
        init_files = sorted(dimos_dir.rglob("__init__.py"))
        # The root dimos/__init__.py is allowed for the porcelain lazy import.
        init_files = [f for f in init_files if f != dimos_dir / "__init__.py"]
        if init_files:
            listing = "\n".join(f"  - {f.relative_to(dimos_dir)}" for f in init_files)
>           raise AssertionError(
                f"Found __init__.py files in dimos/:\n{listing}\n\n"
                "__init__.py files are not allowed because they lead to unnecessary "
                "extraneous imports. Everything should be imported straight from the "
                "source module."
            )
E           AssertionError: Found __init__.py files in dimos/:
E             - .../example/python/.venv/lib/python3.12....../site-packages/_yaml/__init__.py
E             - .../example/python/.venv/lib/python3.12.../site-packages/annotated_doc/__init__.py
E             - .../example/python/.venv/lib/python3.12.../site-packages/annotated_types/__init__.py
E             - .../example/python/.venv/lib/python3.12.../site-packages/annotation_protocol/__init__.py
E             - .../example/python/.venv/lib/python3.12.../site-packages/beartype/__init__.py
E             - .../example/python/.venv/lib/python3.12.../beartype/_cave/__init__.py
E             - .../example/python/.venv/lib/python3.12.../beartype/_check/__init__.py
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E             - .../example/python/.venv/lib/python3.12.../code/_pep/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_pep/pep484/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_pep/pep484585/__init__.py
E             - .../example/python/.venv/lib/python3.12.../code/snip/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_check/convert/__init__.py
E             - .../example/python/.venv/lib/python3.12.../convert/_reduce/__init__.py
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E             - .../example/python/.venv/lib/python3.12.../_nonpep/api/__init__.py
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E             - .../example/python/.venv/lib/python3.12.../_pep/pep484/__init__.py
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E             - .../example/python/.venv/lib/python3.12.../_data/code/__init__.py
E             - .../example/python/.venv/lib/python3.12.../code/pep/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_data/conf/__init__.py
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E             - .../example/python/.venv/lib/python3.12.../_data/hint/__init__.py
E             - .../example/python/.venv/lib/python3.12.../hint/sign/__init__.py
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E             - .../example/python/.venv/lib/python3.12.../_data/os/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_data/typing/__init__.py
E             - .../example/python/.venv/lib/python3.12.../beartype/_decor/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_decor/_nontype/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_nontype/_wrap/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_decor/_type/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_type/_pep/__init__.py
E             - .../example/python/.venv/lib/python3.12.../beartype/_util/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_util/api/__init__.py
E             - .../example/python/.venv/lib/python3.12.../api/external/__init__.py
E             - .../example/python/.venv/lib/python3.12.../api/standard/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_util/ast/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_util/bear/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_util/cache/__init__.py
E             - .../example/python/.venv/lib/python3.12.../cache/map/__init__.py
E             - .../example/python/.venv/lib/python3.12.../cache/pool/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_util/cls/__init__.py
E             - .../example/python/.venv/lib/python3.12.../cls/pep/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_util/error/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_util/func/__init__.py
E             - .../example/python/.venv/lib/python3.12.../func/arg/__init__.py
E             - .../example/python/.venv/lib/python3.12.../func/pep/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_util/hint/__init__.py
E             - .../example/python/.venv/lib/python3.12.../hint/nonpep/__init__.py
E             - .../example/python/.venv/lib/python3.12.../nonpep/api/__init__.py
E             - .../example/python/.venv/lib/python3.12.../hint/pep/__init__.py
E             - .../example/python/.venv/lib/python3.12.../pep/proposal/__init__.py
E             - .../example/python/.venv/lib/python3.12.../proposal/pep484/__init__.py
E             - .../example/python/.venv/lib/python3.12.../proposal/pep484585/__init__.py
E             - .../example/python/.venv/lib/python3.12.../pep484585/generic/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_util/kind/__init__.py
E             - .../example/python/.venv/lib/python3.12.../kind/integer/__init__.py
E             - .../example/python/.venv/lib/python3.12.../kind/maplike/__init__.py
E             - .../example/python/.venv/lib/python3.12.../kind/sequence/__init__.py
E             - .../example/python/.venv/lib/python3.12.../kind/setlike/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_util/module/__init__.py
E             - .../example/python/.venv/lib/python3.12.../module/pep/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_util/os/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_util/path/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_util/py/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_util/text/__init__.py
E             - .../example/python/.venv/lib/python3.12.../beartype/bite/__init__.py
E             - .../example/python/.venv/lib/python3.12.../bite/collection/__init__.py
E             - .../example/python/.venv/lib/python3.12.../bite/kind/__init__.py
E             - .../example/python/.venv/lib/python3.12.../beartype/cave/__init__.py
E             - .../example/python/.venv/lib/python3.12.../beartype/claw/__init__.py
E             - .../example/python/.venv/lib/python3.12.../claw/_ast/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_ast/_kind/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_ast/_pep/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_ast/_scope/__init__.py
E             - .../example/python/.venv/lib/python3.12.../claw/_importlib/__init__.py
E             - .../example/python/.venv/lib/python3.12.../claw/_package/__init__.py
E             - .../example/python/.venv/lib/python3.12.../beartype/door/__init__.py
E             - .../example/python/.venv/lib/python3.12.../door/_cls/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_cls/pep/__init__.py
E             - .../example/python/.venv/lib/python3.12.../pep/pep484/__init__.py
E             - .../example/python/.venv/lib/python3.12.../pep/pep484585/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_cls/util/__init__.py
E             - .../example/python/.venv/lib/python3.12.../door/_func/__init__.py
E             - .../example/python/.venv/lib/python3.12.../beartype/peps/__init__.py
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E             - .../example/python/.venv/lib/python3.12.../beartype/roar/__init__.py
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E             - .../example/python/.venv/lib/python3.12.../site-packages/dimos_lcm/__init__.py
E             - .../example/python/.venv/lib/python3.12.../dimos_lcm/actionlib_msgs/__init__.py
E             - .../example/python/.venv/lib/python3.12.../dimos_lcm/builtin_interfaces/__init__.py
E             - .../example/python/.venv/lib/python3.12.../dimos_lcm/diagnostic_msgs/__init__.py
E             - .../example/python/.venv/lib/python3.12.../dimos_lcm/foxglove_bridge/__init__.py
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E             - .../example/python/.venv/lib/python3.12.../generated/python_lcm_msgs/__init__.py
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E             - .../example/python/.venv/lib/python3.12.../lcm_msgs/actionlib_msgs/__init__.py
E             - .../example/python/.venv/lib/python3.12.../lcm_msgs/builtin_interfaces/__init__.py
E             - .../example/python/.venv/lib/python3.12.../lcm_msgs/diagnostic_msgs/__init__.py
E             - .../example/python/.venv/lib/python3.12.../lcm_msgs/foxglove_msgs/__init__.py
E             - .../example/python/.venv/lib/python3.12.../lcm_msgs/geometry_msgs/__init__.py
E             - .../example/python/.venv/lib/python3.12.../lcm_msgs/imitation_msgs/__init__.py
E             - .../example/python/.venv/lib/python3.12.../lcm_msgs/nav_msgs/__init__.py
E             - .../example/python/.venv/lib/python3.12.../lcm_msgs/sensor_msgs/__init__.py
E             - .../example/python/.venv/lib/python3.12.../lcm_msgs/shape_msgs/__init__.py
E             - .../example/python/.venv/lib/python3.12.../lcm_msgs/std_msgs/__init__.py
E             - .../example/python/.venv/lib/python3.12.../lcm_msgs/stereo_msgs/__init__.py
E             - .../example/python/.venv/lib/python3.12.../lcm_msgs/tf2_msgs/__init__.py
E             - .../example/python/.venv/lib/python3.12.../lcm_msgs/trajectory_msgs/__init__.py
E             - .../example/python/.venv/lib/python3.12.../lcm_msgs/vision_msgs/__init__.py
E             - .../example/python/.venv/lib/python3.12.../lcm_msgs/visualization_msgs/__init__.py
E             - .../example/python/.venv/lib/python3.12.../dimos_lcm/geometry_msgs/__init__.py
E             - .../example/python/.venv/lib/python3.12.../dimos_lcm/imitation_msgs/__init__.py
E             - .../example/python/.venv/lib/python3.12.../dimos_lcm/nav_msgs/__init__.py
E             - .../example/python/.venv/lib/python3.12.../dimos_lcm/sensor_msgs/__init__.py
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E             - .../example/python/.venv/lib/python3.12.../numpy/testing/__init__.py
E             - .../example/python/.venv/lib/python3.12.../testing/_private/__init__.py
E             - .../example/python/.venv/lib/python3.12.../testing/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../numpy/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../numpy/typing/__init__.py
E             - .../example/python/.venv/lib/python3.12.../typing/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../site-packages/plum/__init__.py
E             - .../example/python/.venv/lib/python3.12.../site-packages/psutil/__init__.py
E             - .../example/python/.venv/lib/python3.12.../site-packages/pydantic/__init__.py
E             - .../example/python/.venv/lib/python3.12.../pydantic/_internal/__init__.py
E             - .../example/python/.venv/lib/python3.12.../pydantic/deprecated/__init__.py
E             - .../example/python/.venv/lib/python3.12.../pydantic/experimental/__init__.py
E             - .../example/python/.venv/lib/python3.12.../pydantic/plugin/__init__.py
E             - .../example/python/.venv/lib/python3.12.../pydantic/v1/__init__.py
E             - .../example/python/.venv/lib/python3.12.../site-packages/pydantic_core/__init__.py
E             - .../example/python/.venv/lib/python3.12.../site-packages/pydantic_settings/__init__.py
E             - .../example/python/.venv/lib/python3.12.../pydantic_settings/sources/__init__.py
E             - .../example/python/.venv/lib/python3.12.../sources/providers/__init__.py
E             - .../example/python/.venv/lib/python3.12.../site-packages/pygments/__init__.py
E             - .../example/python/.venv/lib/python3.12.../pygments/filters/__init__.py
E             - .../example/python/.venv/lib/python3.12.../pygments/formatters/__init__.py
E             - .../example/python/.venv/lib/python3.12.../pygments/lexers/__init__.py
E             - .../example/python/.venv/lib/python3.12.../pygments/styles/__init__.py
E             - .../example/python/.venv/lib/python3.12.../site-packages/reactivex/__init__.py
E             - .../example/python/.venv/lib/python3.12.../reactivex/abc/__init__.py
E             - .../example/python/.venv/lib/python3.12.../reactivex/disposable/__init__.py
E             - .../example/python/.venv/lib/python3.12.../reactivex/internal/__init__.py
E             - .../example/python/.venv/lib/python3.12.../reactivex/observable/__init__.py
E             - .../example/python/.venv/lib/python3.12.../observable/mixins/__init__.py
E             - .../example/python/.venv/lib/python3.12.../reactivex/observer/__init__.py
E             - .../example/python/.venv/lib/python3.12.../reactivex/operators/__init__.py
E             - .../example/python/.venv/lib/python3.12.../operators/connectable/__init__.py
E             - .../example/python/.venv/lib/python3.12.../reactivex/scheduler/__init__.py
E             - .../example/python/.venv/lib/python3.12.../scheduler/eventloop/__init__.py
E             - .../example/python/.venv/lib/python3.12.../scheduler/mainloop/__init__.py
E             - .../example/python/.venv/lib/python3.12.../reactivex/subject/__init__.py
E             - .../example/python/.venv/lib/python3.12.../reactivex/testing/__init__.py
E             - .../example/python/.venv/lib/python3.12.../site-packages/rich/__init__.py
E             - .../example/python/.venv/lib/python3.12.../rich/_unicode_data/__init__.py
E             - .../example/python/.venv/lib/python3.12.../site-packages/scipy/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_external/array_api_compat/__init__.py
E             - .../example/python/.venv/lib/python3.12.../array_api_compat/common/__init__.py
E             - .../example/python/.venv/lib/python3.12.../array_api_compat/cupy/__init__.py
E             - .../example/python/.venv/lib/python3.12.../array_api_compat/dask/__init__.py
E             - .../example/python/.venv/lib/python3.12.../dask/array/__init__.py
E             - .../example/python/.venv/lib/python3.12.../array_api_compat/numpy/__init__.py
E             - .../example/python/.venv/lib/python3.12.../array_api_compat/torch/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_external/array_api_extra/__init__.py
E             - .../example/python/.venv/lib/python3.12.../array_api_extra/_lib/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_lib/_utils/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_external/cobyqa/__init__.py
E             - .../example/python/.venv/lib/python3.12.../cobyqa/subsolvers/__init__.py
E             - .../example/python/.venv/lib/python3.12.../cobyqa/utils/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_external/pyprima/__init__.py
E             - .../example/python/.venv/lib/python3.12.../pyprima/cobyla/__init__.py
E             - .../example/python/.venv/lib/python3.12.../pyprima/common/__init__.py
E             - .../example/python/.venv/lib/python3.12.../scipy/_lib/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_lib/_uarray/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_lib/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../scipy/cluster/__init__.py
E             - .../example/python/.venv/lib/python3.12.../cluster/hierarchy/__init__.py
E             - .../example/python/.venv/lib/python3.12.../hierarchy/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../cluster/vq/__init__.py
E             - .../example/python/.venv/lib/python3.12.../vq/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../scipy/constants/__init__.py
E             - .../example/python/.venv/lib/python3.12.../constants/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../scipy/datasets/__init__.py
E             - .../example/python/.venv/lib/python3.12.../datasets/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../scipy/differentiate/__init__.py
E             - .../example/python/.venv/lib/python3.12.../differentiate/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../scipy/fft/__init__.py
E             - .../example/python/.venv/lib/python3.12.../fft/_duccfft/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_duccfft/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../fft/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../scipy/fftpack/__init__.py
E             - .../example/python/.venv/lib/python3.12.../fftpack/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../scipy/integrate/__init__.py
E             - .../example/python/.venv/lib/python3.12.../integrate/_ivp/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_ivp/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../integrate/_rules/__init__.py
E             - .../example/python/.venv/lib/python3.12.../integrate/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../scipy/interpolate/__init__.py
E             - .../example/python/.venv/lib/python3.12.../interpolate/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../scipy/io/__init__.py
E             - .../example/python/.venv/lib/python3.12.../io/_fast_matrix_market/__init__.py
E             - .../example/python/.venv/lib/python3.12.../io/_harwell_boeing/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_harwell_boeing/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../io/arff/__init__.py
E             - .../example/python/.venv/lib/python3.12.../arff/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../io/matlab/__init__.py
E             - .../example/python/.venv/lib/python3.12.../matlab/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../io/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../scipy/linalg/__init__.py
E             - .../example/python/.venv/lib/python3.12.../linalg/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../scipy/misc/__init__.py
E             - .../example/python/.venv/lib/python3.12.../scipy/ndimage/__init__.py
E             - .../example/python/.venv/lib/python3.12.../ndimage/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../scipy/odr/__init__.py
E             - .../example/python/.venv/lib/python3.12.../odr/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../scipy/optimize/__init__.py
E             - .../example/python/.venv/lib/python3.12.../optimize/_highspy/__init__.py
E             - .../example/python/.venv/lib/python3.12.../optimize/_lsq/__init__.py
E             - .../example/python/.venv/lib/python3.12.../optimize/_shgo_lib/__init__.py
E             - .../example/python/.venv/lib/python3.12.../optimize/_trlib/__init__.py
E             - .../example/python/.venv/lib/python3.12.../optimize/_trustregion_constr/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_trustregion_constr/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../optimize/cython_optimize/__init__.py
E             - .../example/python/.venv/lib/python3.12.../optimize/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../scipy/signal/__init__.py
E             - .../example/python/.venv/lib/python3.12.../signal/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../signal/windows/__init__.py
E             - .../example/python/.venv/lib/python3.12.../scipy/sparse/__init__.py
E             - .../example/python/.venv/lib/python3.12.../sparse/csgraph/__init__.py
E             - .../example/python/.venv/lib/python3.12.../csgraph/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../sparse/linalg/__init__.py
E             - .../example/python/.venv/lib/python3.12.../linalg/_dsolve/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_dsolve/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../linalg/_eigen/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_eigen/arpack/__init__.py
E             - .../example/python/.venv/lib/python3.12.../arpack/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_eigen/lobpcg/__init__.py
E             - .../example/python/.venv/lib/python3.12.../lobpcg/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_eigen/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../linalg/_isolve/__init__.py
E             - .../example/python/.venv/lib/python3.12.../_isolve/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../linalg/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../sparse/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../scipy/spatial/__init__.py
E             - .../example/python/.venv/lib/python3.12.../spatial/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../spatial/transform/__init__.py
E             - .../example/python/.venv/lib/python3.12.../transform/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../scipy/special/__init__.py
E             - .../example/python/.venv/lib/python3.12.../special/_precompute/__init__.py
E             - .../example/python/.venv/lib/python3.12.../special/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../tests/data/__init__.py
E             - .../example/python/.venv/lib/python3.12.../scipy/stats/__init__.py
E             - .../example/python/.venv/lib/python3.12.../stats/_levy_stable/__init__.py
E             - .../example/python/.venv/lib/python3.12.../stats/_rcont/__init__.py
E             - .../example/python/.venv/lib/python3.12.../stats/_unuran/__init__.py
E             - .../example/python/.venv/lib/python3.12.../stats/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../site-packages/shellingham/__init__.py
E             - .../example/python/.venv/lib/python3.12.../shellingham/posix/__init__.py
E             - .../example/python/.venv/lib/python3.12.../site-packages/sortedcontainers/__init__.py
E             - .../example/python/.venv/lib/python3.12.../site-packages/structlog/__init__.py
E             - .../example/python/.venv/lib/python3.12.../site-packages/tlz/__init__.py
E             - .../example/python/.venv/lib/python3.12.../site-packages/toolz/__init__.py
E             - .../example/python/.venv/lib/python3.12.../toolz/curried/__init__.py
E             - .../example/python/.venv/lib/python3.12.../toolz/sandbox/__init__.py
E             - .../example/python/.venv/lib/python3.12.../sandbox/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../toolz/tests/__init__.py
E             - .../example/python/.venv/lib/python3.12.../site-packages/typer/__init__.py
E             - .../example/python/.venv/lib/python3.12.../typer/_click/__init__.py
E             - .../example/python/.venv/lib/python3.12.../site-packages/typing_inspection/__init__.py
E             - .../example/python/.venv/lib/python3.12.../site-packages/websockets/__init__.py
E             - .../example/python/.venv/lib/python3.12.../websockets/asyncio/__init__.py
E             - .../example/python/.venv/lib/python3.12.../websockets/extensions/__init__.py
E             - .../example/python/.venv/lib/python3.12.../websockets/legacy/__init__.py
E             - .../example/python/.venv/lib/python3.12.../websockets/sync/__init__.py
E             - .../example/python/.venv/lib/python3.12.../websockets/trio/__init__.py
E             - .../example/python/.venv/lib/python3.12.../site-packages/yaml/__init__.py
E             - .../example/python/.venv/lib/python3.12....../site-packages/zenoh/__init__.py
E           
E           __init__.py files are not allowed because they lead to unnecessary extraneous imports. Everything should be imported straight from the source module.

dimos_dir  = PosixPath('.../dimos/dimos/dimos')
init_files = [PosixPath('.../dimos/dimos/dimos/.../example/python/.venv/lib/python3.12/site-...dimos/.../example/python/.venv/lib/python3.12.../beartype/_cave/__init__.py'), ...]
listing    = '  - .../example/python/.venv/lib/python3.12....../site-packages/_yaml/__init__.py\n  - experimenta...yaml/__init__.py\n  - .../example/python/.venv/lib/python3.12....../site-packages/zenoh/__init__.py'

dimos/codebase_checks/test_no_init_files.py:25: AssertionError

dimos.codebase_checks.test_inline_heavy_imports::test_heavy_imports_are_inline

Stack Traces | 3.44s run time

def test_heavy_imports_are_inline() -> None:
        """Fail if any file imports cv2/open3d/rerun at module level."""
>       hits = find_eager_heavy_imports()


dimos/codebase_checks/test_inline_heavy_imports.py:85: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/codebase_checks/test_inline_heavy_imports.py:73: in find_eager_heavy_imports
    tree = ast.parse(path.read_text(encoding="utf-8"), filename=str(path))
        hits       = {}
        module     = None
        node       = <ast.Load object at 0x7eff9e52f580>
        path       = PosixPath('.../example/python/.venv/lib/python3.12.../numpy/_typing/_array_like.py')
        tree       = <ast.Module object at 0x7efd65e02440>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

source = 'from collections.abc import Buffer, Callable, Collection\nfrom typing import TYPE_CHECKING, Any, Protocol, runtime_ch...This includes `builtins.bool`, but not `numpy.bool`.\ntype _ArrayLikeInt = _DualArrayLike[np.dtype[np.integer], int]\n'
filename = '.../example/python/.venv/lib/python3.12.../numpy/_typing/_array_like.py'
mode = 'exec'

    def parse(source, filename='<unknown>', mode='exec', *,
              type_comments=False, feature_version=None):
        """
        Parse the source into an AST node.
        Equivalent to compile(source, filename, mode, PyCF_ONLY_AST).
        Pass type_comments=True to get back type comments where the syntax allows.
        """
        flags = PyCF_ONLY_AST
        if type_comments:
            flags |= PyCF_TYPE_COMMENTS
        if isinstance(feature_version, tuple):
            major, minor = feature_version  # Should be a 2-tuple.
            assert major == 3
            feature_version = minor
        elif feature_version is None:
            feature_version = -1
        # Else it should be an int giving the minor version for 3.x.
>       return compile(source, filename, mode, flags,
                       _feature_version=feature_version)
E         File ".../example/python/.venv/lib/python3.12.../numpy/_typing/_array_like.py", line 15
E           type NDArray[ScalarT: np.generic] = np.ndarray[_AnyShape, np.dtype[ScalarT]]
E                ^^^^^^^
E       SyntaxError: invalid syntax

feature_version = -1
filename   = '.../example/python/.venv/lib/python3.12.../numpy/_typing/_array_like.py'
flags      = 1024
mode       = 'exec'
source     = 'from collections.abc import Buffer, Callable, Collection\nfrom typing import TYPE_CHECKING, Any, Protocol, runtime_ch...This includes `builtins.bool`, but not `numpy.bool`.\ntype _ArrayLikeInt = _DualArrayLike[np.dtype[np.integer], int]\n'
type_comments = False

../...../_temp/uv-python-dir/cpython-3.11.16-linux-x86_64-gnu/lib/python3.11/ast.py:50: SyntaxError

dimos.codebase_checks.test_import_from_source::test_import_from_source

Stack Traces | 5.36s run time

def test_import_from_source() -> None:
        """Fail if any name is imported from a module that only re-imported it."""
>       violations = find_reexport_imports()


dimos/codebase_checks/test_import_from_source.py:141: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/codebase_checks/test_import_from_source.py:113: in find_reexport_imports
    modules = _build_index()
dimos/codebase_checks/test_import_from_source.py:76: in _build_index
    for node in ast.parse("\n".join(lines), filename=str(mod.path)).body:
        alias      = <ast.alias object at 0x7f7572669660>
        lines      = ['from collections.abc import Buffer, Callable, Collection', 'from typing import TYPE_CHECKING, Any, Protocol, runtime_checkable', '', 'import numpy as np', '', 'if TYPE_CHECKING:', ...]
        mod        = <dimos.codebase_checks.test_import_from_source._Module object at 0x7f7571d8de50>
        modules    = {'dimos': <dimos.codebase_checks.test_import_from_source._Module object at 0x7f7573bb2190>, 'dimos.agents.agent_spec':...0>, 'dimos.agents.capabilities': <dimos.codebase_checks.test_import_from_source._Module object at 0x7f757300c050>, ...}
        node       = <ast.Assign object at 0x7f75731fb5e0>
        path       = PosixPath('.../dimos/web/websocket_vis_spec.py')
        src        = 'dimos.experimental.isolated_python.example.python..venv.lib.python3.12.site-packages.numpy._typing._array_like'
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

source = 'from collections.abc import Buffer, Callable, Collection\nfrom typing import TYPE_CHECKING, Any, Protocol, runtime_ch...: This includes `builtins.bool`, but not `numpy.bool`.\ntype _ArrayLikeInt = _DualArrayLike[np.dtype[np.integer], int]'
filename = '.../example/python/.venv/lib/python3.12.../numpy/_typing/_array_like.py'
mode = 'exec'

    def parse(source, filename='<unknown>', mode='exec', *,
              type_comments=False, feature_version=None):
        """
        Parse the source into an AST node.
        Equivalent to compile(source, filename, mode, PyCF_ONLY_AST).
        Pass type_comments=True to get back type comments where the syntax allows.
        """
        flags = PyCF_ONLY_AST
        if type_comments:
            flags |= PyCF_TYPE_COMMENTS
        if isinstance(feature_version, tuple):
            major, minor = feature_version  # Should be a 2-tuple.
            assert major == 3
            feature_version = minor
        elif feature_version is None:
            feature_version = -1
        # Else it should be an int giving the minor version for 3.x.
>       return compile(source, filename, mode, flags,
                       _feature_version=feature_version)
E         File ".../example/python/.venv/lib/python3.12.../numpy/_typing/_array_like.py", line 15
E           type NDArray[ScalarT: np.generic] = np.ndarray[_AnyShape, np.dtype[ScalarT]]
E                ^^^^^^^
E       SyntaxError: invalid syntax

feature_version = -1
filename   = '.../example/python/.venv/lib/python3.12.../numpy/_typing/_array_like.py'
flags      = 1024
mode       = 'exec'
source     = 'from collections.abc import Buffer, Callable, Collection\nfrom typing import TYPE_CHECKING, Any, Protocol, runtime_ch...: This includes `builtins.bool`, but not `numpy.bool`.\ntype _ArrayLikeInt = _DualArrayLike[np.dtype[np.integer], int]'
type_comments = False

../...../_temp/uv-python-dir/cpython-3.11.16-linux-x86_64-gnu/lib/python3.11/ast.py:50: SyntaxError

dimos.codebase_checks.test_no_all::test_no_all

Stack Traces | 13.2s run time

def test_no_all():
        """Fail if any file defines `__all__`."""
        dimos_dir = DIMOS_PROJECT_ROOT / "dimos"
>       hits = find_all_definitions()

dimos_dir  = PosixPath('.../dimos/dimos/dimos')

dimos/codebase_checks/test_no_all.py:48: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/codebase_checks/test_no_all.py:38: in find_all_definitions
    tree = ast.parse(path.read_text(encoding="utf-8"))
        dimos_dir  = PosixPath('.../dimos/dimos/dimos')
        hits       = [(PosixPath('.../dimos/dimos/dimos/experiment.../example/python/.venv/lib/python3.12/site....../example/python/.venv/lib/python3.12.../dimos_lcm/foxglove_bridge/__init__.py'), 11), ...]
        node       = <ast.Load object at 0x7f77aa2ff580>
        path       = PosixPath('.../dimos/dimos/dimos/experiment.../example/python/.venv/lib/python3.12.../numpy/_typing/_array_like.py')
        tree       = <ast.Module object at 0x7f7573f27b20>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

source = 'from collections.abc import Buffer, Callable, Collection\nfrom typing import TYPE_CHECKING, Any, Protocol, runtime_ch...This includes `builtins.bool`, but not `numpy.bool`.\ntype _ArrayLikeInt = _DualArrayLike[np.dtype[np.integer], int]\n'
filename = '<unknown>', mode = 'exec'

    def parse(source, filename='<unknown>', mode='exec', *,
              type_comments=False, feature_version=None):
        """
        Parse the source into an AST node.
        Equivalent to compile(source, filename, mode, PyCF_ONLY_AST).
        Pass type_comments=True to get back type comments where the syntax allows.
        """
        flags = PyCF_ONLY_AST
        if type_comments:
            flags |= PyCF_TYPE_COMMENTS
        if isinstance(feature_version, tuple):
            major, minor = feature_version  # Should be a 2-tuple.
            assert major == 3
            feature_version = minor
        elif feature_version is None:
            feature_version = -1
        # Else it should be an int giving the minor version for 3.x.
>       return compile(source, filename, mode, flags,
                       _feature_version=feature_version)
E         File "<unknown>", line 15
E           type NDArray[ScalarT: np.generic] = np.ndarray[_AnyShape, np.dtype[ScalarT]]
E                ^^^^^^^
E       SyntaxError: invalid syntax

feature_version = -1
filename   = '<unknown>'
flags      = 1024
mode       = 'exec'
source     = 'from collections.abc import Buffer, Callable, Collection\nfrom typing import TYPE_CHECKING, Any, Protocol, runtime_ch...This includes `builtins.bool`, but not `numpy.bool`.\ntype _ArrayLikeInt = _DualArrayLike[np.dtype[np.integer], int]\n'
type_comments = False

../...../_temp/uv-python-dir/cpython-3.11.16-linux-x86_64-gnu/lib/python3.11/ast.py:50: SyntaxError

dimos.codebase_checks.test_no_underscore_assign::test_no_underscore_assignment

Stack Traces | 13.2s run time

def test_no_underscore_assignment():
        """Fail if any file assigns to a bare `_`."""
        dimos_dir = DIMOS_PROJECT_ROOT / "dimos"
>       hits = find_underscore_assignments()

dimos_dir  = PosixPath('.../dimos/dimos/dimos')

dimos/codebase_checks/test_no_underscore_assign.py:52: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/codebase_checks/test_no_underscore_assign.py:42: in find_underscore_assignments
    tree = ast.parse(path.read_text(encoding="utf-8"))
        dimos_dir  = PosixPath('.../dimos/dimos/dimos')
        hits       = [(PosixPath('.../dimos/dimos/dimos/experimen.../example/python/.venv/lib/python3.12/site....../example/python/.venv/lib/python3.12.../_core/tests/test_getlimits.py'), 169), ...]
        node       = <ast.Load object at 0x7f7e1eb2f580>
        path       = PosixPath('.../dimos/dimos/dimos/experimen.../example/python/.venv/lib/python3.12.../numpy/_typing/_array_like.py')
        tree       = <ast.Module object at 0x7f7bef0f2f80>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

source = 'from collections.abc import Buffer, Callable, Collection\nfrom typing import TYPE_CHECKING, Any, Protocol, runtime_ch...This includes `builtins.bool`, but not `numpy.bool`.\ntype _ArrayLikeInt = _DualArrayLike[np.dtype[np.integer], int]\n'
filename = '<unknown>', mode = 'exec'

    def parse(source, filename='<unknown>', mode='exec', *,
              type_comments=False, feature_version=None):
        """
        Parse the source into an AST node.
        Equivalent to compile(source, filename, mode, PyCF_ONLY_AST).
        Pass type_comments=True to get back type comments where the syntax allows.
        """
        flags = PyCF_ONLY_AST
        if type_comments:
            flags |= PyCF_TYPE_COMMENTS
        if isinstance(feature_version, tuple):
            major, minor = feature_version  # Should be a 2-tuple.
            assert major == 3
            feature_version = minor
        elif feature_version is None:
            feature_version = -1
        # Else it should be an int giving the minor version for 3.x.
>       return compile(source, filename, mode, flags,
                       _feature_version=feature_version)
E         File "<unknown>", line 15
E           type NDArray[ScalarT: np.generic] = np.ndarray[_AnyShape, np.dtype[ScalarT]]
E                ^^^^^^^
E       SyntaxError: invalid syntax

feature_version = -1
filename   = '<unknown>'
flags      = 1024
mode       = 'exec'
source     = 'from collections.abc import Buffer, Callable, Collection\nfrom typing import TYPE_CHECKING, Any, Protocol, runtime_ch...This includes `builtins.bool`, but not `numpy.bool`.\ntype _ArrayLikeInt = _DualArrayLike[np.dtype[np.integer], int]\n'
type_comments = False

../...../_temp/uv-python-dir/cpython-3.11.16-linux-x86_64-gnu/lib/python3.11/ast.py:50: SyntaxError

dimos.codebase_checks.test_no_dunder_new::test_no_dunder_new

Stack Traces | 27s run time

def test_no_dunder_new() -> None:
        """Fail if any test file calls `__new__` to bypass `__init__`."""
        dimos_dir = DIMOS_PROJECT_ROOT / "dimos"
        hits = find_dunder_new_calls()
        if hits:
            listing = "\n".join(
                f"  - {p.relative_to(dimos_dir)}:{lineno}: {line.strip()}" for p, lineno, line in hits
            )
>           raise AssertionError(
                f"Found __new__ call(s) in test files:\n{listing}\n\n"
                "Tests must construct objects with the real constructor: __init__ is "
                "code under test too, and an object assembled by hand silently rots "
                "when the constructor changes. If __init__ does heavy work, mock the "
                "collaborators it needs instead of skipping it. Only if that is truly "
                "impossible, add the call to the WHITELIST in "
                "dimos/codebase_checks/test_no_dunder_new.py."
            )
E           AssertionError: Found __new__ call(s) in test files:
E             - .../example/python/.venv/lib/python3.12.../_core/tests/test_function_base.py:39: return float.__new__(cls, value)
E             - .../example/python/.venv/lib/python3.12.../_core/tests/test_umath.py:4688: self = np.ndarray.__new__(cls, shape, dtype=object)
E             - .../example/python/.venv/lib/python3.12.../f2py/tests/test_array_from_pyobj.py:185: obj = object.__new__(cls)
E             - .../example/python/.venv/lib/python3.12.../ma/tests/test_core.py:5671: masked2 = np.ma.MaskedArray.__new__(np.ma.core.MaskedConstant)
E             - .../example/python/.venv/lib/python3.12.../ma/tests/test_subclassing.py:61: obj = super().__new__(cls, **kwargs)
E             - .../example/python/.venv/lib/python3.12.../ma/tests/test_subclassing.py:70: _data = MaskedArray.__new__(cls, data=subarr, mask=mask)
E             - .../example/python/.venv/lib/python3.12.../matrixlib/tests/test_masked_matrix.py:26: _data = MaskedArray.__new__(cls, data=mat, mask=mask)
E           
E           Tests must construct objects with the real constructor: __init__ is code under test too, and an object assembled by hand silently rots when the constructor changes. If __init__ does heavy work, mock the collaborators it needs instead of skipping it. Only if that is truly impossible, add the call to the WHITELIST in dimos/codebase_checks/test_no_dunder_new.py.

dimos_dir  = PosixPath('.../dimos/dimos/dimos')
hits       = [(PosixPath('.../dimos/dimos/dimos/.../example/python/.venv/lib/python3.12/site....../ma/tests/test_subclassing.py'), 70, '        _data = MaskedArray.__new__(cls, data=subarr, mask=mask)'), ...]
listing    = '  - .../example/python/.venv/lib/python3.12.../_core/tests/test_function_ba...12.../matrixlib/tests/test_masked_matrix.py:26: _data = MaskedArray.__new__(cls, data=mat, mask=mask)'

dimos/codebase_checks/test_no_dunder_new.py:67: AssertionError

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feat(simulation): connect BEHAVIOR R1 Pro navigation and manipulation

8028a81

TomCC7 added this pull request to stack #4160 September 17, 2026 00:38

TomCC7 deployed to cachix September 17, 2026 00:38 — with GitHub Actions Active

TomCC7 closed this Sep 17, 2026

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feat: connect BEHAVIOR R1 Pro navigation and manipulation - #4198

feat: connect BEHAVIOR R1 Pro navigation and manipulation#4198
TomCC7 wants to merge 1 commit into
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feat/behavior-r1pro

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TomCC7 commented Sep 17, 2026

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