fix: broken tests

dimos/e2e_tests/test_control_coordinator.py

@@ -46,10 +46,7 @@ def test_coordinator_starts_and_responds_to_rpc(self, lcm_spy, start_blueprint)
         start_blueprint("coordinator-mock")
 
         # Wait for joint state to be published (proves tick loop is running)
-        lcm_spy.wait_for_saved_topic(
-            joint_state_topic,
-            timeout=10.0,
-        )
+        lcm_spy.wait_for_saved_topic(joint_state_topic)
 
         # Create RPC client and query
         client = RPCClient(None, ControlCoordinator)
@@ -81,9 +78,7 @@ def test_coordinator_executes_trajectory(self, lcm_spy, start_blueprint) -> None
         start_blueprint("coordinator-mock")
 
         # Wait for it to be ready
-        lcm_spy.wait_for_saved_topic(
-            "/coordinator/joint_state#sensor_msgs.JointState", timeout=10.0
-        )
+        lcm_spy.wait_for_saved_topic("/coordinator/joint_state#sensor_msgs.JointState")
 
         # Create RPC client
         client = RPCClient(None, ControlCoordinator)
@@ -138,7 +133,7 @@ def test_coordinator_joint_state_published(self, lcm_spy, start_blueprint) -> No
         start_blueprint("coordinator-mock")
 
         # Wait for initial message
-        lcm_spy.wait_for_saved_topic(joint_state_topic, timeout=10.0)
+        lcm_spy.wait_for_saved_topic(joint_state_topic)
 
         # Collect messages for 1 second
         time.sleep(1.0)
@@ -165,9 +160,7 @@ def test_coordinator_cancel_trajectory(self, lcm_spy, start_blueprint) -> None:
 
         # Start coordinator
         start_blueprint("coordinator-mock")
-        lcm_spy.wait_for_saved_topic(
-            "/coordinator/joint_state#sensor_msgs.JointState", timeout=10.0
-        )
+        lcm_spy.wait_for_saved_topic("/coordinator/joint_state#sensor_msgs.JointState")
 
         client = RPCClient(None, ControlCoordinator)
         try:
@@ -210,9 +203,7 @@ def test_dual_arm_coordinator(self, lcm_spy, start_blueprint) -> None:
 
         # Start dual-arm mock coordinator
         start_blueprint("coordinator-dual-mock")
-        lcm_spy.wait_for_saved_topic(
-            "/coordinator/joint_state#sensor_msgs.JointState", timeout=10.0
-        )
+        lcm_spy.wait_for_saved_topic("/coordinator/joint_state#sensor_msgs.JointState")
 
         client = RPCClient(None, ControlCoordinator)
         try:

dimos/manipulation/test_manipulation_module.py

@@ -149,7 +149,7 @@ def test_plan_to_joints(self, module, joint_state_zeros):
         """Test planning to a joint configuration."""
         module._on_joint_state(joint_state_zeros)
 
-        target = [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        target = JointState(position=[0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1])
         success = module.plan_to_joints(target)
 
         assert success is True
@@ -203,7 +203,7 @@ def test_trajectory_name_translation(self, module, joint_state_zeros):
         """Test that trajectory joint names are translated for coordinator."""
         module._on_joint_state(joint_state_zeros)
 
-        success = module.plan_to_joints([0.05] * 7)
+        success = module.plan_to_joints(JointState(position=[0.05] * 7))
         assert success is True
 
         traj = module._planned_trajectories["test_arm"]
@@ -224,7 +224,7 @@ def test_execute_with_mock_coordinator(self, module, joint_state_zeros):
         """Test execute sends trajectory to coordinator."""
         module._on_joint_state(joint_state_zeros)
 
-        success = module.plan_to_joints([0.05] * 7)
+        success = module.plan_to_joints(JointState(position=[0.05] * 7))
         assert success is True
 
         # Mock the coordinator client
@@ -253,7 +253,7 @@ def test_execute_rejected_by_coordinator(self, module, joint_state_zeros):
         """Test handling of coordinator rejection."""
         module._on_joint_state(joint_state_zeros)
 
-        module.plan_to_joints([0.05] * 7)
+        module.plan_to_joints(JointState(position=[0.05] * 7))
 
         # Mock coordinator to reject
         mock_client = MagicMock()
@@ -273,15 +273,15 @@ def test_state_transitions_during_execution(self, module, joint_state_zeros):
         module._on_joint_state(joint_state_zeros)
 
         # Plan - should go through PLANNING -> COMPLETED
-        module.plan_to_joints([0.05] * 7)
+        module.plan_to_joints(JointState(position=[0.05] * 7))
         assert module._state == ManipulationState.COMPLETED
 
         # Reset works from COMPLETED
         module.reset()
         assert module._state == ManipulationState.IDLE
 
         # Plan again
-        module.plan_to_joints([0.05] * 7)
+        module.plan_to_joints(JointState(position=[0.05] * 7))
 
         # Mock coordinator
         mock_client = MagicMock()

dimos/utils/cli/lcmspy/test_lcmspy.py

@@ -175,8 +175,9 @@ def test_lcmspy_global_totals() -> None:
     spy.msg("/odom", b"odometry data")
     spy.msg("/imu", b"imu data")
 
-    # The spy itself should have accumulated all messages
-    assert len(spy.message_history) == 3
+    # Verify each test topic received exactly one message (ignore LCM discovery packets)
+    for t in ("/video", "/odom", "/imu"):
+        assert len(spy.topic[t].message_history) == 1
 
     # Check global statistics
     global_freq = spy.freq(1.0)

docker/python/Dockerfile

@@ -48,4 +48,7 @@ COPY . /app/
 
 # Install dependencies with UV (10-100x faster than pip)
 RUN uv pip install --upgrade 'pip>=24' 'setuptools>=70' 'wheel' 'packaging>=24' && \
-    uv pip install '.[misc,cpu,sim,drone,unitree,web,perception,visualization]'
+    uv pip install '.[misc,cpu,sim,drone,unitree,web,perception,visualization,manipulation]'
+
+# Remove pydrake .pyi stubs that use Python 3.12 syntax (breaks mypy on 3.10)
+RUN find /usr/local/lib/python3.10/dist-packages/pydrake -name '*.pyi' -delete

pyproject.toml

@@ -362,6 +362,8 @@ module = [
     "open_clip",
     "piper_sdk.*",
     "plotext",
+    "pydrake",
+    "pydrake.*",
     "plum.*",
     "pycuda",
     "pycuda.*",
@@ -384,6 +386,10 @@ ignore_missing_imports = true
 module = ["dimos.rxpy_backpressure", "dimos.rxpy_backpressure.*"]
 follow_imports = "skip"
 
+[[tool.mypy.overrides]]
+module = ["pydrake", "pydrake.*"]
+follow_imports = "skip"
+
 [tool.pytest.ini_options]
 testpaths = ["dimos"]
 markers = [