Fix more tests

[paul-nechifor]

Run fast tests (should take about 42 seconds):

pytest dimos

Run slow tests (should take about 5–6 minutes):

./bin/pytest-slow

Run MuJoCo tests (should take about 5 minutes):

./bin/pytest-mujoco

[greptile-apps]

Greptile Summary

This PR improves the test infrastructure and fixes various test-related issues across the DimOS codebase.

Key Changes:

• Test categorization improvements: Added new pytest markers (neverending, mujoco) and created helper scripts (bin/pytest-fast, bin/pytest-mujoco) to separate test execution by category
• Unused import cleanup: Removed ~30 unused imports across multiple files to reduce code clutter
• Test fixes: Updated tests for EmbeddingIDSystem to match API changes (embeddings now stored as numpy arrays in lists), fixed trajectory status access from dict-style to attribute access
• CUDA compatibility: Added C++17 enforcement for NVRTC compilation to support recent CUDA/libcu++ versions
• MuJoCo cleanup: Added atexit handler to ensure subprocess cleanup, re-enabled spatial_memory() in blueprints
• Removed deprecated tests: Deleted visualization tests that relied on unavailable test data or manual visual inspection

Confidence Score: 4/5

• This PR is safe to merge - primarily cleanup and test infrastructure improvements with minimal production code changes.
• Score reflects that this is mostly test infrastructure changes and import cleanup. The one area requiring attention is the inference.py checkpoint loading change which removes error handling, but this was already flagged in a previous review thread.
• Pay attention to dimos/models/manipulation/contact_graspnet_pytorch/inference.py (checkpoint loading error handling removed) and dimos/msgs/sensor_msgs/image_impls/CudaImage.py (sharpness method now raises instead of returning 0.0 on error).

Important Files Changed

Filename	Overview
pyproject.toml	Cleaned up pytest markers - removed deprecated markers, added neverending and mujoco, updated default filter options.
dimos/models/manipulation/contact_graspnet_pytorch/inference.py	Replaced CheckpointIO with direct torch.load - removes graceful error handling for missing checkpoint files.
dimos/msgs/sensor_msgs/image_impls/AbstractImage.py	Added workaround to force C++17 in NVRTC compilation for compatibility with recent CUDA/libcu++.
dimos/msgs/sensor_msgs/image_impls/CudaImage.py	Updated C++ std to c++17, added safer kernel initialization, changed sharpness to re-raise exceptions instead of returning 0.0.
dimos/perception/detection/reid/test_embedding_id_system.py	Updated tests to match new API - embeddings now stored as numpy arrays in lists instead of running average tensors.
dimos/robot/unitree_webrtc/mujoco_connection.py	Added atexit handler with weakref to ensure MuJoCo subprocess is cleaned up on process exit.
dimos/robot/unitree_webrtc/unitree_go2_blueprints.py	Re-enabled spatial_memory() in the spatial blueprint, removed TODO comment block, and removed unused OccupancyGrid import.

Sequence Diagram

sequenceDiagram
    participant Dev as Developer
    participant Pytest as Pytest Runner
    participant Scripts as Test Scripts
    participant Tests as Test Files
    participant CUDA as CUDA/CuPy
    participant MuJoCo as MuJoCo Subprocess

    Dev->>Scripts: ./bin/pytest-fast
    Scripts->>Pytest: exec pytest dimos
    Pytest->>Tests: Run non-excluded tests
    
    Dev->>Scripts: ./bin/pytest-slow
    Scripts->>Pytest: exec pytest -m 'not (tool or module or neverending or mujoco)'
    Pytest->>Tests: Run slow tests (excluding special categories)
    
    Dev->>Scripts: ./bin/pytest-mujoco
    Scripts->>Pytest: exec pytest -m mujoco
    Pytest->>Tests: Run MuJoCo-marked tests
    Tests->>MuJoCo: Start subprocess
    MuJoCo-->>Tests: Ready signal via shared memory
    Tests->>Tests: Execute test logic
    Tests->>MuJoCo: Stop (or atexit cleanup)
    
    Note over CUDA: C++17 now enforced for NVRTC
    Tests->>CUDA: Compile CUDA kernels
    CUDA-->>Tests: Compiled with --std=c++17

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[greptile-apps]

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[leshy]