Benchmark replay

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Project	Status	Preview	Updated (UTC)
dimensional	🟢 Ready	View Preview	Aug 4, 2026, 12:53 PM

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[greptile-apps]

Greptile Summary

The PR adds configurable replay speed and windowing and introduces a CodSpeed benchmark for draining the Go2 replay pipeline.

• Forwards replay speed, seek, and duration from global configuration into ReplayConnection.
• Adds a bounded replay benchmark with stream-delivery validity floors and lifecycle cleanup.
• Adds a self-hosted CodSpeed workflow and the corresponding test dependency.
• Documents the new replay CLI options.

Confidence Score: 5/5

The PR appears safe to merge based on the follow-up evidence available.

No blocking failure remains within the eligible follow-up review scope.

Important Files Changed

Filename	Overview
.github/workflows/codspeed.yml	Adds the self-hosted, containerized CodSpeed workflow with replay-data preparation and wall-time benchmark execution.
dimos/core/global_config.py	Adds process-wide replay speed, seek, and duration settings exposed through the dynamic CLI configuration.
dimos/robot/unitree/go2/connection.py	Forwards replay timing and window settings into the memory replay implementation.
dimos/robot/unitree/go2/test_replay_benchmark.py	Adds a bounded end-to-end benchmark that validates delivery floors and waits for stream quiescence.
pyproject.toml	Adds the pinned pytest-codspeed benchmark dependency.
uv.lock	Locks pytest-codspeed 5.0.3 and its resolved artifacts.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart LR
  CLI["Replay CLI options"] --> Config["GlobalConfig"]
  Config --> Connection["ReplayConnection"]
  Connection --> Store["SQLite replay store"]
  Store --> Streams["Go2 replay streams"]
  Streams --> Coordinator["Unitree Go2 blueprint"]
  Coordinator --> Watchers["Benchmark subscribers"]
  Watchers --> Gate["Count floors + quiescence"]
  Gate --> CodSpeed["Wall-time result"]

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_{Reviews (9): Last reviewed commit: "Fix" | Re-trigger Greptile}

[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
3787	1	3786	175

View the top 1 failed test(s) by shortest run time

dimos.codebase_checks.test_no_underscore_assign::test_no_underscore_assignment

Stack Traces | 7.09s run time

def test_no_underscore_assignment():
        """Fail if any file assigns to a bare `_`."""
        dimos_dir = DIMOS_PROJECT_ROOT / "dimos"
        hits = find_underscore_assignments()
        if hits:
            listing = "\n".join(f"  - {p.relative_to(dimos_dir)}:{lineno}" for p, lineno in hits)
>           raise AssertionError(
                f"Found assignment(s) to `_` in dimos/:\n{listing}\n\n"
                "Assigning to `_` is not allowed: it hides an unused variable instead "
                "of removing it. Delete the variable. If you only need the "
                "expression's side effect, evaluate it directly with a call "
                "(`obj.method()`, `getattr(obj, 'attr')`) or log it; a bare attribute "
                "access needs `# noqa: B018`. Tuple unpacking (`a, _ = f()`) is fine "
                "and not flagged by this rule."
            )
E           AssertionError: Found assignment(s) to `_` in dimos/:
E             - .../unitree/go2/test_replay_pipeline_benchmark.py:127
E             - .../unitree/go2/test_replay_pipeline_benchmark.py:129
E           
E           Assigning to `_` is not allowed: it hides an unused variable instead of removing it. Delete the variable. If you only need the expression's side effect, evaluate it directly with a call (`obj.method()`, `getattr(obj, 'attr')`) or log it; a bare attribute access needs `# noqa: B018`. Tuple unpacking (`a, _ = f()`) is fine and not flagged by this rule.

dimos_dir  = PosixPath('.../dimos/dimos/dimos')
hits       = [(PosixPath('.../dimos/dimos/dimos/.../unitree/go2/test_replay_pipeline_benchmark.py'), 127), (PosixPath('.../dimos/dimos/dimos/.../unitree/go2/test_replay_pipeline_benchmark.py'), 129)]
listing    = '  - .../unitree/go2/test_replay_pipeline_benchmark.py:127\n  - .../unitree/go2/test_replay_pipeline_benchmark.py:129'

dimos/codebase_checks/test_no_underscore_assign.py:55: AssertionError

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[codspeed-hq]

Congrats! CodSpeed is installed 🎉

🆕 1 new benchmark was detected.

You will start to see performance impacts in the reports once the benchmarks are run from your default branch.

Detected benchmark

• test_go2_pipeline_simulation (Simulation): 9.3 s

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