increase mujoco timeout

[paul-nechifor]

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Greptile Overview

Greptile Summary

Increased MuJoCo subprocess initialization timeout from 10 seconds to 300 seconds, and moved pygame from optional sim dependencies to core dependencies.

• Timeout increase: Addresses startup issues where MuJoCo process requires more time to initialize on slower systems or when loading complex simulation environments
• pygame dependency move: Makes teleop functionality (keyboard/joystick control) available by default without requiring the [sim] extra, since it's used by KeyboardTeleop module which is part of core robot control

Confidence Score: 5/5

• This PR is safe to merge with minimal risk
• The changes are straightforward and low-risk: increasing a timeout value to accommodate slower initialization times, and moving a dependency to ensure core teleop functionality works out of the box. The timeout change maintains the same error handling logic, and the pygame move aligns with its actual usage in core modules.
• No files require special attention

Important Files Changed

File Analysis

Filename	Score	Overview
dimos/robot/unitree_webrtc/mujoco_connection.py	5/5	Increased MuJoCo subprocess initialization timeout from 10 to 300 seconds
pyproject.toml	5/5	Moved pygame dependency from optional sim group to core dependencies for teleop functionality

Sequence Diagram

sequenceDiagram
    participant Client
    participant MujocoConnection
    participant Subprocess as MuJoCo Subprocess
    participant ShmWriter as Shared Memory

    Client->>MujocoConnection: start()
    MujocoConnection->>ShmWriter: create ShmWriter()
    MujocoConnection->>Subprocess: Popen(LAUNCHER_PATH, config, shm_names)
    
    Note over MujocoConnection: Wait loop (max 300s)
    loop Every 0.1s until ready or timeout
        MujocoConnection->>Subprocess: poll() - check if running
        alt Process exited
            Subprocess-->>MujocoConnection: returncode != None
            MujocoConnection->>MujocoConnection: stop()
            MujocoConnection-->>Client: RuntimeError (process failed)
        else Still running
            Subprocess-->>MujocoConnection: None (still running)
            MujocoConnection->>ShmWriter: is_ready()
            alt Shared memory ready
                ShmWriter-->>MujocoConnection: True
                MujocoConnection-->>Client: Success (process started)
            else Not ready yet
                ShmWriter-->>MujocoConnection: False
                Note over MujocoConnection: sleep(0.1) and continue
            end
        end
    end
    
    alt Timeout after 300s
        MujocoConnection->>MujocoConnection: stop()
        MujocoConnection-->>Client: RuntimeError (timeout)
    end

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