test: pin Drake backend in manipulation integration suite#3192
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July 25, 2026 22:50
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Greptile SummaryPins the manipulation integration fixture to its intended planning stack.
Confidence Score: 5/5The PR appears safe to merge. The fixture uses accepted backend and planner values, their combination is explicitly supported, and the tests that instantiate it are already guarded when Drake is unavailable. Important Files Changed
Reviews (1): Last reviewed commit: "test: pin Drake manipulation integration..." | Re-trigger Greptile |
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July 25, 2026 22:52
Codecov Report✅ All modified and coverable lines are covered by tests. @@ Coverage Diff @@
## main #3192 +/- ##
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+ Coverage 73.75% 74.20% +0.44%
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Files 1109 1109
Lines 104386 104386
Branches 9568 9568
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+ Hits 76995 77459 +464
+ Misses 24699 24160 -539
- Partials 2692 2767 +75
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Problem
The manipulation integration suite describes and gates itself as a Drake test, but it relied on
ManipulationModuledefaults. After #3155 changed those defaults to RoboPlan, the suite began constructing a native RoboPlan scene and reproducibly segfaulted in the experimental macOS self-hosted job.Solution
Pin the shared integration fixture to the Drake world backend and RRT-Connect planner. This restores the suite's documented backend and retains its macOS coverage without changing production defaults, CI markers, or RoboPlan.
How to Test
uv run pytest dimos/manipulation/test_manipulation_module.py -m self_hostedThe file collects successfully in the development environment. Its 12 integration tests skip locally because
pydrakeis unavailable; the macOS self-hosted runner has Drake and exercises the suite.Ruff check, Ruff format check, and
git diff --checkpass.AI assistance
Codex with GPT-5 diagnosed the regression, implemented the test fixture change, and ran the reported validation.
Checklist