fix(sim): report gripper readback in the command coordinate

[mustafab0]

The finding

The two sides of the SHM gripper block disagreed on which end of the joint
range means closed:

So the readback ran opposite to the coordinate commands are given in. Measured
on data/xarm7 (mj_step to steady state):

ctrl	settled qpos	jaw separation
0	0.003	0.141 m (open)
255	0.848	0.054 m (closed)

Solution

The sim was handing back MuJoCo's raw joint angle, which counts up as the jaws shut. Commands count down. Same physical state, opposite numbers.

The fix flips the readback so it lands on the command's scale. Now you send 0.0 and read 0.0.

[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
4853	1	4852	74

View the full list of 1 ❄️ flaky test(s)

dimos.e2e_tests.test_dimsim_spatial_memory::test_go_to_the_bed

Flake rate in main: 15.43% (Passed 137 times, Failed 25 times)

Stack Traces | 317s run time

lcm_spy = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x77cd3596ec90>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x77cd357ff380>
human_input = <function human_input.<locals>.send_human_input at 0x77cd357fe7a0>
dim_sim = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x77ce46785e80>
explore_house = <function explore_house.<locals>.explore at 0x77cd357ac220>

    @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()
    
        human_input("go to the bed")
    
>       lcm_spy.wait_until_odom_position(-3.567, -1.332, threshold=2, timeout=180)

dim_sim    = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x77ce46785e80>
explore_house = <function explore_house.<locals>.explore at 0x77cd357ac220>
human_input = <function human_input.<locals>.send_human_input at 0x77cd357fe7a0>
lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x77cd3596ec90>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x77cd357ff380>

dimos/e2e_tests/test_dimsim_spatial_memory.py:32: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
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 0x77cd357ffa60>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x77cd3596ec90>
        threshold  = 2
        timeout    = 180
        x          = -3.567
        y          = -1.332
dimos/e2e_tests/lcm_spy.py:153: in wait_for_message_result
    wait_until(
        event      = <threading.Event at 0x77cd36fb3e90: unset>
        fail_message = 'Failed to get to position x=-3.567, y=-1.332'
        listener   = <function LcmSpy.wait_for_message_result.<locals>.listener at 0x77cd357ac5e0>
        predicate  = <function LcmSpy.wait_until_odom_position.<locals>.predicate at 0x77cd357ffa60>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x77cd3596ec90>
        timeout    = 180
        topic      = '/odom#geometry_msgs.PoseStamped'
        type       = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

predicate = <bound method Event.is_set of <threading.Event at 0x77cd36fb3e90: 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=-3.567, y=-1.332

deadline   = 4202146.279438983
interval   = 0.1
message    = 'Failed to get to position x=-3.567, y=-1.332'
predicate  = <bound method Event.is_set of <threading.Event at 0x77cd36fb3e90: unset>>
timeout    = 180

.../utils/testing/waiting.py:35: TimeoutError

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[greptile-apps]

Greptile Summary

This change aligns simulated gripper feedback with the coordinate system used by gripper commands. Raw MuJoCo joint position is reflected across the declared gripper range, so closed and open feedback retain their intended meanings for command consumers. The endpoint, midpoint, and normalized closed-state cases are covered in the updated adapter tests.

T-Rex validation blocked

Focused shared-memory round-trip and adapter-test execution could not complete because the repository .venv Python interpreter symlink points to a removed interpreter, and the fallback environment lacks required runtime and test packages. The blocked items are the Python interpreter tool and the required Python packages.

Confidence Score: 5/5

No product defect was established in the changed gripper coordinate conversion; the implementation matches the simulator's inverse command mapping.

There are no final actionable findings. Code inspection shows the reader reflection maps the raw simulated joint value back to the command coordinate while preserving the existing invalid-range fallback.

Files Needing Attention: No files require author changes. Runtime confirmation remains unavailable until the local Python interpreter and required packages are restored.

T-Rex Logs

What T-Rex did

• A pre-capture plan was established to demonstrate the legacy raw-qpos mismatch at the two endpoints and the midpoint.
• An end-to-end attempt was made for the legacy baseline, shared-memory gripper round-trip, and focused MuJoCo adapter tests, but progress stopped because the repository virtual environment interpreter target was missing and required runtime dependencies were unavailable.
• Command records and blockers were captured and saved as artifacts to support inspection of the environment issues.

_{Ran code and verified through T-Rex}

_{Reviews (1): Last reviewed commit: "fix(sim): report gripper readback in the..." | Re-trigger Greptile}