fix(imitation): improve collection safety and episode handling

[ruthwikdasyam]

Contribution path

• Small, safe change that does not need a tracking issue

Problem

Imitation collection performed unnecessary pose/TF lookup for semantically poseless streams, could stop its recorder before final producer events, and did not clearly report an episode left open at the end of a recording. Quest disconnects could also leave stale controller engagement active, and invalid episode button mappings were silently ignored.

Solution

• Keep collection streams explicitly poseless and disable TF recording without changing the shared Memory recorder or SQLite store.
• Stop camera, teleop, coordinator, and episode producers before the collection recorder.
• Persist an explicit discard when shutdown interrupts an active episode.
• Clear Quest controller state on the final client disconnect, publish a zero-button safe command, require fresh reconnect state, and reject unknown controller identities.
• Validate episode button mappings at startup.
• Extend dataprep inspection to report incomplete source episodes separately from saved/discarded episodes.
• Add a real SQLite-to-HDF5/LeRobot integration test that reopens SQLite, HDF5, Parquet, and MP4 outputs and validates values, timestamps, episode boundaries, and counts.

Recorder FIFO, overload metrics, drain guarantees, and explicit WAL checkpointing are intentionally deferred to a later change. Generic Memory recorder behavior remains unchanged.

How to Test

Run the recording inspector against a collection database:

dimos dataprep inspect /path/to/session.db

Automated verification:

uv run pytest dimos/memory dimos/imitation dimos/teleop/quest -q

uv run mypy dimos/

uv run pre-commit run --all-files

Results: 527 tests passed, mypy passed across 998 source files, and all pre-commit hooks passed.

AI assistance

OpenCode with GPT-5.6 Sol was used extensively for codebase analysis, implementation, merge-conflict resolution, tests, and verification. The changes and generated tests were reviewed through focused diffs, type checking, pre-commit, and the affected test suites.

Checklist

• I have read and approved the CLA.

[codecov]

Codecov Report

❌ Patch coverage is 93.38235% with 18 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/teleop/quest/quest_teleop_module.py	69.56%	7 Missing ⚠️
dimos/imitation/test_datacollection_e2e.py	96.26%	5 Missing ⚠️
dimos/imitation/collection/episode_monitor.py	89.47%	1 Missing and 1 partial ⚠️
dimos/imitation/collection/recorder.py	66.66%	1 Missing and 1 partial ⚠️
dimos/imitation/dataprep/build.py	86.66%	1 Missing and 1 partial ⚠️

@@            Coverage Diff             @@
##             main    #3497      +/-   ##
==========================================
+ Coverage   74.05%   76.17%   +2.12%     
==========================================
  Files        1283     1226      -57     
  Lines      124704   119002    -5702     
  Branches    11141    10670     -471     
==========================================
- Hits        92349    90650    -1699     
+ Misses      29493    25260    -4233     
- Partials     2862     3092     +230     

Flag	Coverage Δ
OS-ubuntu-24.04-arm	70.40% <52.94%> (-0.03%)	⬇️
OS-ubuntu-latest	72.36% <93.38%> (+0.14%)	⬆️
Py-3.10	72.36% <93.38%> (+0.14%)	⬆️
Py-3.11	72.35% <93.38%> (+0.13%)	⬆️
Py-3.12	72.35% <93.38%> (+0.14%)	⬆️
Py-3.13	72.36% <93.38%> (+0.14%)	⬆️
Py-3.14	72.36% <93.38%> (+0.14%)	⬆️
Py-3.14t	72.36% <93.38%> (+0.13%)	⬆️
SelfHosted-Large	29.74% <25.36%> (+0.03%)	⬆️
SelfHosted-Linux	35.80% <25.36%> (-0.04%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
dimos/cli/dimos.py	64.78% <ø> (ø)
dimos/imitation/collection/blueprint.py	88.23% <ø> (ø)
dimos/imitation/collection/test_blueprint.py	100.00% <100.00%> (ø)
dimos/imitation/collection/test_episode_monitor.py	99.00% <100.00%> (+0.13%)	⬆️
dimos/imitation/collection/test_recorder.py	100.00% <100.00%> (ø)
dimos/imitation/dataprep/core.py	92.42% <100.00%> (+5.12%)	⬆️
dimos/imitation/dataprep/test_core.py	99.40% <100.00%> (+0.02%)	⬆️
dimos/teleop/quest/test_quest_teleop_module.py	100.00% <100.00%> (ø)
dimos/imitation/collection/episode_monitor.py	87.80% <89.47%> (-0.05%)	⬇️
dimos/imitation/collection/recorder.py	88.88% <66.66%> (-11.12%)	⬇️
... and 3 more

... and 86 files with indirect coverage changes

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