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fix(xarm7-sim): fix broken e2e tests #1294

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Merged
leshy merged 1 commit into from
Feb 19, 2026
Merged

fix(xarm7-sim): fix broken e2e tests #1294

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4 changes: 2 additions & 2 deletions data/.lfs/xarm7.tar.gz
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6 changes: 3 additions & 3 deletions dimos/e2e_tests/test_simulation_module.py
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@ def test_xarm7_joint_state_published(self, lcm_spy, start_blueprint) -> None:
joint_state_topic = "/xarm/joint_states#sensor_msgs.JointState"
lcm_spy.save_topic(joint_state_topic)

start_blueprint("simulation-xarm7")
start_blueprint("xarm7-trajectory-sim")
lcm_spy.wait_for_saved_topic(joint_state_topic, timeout=15.0)

with lcm_spy._messages_lock:
Expand All @@ -52,7 +52,7 @@ def test_xarm7_robot_state_published(self, lcm_spy, start_blueprint) -> None:
robot_state_topic = "/xarm/robot_state#sensor_msgs.RobotState"
lcm_spy.save_topic(robot_state_topic)

start_blueprint("simulation-xarm7")
start_blueprint("xarm7-trajectory-sim")
lcm_spy.wait_for_saved_topic(robot_state_topic, timeout=15.0)

with lcm_spy._messages_lock:
Expand All @@ -66,7 +66,7 @@ def test_xarm7_joint_command_updates_joint_state(self, lcm_spy, start_blueprint)
joint_command_topic = "/xarm/joint_position_command#sensor_msgs.JointCommand"
lcm_spy.save_topic(joint_state_topic)

start_blueprint("simulation-xarm7")
start_blueprint("xarm7-trajectory-sim")
lcm_spy.wait_for_saved_topic(joint_state_topic, timeout=15.0)

target_positions = [0.2, -0.2, 0.1, -0.1, 0.15, -0.15, 0.05]
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5 changes: 2 additions & 3 deletions dimos/simulation/sim_blueprints.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,12 +21,11 @@
)
from dimos.msgs.trajectory_msgs import JointTrajectory
from dimos.simulation.manipulators.sim_module import simulation
from dimos.utils.data import get_data
from dimos.utils.data import LfsPath

xarm7_trajectory_sim = simulation(
engine="mujoco",
config_path=lambda: get_data("xarm7")
/ "scene.xml", # avoid triggering LFS downloads during tests
config_path=LfsPath("xarm7/scene.xml"),
headless=True,
).transports(
{
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