diff --git a/dimos/control/blueprints/_hardware.py b/dimos/control/blueprints/_hardware.py
index f652265b35..5dc06f7d0b 100644
--- a/dimos/control/blueprints/_hardware.py
+++ b/dimos/control/blueprints/_hardware.py
@@ -23,9 +23,13 @@
make_twist_base_joints,
)
from dimos.core.global_config import global_config
+from dimos.robot.assets.source import RobotDescriptionSource
from dimos.utils.data import LfsPath
-PIPER_FK_MODEL = LfsPath("piper_description/mujoco_model/piper_no_gripper_description.xml")
+PIPER_DESCRIPTION_REPO = "https://github.com/agilexrobotics/agx_arm_urdf"
+_PIPER_REPO = RobotDescriptionSource(url=PIPER_DESCRIPTION_REPO, ref="main")
+
+PIPER_FK_MODEL = _PIPER_REPO / "piper" / "urdf" / "piper_description.urdf"
XARM6_FK_MODEL = LfsPath("xarm_description/urdf/xarm6/xarm6.urdf")
XARM7_FK_MODEL = LfsPath("xarm_description/urdf/xarm7/xarm7.urdf")
A750_FK_MODEL = LfsPath("a750_description/urdf/a750_rev1_no_gripper.urdf")
diff --git a/dimos/control/examples/cartesian_ik_jogger.py b/dimos/control/examples/cartesian_ik_jogger.py
index 09e30acb0b..4d775f8771 100644
--- a/dimos/control/examples/cartesian_ik_jogger.py
+++ b/dimos/control/examples/cartesian_ik_jogger.py
@@ -162,11 +162,10 @@ def clamp(value: float, min_val: float, max_val: float) -> float:
def _get_piper_model_path() -> str:
- """Get path to Piper MJCF model."""
- from dimos.utils.data import get_data
+ """Get path to Piper FK model."""
+ from dimos.control.blueprints._hardware import PIPER_FK_MODEL
- piper_path = get_data("piper_description")
- return str(piper_path / "mujoco_model" / "piper_no_gripper_description.xml")
+ return str(PIPER_FK_MODEL)
def run_jogger_ui(model_path: str | None = None, ee_joint_id: int = 6) -> None:
diff --git a/dimos/control/tasks/cartesian_ik_task/cartesian_ik_task.py b/dimos/control/tasks/cartesian_ik_task/cartesian_ik_task.py
index fcf58b833a..45a1f8311f 100644
--- a/dimos/control/tasks/cartesian_ik_task/cartesian_ik_task.py
+++ b/dimos/control/tasks/cartesian_ik_task/cartesian_ik_task.py
@@ -86,13 +86,12 @@ class CartesianIKTask(BaseControlTask):
outputs JointCommandOutput and participates in joint-level arbitration.
Example:
- >>> from dimos.utils.data import get_data
- >>> piper_path = get_data("piper_description")
+ >>> from dimos.control.blueprints._hardware import PIPER_FK_MODEL
>>> task = CartesianIKTask(
... name="cartesian_arm",
... config=CartesianIKTaskConfig(
... joint_names=["joint1", "joint2", "joint3", "joint4", "joint5", "joint6"],
- ... model_path=piper_path / "mujoco_model" / "piper_no_gripper_description.xml",
+ ... model_path=PIPER_FK_MODEL,
... ee_joint_id=6,
... priority=10,
... timeout=0.5,
diff --git a/dimos/control/tasks/teleop_task/teleop_task.py b/dimos/control/tasks/teleop_task/teleop_task.py
index bcc7c62d98..ec0e1b873b 100644
--- a/dimos/control/tasks/teleop_task/teleop_task.py
+++ b/dimos/control/tasks/teleop_task/teleop_task.py
@@ -96,13 +96,12 @@ class TeleopIKTask(BaseControlTask):
Outputs JointCommandOutput and participates in joint-level arbitration.
Example:
- >>> from dimos.utils.data import get_data
- >>> piper_path = get_data("piper_description")
+ >>> from dimos.control.blueprints._hardware import PIPER_FK_MODEL
>>> task = TeleopIKTask(
... name="teleop_arm",
... config=TeleopIKTaskConfig(
... joint_names=["joint1", "joint2", "joint3", "joint4", "joint5", "joint6"],
- ... model_path=piper_path / "mujoco_model" / "piper_no_gripper_description.xml",
+ ... model_path=PIPER_FK_MODEL,
... ee_joint_id=6,
... priority=10,
... timeout=0.5,
diff --git a/dimos/manipulation/blueprints.py b/dimos/manipulation/blueprints.py
index 5207135638..10f077c3a5 100644
--- a/dimos/manipulation/blueprints.py
+++ b/dimos/manipulation/blueprints.py
@@ -46,8 +46,8 @@
from dimos.msgs.geometry_msgs.Transform import Transform
from dimos.msgs.geometry_msgs.Vector3 import Vector3
from dimos.perception.object_scene_registration import ObjectSceneRegistrationModule
+from dimos.robot.assets.source import RobotDescriptionSource
from dimos.simulation.engines.mujoco_sim_module import MujocoSimModule
-from dimos.utils.data import LfsPath
from dimos.visualization.rerun.bridge import RerunBridgeModule
XARM_GRIPPER_COLLISION_EXCLUSIONS: list[tuple[str, str]] = [
@@ -69,8 +69,10 @@
("link6", "right_outer_knuckle"),
]
-_XARM_MODEL_PATH = LfsPath("xarm_description") / "urdf/xarm_device.urdf.xacro"
-_XARM_PACKAGE_PATHS: dict[str, Path] = {"xarm_description": LfsPath("xarm_description")}
+XARM_ROS2_REPO = "https://github.com/xArm-Developer/xarm_ros2"
+_XARM_REPO = RobotDescriptionSource(url=XARM_ROS2_REPO, ref="humble")
+_XARM_MODEL_PATH = _XARM_REPO / "xarm_description" / "urdf" / "xarm_device.urdf.xacro"
+_XARM_PACKAGE_PATHS: dict[str, Path] = {"xarm_description": _XARM_REPO / "xarm_description"}
def _base_pose(x: float = 0.0, y: float = 0.0, z: float = 0.0) -> PoseStamped:
diff --git a/dimos/manipulation/planning/utils/mesh_utils.py b/dimos/manipulation/planning/utils/mesh_utils.py
index 988a4e5e8e..3270e13476 100644
--- a/dimos/manipulation/planning/utils/mesh_utils.py
+++ b/dimos/manipulation/planning/utils/mesh_utils.py
@@ -35,9 +35,9 @@
from pathlib import Path
import re
import shutil
-import tempfile
from typing import TYPE_CHECKING
+from dimos.robot.assets.processing import DERIVED_ASSET_CACHE_ROOT, render_urdf
from dimos.utils.logging_config import setup_logger
if TYPE_CHECKING:
@@ -46,8 +46,8 @@
logger = setup_logger()
-# Cache directory for processed URDFs
-_CACHE_DIR = Path(tempfile.gettempdir()) / "dimos_urdf_cache"
+# Cache directory for Drake-specific URDFs derived from rendered robot assets.
+_CACHE_DIR = DERIVED_ASSET_CACHE_ROOT / "drake_urdfs"
def prepare_urdf_for_drake(
@@ -72,33 +72,31 @@ def prepare_urdf_for_drake(
Returns:
Path to the prepared URDF file (may be cached)
"""
- urdf_path = Path(urdf_path)
package_paths = package_paths or {}
xacro_args = xacro_args or {}
+ rendered_urdf = render_urdf(
+ urdf_path,
+ package_paths,
+ xacro_args,
+ package_uri_mode="absolute",
+ )
- # Generate cache key
- cache_key = _generate_cache_key(urdf_path, package_paths, xacro_args, convert_meshes)
- cache_path = _CACHE_DIR / cache_key / urdf_path.stem
+ # Generate cache key for Drake-specific processing.
+ cache_key = _generate_cache_key(rendered_urdf, convert_meshes)
+ cache_path = _CACHE_DIR / cache_key / rendered_urdf.stem
cache_path.mkdir(parents=True, exist_ok=True)
- cached_urdf = cache_path / f"{urdf_path.stem}.urdf"
+ cached_urdf = cache_path / f"{rendered_urdf.stem}.urdf"
# Check cache
if cached_urdf.exists():
logger.debug(f"Using cached URDF: {cached_urdf}")
return str(cached_urdf)
- # Process xacro if needed
- if urdf_path.suffix in (".xacro", ".urdf.xacro"):
- urdf_content = _process_xacro(urdf_path, package_paths, xacro_args)
- else:
- urdf_content = urdf_path.read_text()
+ urdf_content = rendered_urdf.read_text()
# Strip transmission blocks (Drake doesn't need them, and they can cause issues)
urdf_content = _strip_transmission_blocks(urdf_content)
- # Resolve package:// URIs
- urdf_content = _resolve_package_uris(urdf_content, package_paths, cache_path)
-
# Convert meshes if requested
if convert_meshes:
urdf_content = _convert_meshes(urdf_content, cache_path)
@@ -112,11 +110,9 @@ def prepare_urdf_for_drake(
def _generate_cache_key(
urdf_path: Path,
- package_paths: dict[str, Path],
- xacro_args: dict[str, str],
convert_meshes: bool,
) -> str:
- """Generate a cache key for the URDF configuration.
+ """Generate a cache key for Drake-specific URDF processing.
Includes a version number to invalidate cache when processing logic changes.
"""
@@ -125,29 +121,11 @@ def _generate_cache_key(
# Version number to invalidate cache when processing logic changes
# Increment this when adding new processing steps (e.g., stripping transmission blocks)
- processing_version = "v2"
-
- key_data = f"{processing_version}:{urdf_path}:{mtime}:{sorted(package_paths.items())}:{sorted(xacro_args.items())}:{convert_meshes}"
+ processing_version = "drake-urdf-v1"
+ key_data = f"{processing_version}:{urdf_path}:{mtime}:{convert_meshes}"
return hashlib.md5(key_data.encode()).hexdigest()[:16]
-def _process_xacro(
- xacro_path: Path,
- package_paths: dict[str, Path],
- xacro_args: dict[str, str],
-) -> str:
- """Process xacro file to URDF."""
- try:
- from dimos.utils.ament_prefix import process_xacro
- except ImportError:
- raise ImportError(
- "xacro is required for processing .xacro files. "
- "Install the manipulation extra: pip install dimos[manipulation]"
- )
-
- return process_xacro(xacro_path, package_paths, xacro_args)
-
-
def _strip_transmission_blocks(urdf_content: str) -> str:
"""Remove transmission blocks from URDF content.
@@ -175,36 +153,6 @@ def _strip_transmission_blocks(urdf_content: str) -> str:
return result
-def _resolve_package_uris(
- urdf_content: str,
- package_paths: dict[str, Path],
- output_dir: Path,
-) -> str:
- """Resolve package:// URIs to filesystem paths."""
- # Pattern for package:// URIs (handles both single and double quotes)
- # Note: Use triple quotes so \s is correctly interpreted as whitespace, not literal 's'
- pattern = r"""package://([^/]+)/(.+?)(["'<>\s])"""
-
- def replace_uri(match: re.Match[str]) -> str:
- pkg_name = match.group(1)
- rel_path = match.group(2)
- suffix = match.group(3)
-
- if pkg_name in package_paths:
- # Ensure absolute path for proper resolution
- pkg_path = Path(package_paths[pkg_name]).resolve()
- full_path = pkg_path / rel_path
- if full_path.exists():
- return f"{full_path}{suffix}"
- else:
- logger.warning(f"File not found: {full_path}")
-
- # Return original if not found
- return match.group(0)
-
- return re.sub(pattern, replace_uri, urdf_content)
-
-
def _convert_meshes(urdf_content: str, output_dir: Path) -> str:
"""Convert DAE/STL meshes to OBJ format for Drake compatibility."""
try:
diff --git a/dimos/manipulation/planning/utils/test_mesh_utils.py b/dimos/manipulation/planning/utils/test_mesh_utils.py
new file mode 100644
index 0000000000..d45cf2975e
--- /dev/null
+++ b/dimos/manipulation/planning/utils/test_mesh_utils.py
@@ -0,0 +1,52 @@
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from pathlib import Path
+
+from dimos.manipulation.planning.utils import mesh_utils
+import dimos.robot.assets.processing as processing
+
+
+def test_prepare_urdf_for_drake_uses_rendered_urdf_and_keeps_drake_cleanup(
+ tmp_path: Path,
+ monkeypatch,
+) -> None:
+ monkeypatch.setattr(processing, "_RENDERED_URDF_CACHE_ROOT", tmp_path / "rendered")
+ monkeypatch.setattr(mesh_utils, "_CACHE_DIR", tmp_path / "drake")
+ package_root = tmp_path / "pkg"
+ mesh = package_root / "meshes" / "link.stl"
+ mesh.parent.mkdir(parents=True)
+ mesh.write_text("solid link\nendsolid link\n")
+ urdf = tmp_path / "robot.urdf"
+ urdf.write_text(
+ ""
+ ""
+ ""
+ ""
+ "bad"
+ ""
+ )
+
+ prepared = Path(
+ mesh_utils.prepare_urdf_for_drake(
+ urdf,
+ {"pkg": package_root},
+ )
+ )
+
+ prepared_text = prepared.read_text()
+ assert prepared.is_relative_to(tmp_path / "drake")
+ assert "package://" not in prepared_text
+ assert str(mesh) in prepared_text
+ assert " Any:
# Register package paths (not applicable to MJCF)
if config.package_paths:
for pkg_name, pkg_path in config.package_paths.items():
- self._parser.package_map().Add(pkg_name, Path(pkg_path))
+ self._parser.package_map().Add(pkg_name, pkg_path)
else:
self._parser.package_map().Add(
f"{config.name}_description", prepared_path_obj.parent
diff --git a/dimos/manipulation/test_manipulation_module.py b/dimos/manipulation/test_manipulation_module.py
index f8e914e3b3..44a46e74bc 100644
--- a/dimos/manipulation/test_manipulation_module.py
+++ b/dimos/manipulation/test_manipulation_module.py
@@ -26,6 +26,7 @@
import pytest
+from dimos.manipulation.blueprints import _XARM_MODEL_PATH, _XARM_PACKAGE_PATHS
from dimos.manipulation.manipulation_module import (
ManipulationModule,
ManipulationState,
@@ -36,7 +37,6 @@
from dimos.msgs.geometry_msgs.Quaternion import Quaternion
from dimos.msgs.geometry_msgs.Vector3 import Vector3
from dimos.msgs.sensor_msgs.JointState import JointState
-from dimos.utils.data import get_data
pytestmark = pytest.mark.self_hosted
@@ -47,8 +47,7 @@ def _drake_available() -> bool:
def _xarm_urdf_available() -> bool:
try:
- desc_path = get_data("xarm_description")
- model_path = desc_path / "urdf/xarm_device.urdf.xacro"
+ model_path = _XARM_MODEL_PATH
return model_path.exists()
except Exception:
return False
@@ -56,15 +55,14 @@ def _xarm_urdf_available() -> bool:
def _get_xarm7_config() -> RobotModelConfig:
"""Create XArm7 robot config for testing."""
- desc_path = get_data("xarm_description")
return RobotModelConfig(
name="test_arm",
- model_path=desc_path / "urdf/xarm_device.urdf.xacro",
+ model_path=_XARM_MODEL_PATH,
base_pose=PoseStamped(position=Vector3(), orientation=Quaternion()),
joint_names=["joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "joint7"],
end_effector_link="link7",
base_link="link_base",
- package_paths={"xarm_description": desc_path},
+ package_paths=_XARM_PACKAGE_PATHS,
xacro_args={"dof": "7", "limited": "true"},
auto_convert_meshes=True,
max_velocity=1.0,
diff --git a/dimos/robot/assets/README.md b/dimos/robot/assets/README.md
new file mode 100644
index 0000000000..b6b552e5af
--- /dev/null
+++ b/dimos/robot/assets/README.md
@@ -0,0 +1,90 @@
+# Robot Assets
+
+`dimos.robot.assets` resolves robot description sources into local filesystem paths.
+It is the home for Git-backed robot model assets, package-root resolution, and
+generic URDF rendering helpers.
+
+This directory is intentionally self-contained so it can be extracted later. Do
+not add compatibility wrappers outside this module for new code. Import directly
+from the source modules, for example:
+
+```python
+from dimos.robot.assets.source import RobotDescriptionSource
+```
+
+There is no `__init__.py` on purpose: DimOS disallows package `__init__.py` files
+except at the root package to avoid accidental import side effects.
+
+## Cache behavior
+
+Assets live under:
+
+```text
+/dimos/robot_assets/
+├── sources/ # Git checkouts by source identity
+├── locks/ # per-source file locks
+└── derived/
+ ├── rendered_urdfs/ # generic rendered URDF cache
+ └── drake_urdfs/ # Drake-specific prepared URDF cache
+```
+
+`GitAssetCache` uses the “fresh-when-safe” policy:
+
+- clone when the source is missing;
+- update clean cached repos before use;
+- warn and keep cached content if update fails;
+- warn and skip update for dirty cached repos, preserving local edits.
+
+## Using a robot description source
+
+Create a source handle wherever the robot adapter or catalog is defined, then
+join paths from the repository root:
+
+```python
+from dimos.robot.assets.source import RobotDescriptionSource
+
+_MYARM_REPO = RobotDescriptionSource(
+ url="https://github.com/example/myarm_description",
+ ref="main",
+)
+
+model_path = _MYARM_REPO / "urdf" / "myarm.urdf.xacro"
+package_paths = {"myarm_description": _MYARM_REPO / "."}
+```
+
+Package roots map ROS package names to source-relative directories. These roots
+are used for `package://...` URIs and Xacro `$(find package_name)`.
+
+## Using assets in catalogs
+
+Catalogs should stay lazy at import time:
+
+```python
+from dimos.robot.assets.source import RobotDescriptionSource
+
+_MYARM_REPO = RobotDescriptionSource(url="https://github.com/example/myarm_description", ref="main")
+
+model_path = _MYARM_REPO / "urdf" / "myarm.urdf.xacro"
+package_paths = {"myarm_description": _MYARM_REPO / "."}
+```
+
+`RobotDescriptionPath` defers clone/update/path validation until path operations
+such as `str(path)`, `path.resolve()`, or `path.exists()`.
+
+## Rendering URDFs
+
+Use `processing.py` for generic robot-description rendering:
+
+```python
+from dimos.robot.assets.processing import render_urdf
+
+rendered_path = render_urdf(
+ model_path,
+ package_paths,
+ xacro_args={"limited": "true"},
+ package_uri_mode="preserve", # or "absolute"
+)
+```
+
+Keep consumer-specific processing outside this module. For example, Drake-specific
+cleanup still belongs in `dimos/manipulation/planning/utils/mesh_utils.py`.
diff --git a/dimos/robot/assets/git_cache.py b/dimos/robot/assets/git_cache.py
new file mode 100644
index 0000000000..1554cf5476
--- /dev/null
+++ b/dimos/robot/assets/git_cache.py
@@ -0,0 +1,171 @@
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Git-backed cache for source repositories and other assets."""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+from hashlib import sha256
+from pathlib import Path
+import shutil
+import tempfile
+from urllib.parse import urlparse
+import warnings
+
+from filelock import FileLock
+from git import GitCommandError, InvalidGitRepositoryError, NoSuchPathError, Repo
+from platformdirs import user_cache_path
+
+DEFAULT_ROBOT_ASSET_CACHE_ROOT = user_cache_path("dimos", appauthor=False) / "robot_assets"
+
+
+class GitAssetCacheError(RuntimeError):
+ """Raised when an asset source cannot be resolved."""
+
+
+class GitAssetCacheWarning(RuntimeWarning):
+ """Warning emitted when a cached checkout is usable but not fresh."""
+
+
+@dataclass(frozen=True)
+class GitAssetCheckout:
+ """Resolved local checkout information."""
+
+ path: Path
+ repo_url: str
+ ref: str
+ updated: bool = False
+ used_cached_fallback: bool = False
+ skipped_dirty_update: bool = False
+
+
+class GitAssetCache:
+ """Resolve `(repo_url, ref)` pairs into fresh-when-safe cached checkouts.
+
+ Policy:
+ - clone when the cache is missing;
+ - for clean cached repositories, fetch and check out the declared ref;
+ - if fetching/updating a cached repository fails, warn and reuse the cache;
+ - if the cached repository has local changes, warn and skip updates.
+ """
+
+ def __init__(self, cache_root: Path | str = DEFAULT_ROBOT_ASSET_CACHE_ROOT) -> None:
+ self.cache_root = Path(cache_root).expanduser()
+ self._sources_root = self.cache_root / "sources"
+ self._locks_root = self.cache_root / "locks"
+
+ def resolve(self, repo_url: str, ref: str) -> GitAssetCheckout:
+ """Return a local checkout for `repo_url` at `ref`."""
+ key = self._source_key(repo_url, ref)
+ checkout_path = self._sources_root / key / self._repo_slug(repo_url)
+ lock_path = self._locks_root / f"{key}.lock"
+
+ self._sources_root.mkdir(parents=True, exist_ok=True)
+ self._locks_root.mkdir(parents=True, exist_ok=True)
+
+ with FileLock(str(lock_path)):
+ if not checkout_path.exists():
+ return self._clone_missing(repo_url, ref, checkout_path)
+ return self._refresh_cached(repo_url, ref, checkout_path)
+
+ @staticmethod
+ def _source_key(repo_url: str, ref: str) -> str:
+ return sha256(f"{repo_url}\0{ref}".encode()).hexdigest()[:16]
+
+ @staticmethod
+ def _repo_slug(repo_url: str) -> str:
+ parsed_path = urlparse(repo_url).path or repo_url
+ slug = Path(parsed_path.rstrip("/")).name
+ if slug.endswith(".git"):
+ slug = slug[:-4]
+ slug = "".join(char if char.isalnum() or char in {"-", "_", "."} else "-" for char in slug)
+ return slug or "checkout"
+
+ def _clone_missing(self, repo_url: str, ref: str, checkout_path: Path) -> GitAssetCheckout:
+ temp_parent = checkout_path.parent
+ temp_parent.mkdir(parents=True, exist_ok=True)
+ temp_path = Path(tempfile.mkdtemp(prefix=f".{checkout_path.name}-", dir=temp_parent))
+ try:
+ repo = Repo.clone_from(repo_url, temp_path)
+ self._checkout_ref(repo, ref)
+ temp_path.rename(checkout_path)
+ return GitAssetCheckout(path=checkout_path, repo_url=repo_url, ref=ref, updated=True)
+ except Exception as exc:
+ shutil.rmtree(temp_path, ignore_errors=True)
+ raise GitAssetCacheError(
+ f"Failed to fetch Git asset source {repo_url!r} at ref {ref!r}: {exc}"
+ ) from exc
+
+ def _refresh_cached(self, repo_url: str, ref: str, checkout_path: Path) -> GitAssetCheckout:
+ try:
+ repo = Repo(checkout_path)
+ except (InvalidGitRepositoryError, NoSuchPathError) as exc:
+ raise GitAssetCacheError(
+ f"Cached asset path {checkout_path} is not a valid Git repository"
+ ) from exc
+
+ if self._is_dirty(repo):
+ warnings.warn(
+ f"Git asset cache {checkout_path} has local changes; skipping upstream update.",
+ GitAssetCacheWarning,
+ stacklevel=2,
+ )
+ return GitAssetCheckout(
+ path=checkout_path,
+ repo_url=repo_url,
+ ref=ref,
+ skipped_dirty_update=True,
+ )
+
+ try:
+ repo.remotes.origin.fetch(tags=True)
+ before = repo.head.commit.hexsha if repo.head.is_valid() else None
+ self._checkout_ref(repo, ref)
+ after = repo.head.commit.hexsha if repo.head.is_valid() else None
+ return GitAssetCheckout(
+ path=checkout_path, repo_url=repo_url, ref=ref, updated=before != after
+ )
+ except Exception as exc:
+ warnings.warn(
+ f"Could not update Git asset cache {checkout_path}; using cached checkout: {exc}",
+ GitAssetCacheWarning,
+ stacklevel=2,
+ )
+ return GitAssetCheckout(
+ path=checkout_path,
+ repo_url=repo_url,
+ ref=ref,
+ used_cached_fallback=True,
+ )
+
+ @staticmethod
+ def _is_dirty(repo: Repo) -> bool:
+ return repo.is_dirty(untracked_files=True)
+
+ @staticmethod
+ def _checkout_ref(repo: Repo, ref: str) -> None:
+ """Check out a branch, tag, or commit and update clean worktrees safely."""
+ remote_ref = f"origin/{ref}"
+ remote_refs = {str(r) for r in repo.remotes.origin.refs}
+
+ if remote_ref in remote_refs:
+ repo.git.checkout("-B", ref, remote_ref)
+ repo.git.reset("--hard", remote_ref)
+ return
+
+ try:
+ repo.git.checkout(ref)
+ except GitCommandError as exc:
+ raise GitAssetCacheError(f"Could not check out ref {ref!r}") from exc
diff --git a/dimos/robot/assets/processing.py b/dimos/robot/assets/processing.py
new file mode 100644
index 0000000000..4a2907a69f
--- /dev/null
+++ b/dimos/robot/assets/processing.py
@@ -0,0 +1,193 @@
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Universal robot asset rendering helpers."""
+
+from __future__ import annotations
+
+from collections.abc import Mapping
+import hashlib
+import os
+from pathlib import Path
+import re
+from typing import Literal
+
+from dimos.robot.assets.git_cache import DEFAULT_ROBOT_ASSET_CACHE_ROOT
+from dimos.utils.logging_config import setup_logger
+
+logger = setup_logger()
+
+PackageUriMode = Literal["preserve", "absolute"]
+
+DERIVED_ASSET_CACHE_ROOT = DEFAULT_ROBOT_ASSET_CACHE_ROOT / "derived"
+_RENDERED_URDF_CACHE_ROOT = DERIVED_ASSET_CACHE_ROOT / "rendered_urdfs"
+
+
+def render_urdf(
+ urdf_path: Path | str | os.PathLike[str],
+ package_paths: Mapping[str, Path | str | os.PathLike[str]] | None = None,
+ xacro_args: Mapping[str, str] | None = None,
+ *,
+ package_uri_mode: PackageUriMode = "preserve",
+) -> Path:
+ """Render a URDF or Xacro artifact into a cached plain URDF file.
+
+ This is the universal robot-description stage: it expands Xacro with the
+ supplied ROS package roots and can optionally rewrite ``package://`` URIs to
+ absolute filesystem paths. Consumer-specific cleanup, such as Drake-only tag
+ stripping, belongs in the consumer adapter.
+ """
+ if package_uri_mode not in ("preserve", "absolute"):
+ raise ValueError(f"Unsupported package URI mode: {package_uri_mode!r}")
+
+ source_path = Path(os.fspath(urdf_path))
+ resolved_package_paths = normalize_package_paths(package_paths or {})
+ resolved_xacro_args = dict(xacro_args or {})
+
+ cache_key = _generate_render_key(
+ source_path,
+ resolved_package_paths,
+ resolved_xacro_args,
+ package_uri_mode,
+ )
+ rendered_stem = _rendered_urdf_stem(source_path)
+ cache_path = _RENDERED_URDF_CACHE_ROOT / cache_key / rendered_stem
+ cache_path.mkdir(parents=True, exist_ok=True)
+ rendered_urdf = cache_path / f"{rendered_stem}.urdf"
+
+ if rendered_urdf.exists():
+ logger.debug(f"Using cached rendered URDF: {rendered_urdf}")
+ return rendered_urdf
+
+ if source_path.suffix == ".xacro":
+ urdf_content = _process_xacro(source_path, resolved_package_paths, resolved_xacro_args)
+ else:
+ urdf_content = source_path.read_text()
+
+ if package_uri_mode == "absolute":
+ urdf_content = resolve_package_uris(urdf_content, resolved_package_paths)
+
+ rendered_urdf.write_text(urdf_content)
+ logger.info(f"Rendered URDF cached at: {rendered_urdf}")
+ return rendered_urdf
+
+
+def resolve_package_uris(
+ urdf_content: str,
+ package_paths: Mapping[str, Path | str | os.PathLike[str]],
+) -> str:
+ """Rewrite ``package://`` URIs in URDF XML to absolute filesystem paths."""
+ resolved_package_paths = normalize_package_paths(package_paths)
+ pattern = r"""package://([^/]+)/(.+?)(["'<>\s])"""
+
+ def replace_uri(match: re.Match[str]) -> str:
+ pkg_name = match.group(1)
+ rel_path = match.group(2)
+ suffix = match.group(3)
+
+ if pkg_name in resolved_package_paths:
+ full_path = resolved_package_paths[pkg_name] / rel_path
+ if full_path.exists():
+ return f"{full_path}{suffix}"
+ logger.warning(f"File not found: {full_path}")
+
+ return match.group(0)
+
+ return re.sub(pattern, replace_uri, urdf_content)
+
+
+def normalize_package_paths(
+ package_paths: Mapping[str, Path | str | os.PathLike[str]],
+) -> dict[str, Path]:
+ return {
+ package_name: Path(os.fspath(package_path)).resolve()
+ for package_name, package_path in package_paths.items()
+ }
+
+
+def _generate_render_key(
+ urdf_path: Path,
+ package_paths: Mapping[str, Path],
+ xacro_args: Mapping[str, str],
+ package_uri_mode: PackageUriMode,
+) -> str:
+ processing_version = "urdf-render-v2"
+ mtime = urdf_path.stat().st_mtime if urdf_path.exists() else 0
+ key_data = repr(
+ (
+ processing_version,
+ str(urdf_path),
+ mtime,
+ sorted((name, str(path)) for name, path in package_paths.items()),
+ _render_dependency_fingerprints(urdf_path, package_paths),
+ sorted(xacro_args.items()),
+ package_uri_mode,
+ )
+ )
+ return hashlib.sha256(key_data.encode()).hexdigest()[:16]
+
+
+def _rendered_urdf_stem(source_path: Path) -> str:
+ """Return a stable output stem without duplicated URDF suffixes."""
+ return source_path.stem.removesuffix(".urdf")
+
+
+def _render_dependency_fingerprints(
+ urdf_path: Path,
+ package_paths: Mapping[str, Path],
+) -> tuple[tuple[str, str], ...]:
+ """Fingerprint files that can affect Xacro expansion or URI rewriting."""
+ roots = list(package_paths.values()) or [urdf_path.parent]
+ fingerprints = []
+ for root in sorted(set(roots), key=str):
+ fingerprints.append((str(root), _directory_fingerprint(root)))
+ return tuple(fingerprints)
+
+
+def _directory_fingerprint(root: Path) -> str:
+ digest = hashlib.sha256()
+ if not root.exists():
+ digest.update(b"missing")
+ return digest.hexdigest()[:16]
+
+ for path in sorted(root.rglob("*")):
+ if ".git" in path.parts:
+ continue
+ try:
+ stat = path.stat()
+ except OSError:
+ continue
+ if not path.is_file():
+ continue
+ relative_path = path.relative_to(root)
+ digest.update(str(relative_path).encode())
+ digest.update(str(stat.st_size).encode())
+ digest.update(path.read_bytes())
+ return digest.hexdigest()[:16]
+
+
+def _process_xacro(
+ xacro_path: Path,
+ package_paths: dict[str, Path],
+ xacro_args: dict[str, str],
+) -> str:
+ try:
+ from dimos.utils.ament_prefix import process_xacro
+ except ImportError:
+ raise ImportError(
+ "xacro is required for processing .xacro files. "
+ "Install the manipulation extra: pip install dimos[manipulation]"
+ )
+
+ return process_xacro(xacro_path, package_paths, xacro_args)
diff --git a/dimos/robot/assets/source.py b/dimos/robot/assets/source.py
new file mode 100644
index 0000000000..c5e18a3bdd
--- /dev/null
+++ b/dimos/robot/assets/source.py
@@ -0,0 +1,156 @@
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Lazy path handles for Git-backed robot description sources."""
+
+from __future__ import annotations
+
+from pathlib import Path
+
+from dimos.robot.assets.git_cache import GitAssetCache
+
+
+class RobotDescriptionSource:
+ """Git-backed robot description source root.
+
+ Joining paths is lazy. The Git checkout is only resolved when the resulting
+ :class:`RobotDescriptionPath` is observed as a filesystem path.
+ """
+
+ def __init__(
+ self,
+ url: str,
+ ref: str,
+ git_cache: GitAssetCache | None = None,
+ ) -> None:
+ self.url = url
+ self.ref = ref
+ self._git_cache = git_cache or GitAssetCache()
+ self._checkout_path_cache: Path | None = None
+
+ def checkout_path(self) -> Path:
+ """Return the local checkout root, cloning/updating if needed."""
+ if self._checkout_path_cache is None:
+ self._checkout_path_cache = self._git_cache.resolve(self.url, self.ref).path
+ return self._checkout_path_cache
+
+ def path(self) -> RobotDescriptionPath:
+ """Return a lazy path for the checkout root."""
+ return RobotDescriptionPath(self, Path("."))
+
+ @property
+ def parent(self) -> RobotDescriptionPath:
+ """Return the checkout root's parent as a lazy path."""
+ return RobotDescriptionPath(self, Path(".."))
+
+ def __truediv__(self, other: object) -> RobotDescriptionPath:
+ return self.path() / other
+
+ def __repr__(self) -> str:
+ return f"RobotDescriptionSource(url={self.url!r}, ref={self.ref!r})"
+
+ def __eq__(self, other: object) -> bool:
+ if not isinstance(other, RobotDescriptionSource):
+ return NotImplemented
+ return self.url == other.url and self.ref == other.ref
+
+ def __hash__(self) -> int:
+ return hash((self.url, self.ref))
+
+
+class RobotDescriptionPath(type(Path())): # type: ignore[misc]
+ """Lazy Path subclass rooted at a :class:`RobotDescriptionSource`."""
+
+ def __new__(
+ cls,
+ source: RobotDescriptionSource,
+ relative_path: Path | str,
+ ) -> RobotDescriptionPath:
+ instance: RobotDescriptionPath = super().__new__(cls, ".")
+ object.__setattr__(instance, "_robot_description_source", source)
+ object.__setattr__(instance, "_robot_description_relative_path", Path(relative_path))
+ object.__setattr__(instance, "_robot_description_resolved_cache", None)
+ return instance
+
+ def __init__(
+ self,
+ source: RobotDescriptionSource,
+ relative_path: Path | str,
+ ) -> None:
+ del source, relative_path
+
+ def _resolve(self) -> Path:
+ cache: Path | None = object.__getattribute__(self, "_robot_description_resolved_cache")
+ if cache is None:
+ source: RobotDescriptionSource = object.__getattribute__(
+ self, "_robot_description_source"
+ )
+ relative_path: Path = object.__getattribute__(self, "_robot_description_relative_path")
+ cache = source.checkout_path() / relative_path
+ object.__setattr__(self, "_robot_description_resolved_cache", cache)
+ return cache
+
+ def __getattribute__(self, name: str) -> object:
+ try:
+ object.__getattribute__(self, "_robot_description_source")
+ except AttributeError:
+ return object.__getattribute__(self, name)
+
+ if name.startswith("_robot_description_") or name in {"_resolve"}:
+ return object.__getattribute__(self, name)
+
+ if name == "parent":
+ source: RobotDescriptionSource = object.__getattribute__(
+ self, "_robot_description_source"
+ )
+ relative_path: Path = object.__getattribute__(self, "_robot_description_relative_path")
+ return RobotDescriptionPath(source, relative_path.parent)
+
+ if name in {"name", "stem", "suffix", "parts"}:
+ relative_path = object.__getattribute__(self, "_robot_description_relative_path")
+ return getattr(relative_path, name)
+
+ return getattr(object.__getattribute__(self, "_resolve")(), name)
+
+ def __str__(self) -> str:
+ return str(self._resolve())
+
+ def __fspath__(self) -> str:
+ return str(self._resolve())
+
+ def __truediv__(self, other: object) -> RobotDescriptionPath:
+ source: RobotDescriptionSource = object.__getattribute__(self, "_robot_description_source")
+ relative_path: Path = object.__getattribute__(self, "_robot_description_relative_path")
+ return RobotDescriptionPath(source, relative_path / str(other))
+
+ def __eq__(self, other: object) -> bool:
+ if not isinstance(other, RobotDescriptionPath):
+ return self._resolve() == other
+ source: RobotDescriptionSource = object.__getattribute__(self, "_robot_description_source")
+ other_source: RobotDescriptionSource = object.__getattribute__(
+ other, "_robot_description_source"
+ )
+ relative_path: Path = object.__getattribute__(self, "_robot_description_relative_path")
+ other_relative_path: Path = object.__getattribute__(
+ other, "_robot_description_relative_path"
+ )
+ return source == other_source and relative_path == other_relative_path
+
+ def __hash__(self) -> int:
+ return hash(
+ (
+ object.__getattribute__(self, "_robot_description_source"),
+ object.__getattribute__(self, "_robot_description_relative_path"),
+ )
+ )
diff --git a/dimos/robot/assets/test_processing.py b/dimos/robot/assets/test_processing.py
new file mode 100644
index 0000000000..78984de50d
--- /dev/null
+++ b/dimos/robot/assets/test_processing.py
@@ -0,0 +1,103 @@
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from pathlib import Path
+
+import dimos.robot.assets.processing as processing
+
+
+def test_render_urdf_preserves_package_uris_by_default(
+ tmp_path: Path,
+ monkeypatch,
+) -> None:
+ monkeypatch.setattr(processing, "_RENDERED_URDF_CACHE_ROOT", tmp_path / "rendered")
+ urdf = tmp_path / "robot.urdf"
+ urdf.write_text(
+ ""
+ ""
+ ""
+ )
+
+ rendered = processing.render_urdf(urdf, {"pkg": tmp_path / "pkg"})
+
+ assert rendered.is_relative_to(tmp_path / "rendered")
+ assert "package://pkg/meshes/link.stl" in rendered.read_text()
+
+
+def test_render_urdf_can_rewrite_package_uris_to_absolute_paths(
+ tmp_path: Path,
+ monkeypatch,
+) -> None:
+ monkeypatch.setattr(processing, "_RENDERED_URDF_CACHE_ROOT", tmp_path / "rendered")
+ package_root = tmp_path / "pkg"
+ mesh = package_root / "meshes" / "link.stl"
+ mesh.parent.mkdir(parents=True)
+ mesh.write_text("solid link\nendsolid link\n")
+ urdf = tmp_path / "robot.urdf"
+ urdf.write_text(
+ ""
+ ""
+ ""
+ )
+
+ rendered = processing.render_urdf(
+ urdf,
+ {"pkg": package_root},
+ package_uri_mode="absolute",
+ )
+
+ rendered_text = rendered.read_text()
+ assert "package://" not in rendered_text
+ assert str(mesh) in rendered_text
+
+
+def test_render_urdf_cache_key_tracks_package_root_changes(
+ tmp_path: Path,
+ monkeypatch,
+) -> None:
+ monkeypatch.setattr(processing, "_RENDERED_URDF_CACHE_ROOT", tmp_path / "rendered")
+ package_root = tmp_path / "pkg"
+ mesh = package_root / "meshes" / "link.stl"
+ mesh.parent.mkdir(parents=True)
+ mesh.write_text("solid old\nendsolid old\n")
+ urdf = tmp_path / "robot.urdf"
+ urdf.write_text(
+ ""
+ ""
+ ""
+ )
+
+ first = processing.render_urdf(urdf, {"pkg": package_root})
+ mesh.write_text("solid new\nendsolid new\n")
+ second = processing.render_urdf(urdf, {"pkg": package_root})
+
+ assert second != first
+
+
+def test_render_urdf_strips_nested_urdf_suffix_from_cache_name(
+ tmp_path: Path,
+ monkeypatch,
+) -> None:
+ monkeypatch.setattr(processing, "_RENDERED_URDF_CACHE_ROOT", tmp_path / "rendered")
+ xacro = tmp_path / "robot.urdf.xacro"
+ xacro.write_text("")
+ monkeypatch.setattr(
+ processing,
+ "_process_xacro",
+ lambda _path, _package_paths, _xacro_args: "",
+ )
+
+ rendered = processing.render_urdf(xacro)
+
+ assert rendered.name == "robot.urdf"
diff --git a/dimos/robot/assets/test_source.py b/dimos/robot/assets/test_source.py
new file mode 100644
index 0000000000..f7e71a368c
--- /dev/null
+++ b/dimos/robot/assets/test_source.py
@@ -0,0 +1,117 @@
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+from pathlib import Path
+
+import pytest
+
+from dimos.robot.assets.git_cache import GitAssetCache, GitAssetCheckout
+from dimos.robot.assets.source import RobotDescriptionPath, RobotDescriptionSource
+
+
+class RecordingGitAssetCache(GitAssetCache):
+ def __init__(self, checkout_path: Path) -> None:
+ self.checkout_path = checkout_path
+ self.resolve_calls: list[tuple[str, str]] = []
+
+ def resolve(self, repo_url: str, ref: str) -> GitAssetCheckout:
+ self.resolve_calls.append((repo_url, ref))
+ return GitAssetCheckout(path=self.checkout_path, repo_url=repo_url, ref=ref)
+
+
+@pytest.fixture()
+def robot_source(tmp_path: Path) -> tuple[RobotDescriptionSource, RecordingGitAssetCache]:
+ checkout = tmp_path / "checkout" / "testbot_description"
+ (checkout / "robots" / "testbot").mkdir(parents=True)
+ (checkout / "robots" / "testbot" / "model.urdf").write_text("")
+ (checkout / "packages" / "testbot_description").mkdir(parents=True)
+ (checkout / "packages" / "testbot_description" / "package.xml").write_text("")
+
+ git_cache = RecordingGitAssetCache(checkout)
+ source = RobotDescriptionSource(
+ url="https://example.invalid/testbot_description.git",
+ ref="main",
+ git_cache=git_cache,
+ )
+ return source, git_cache
+
+
+def test_source_path_joining_defers_checkout(
+ robot_source: tuple[RobotDescriptionSource, RecordingGitAssetCache],
+) -> None:
+ source, git_cache = robot_source
+
+ model_path = source / "robots" / "testbot" / "model.urdf"
+ package_path = source / "packages" / "testbot_description"
+
+ assert isinstance(model_path, Path)
+ assert isinstance(model_path, RobotDescriptionPath)
+ assert git_cache.resolve_calls == []
+
+ assert str(model_path).endswith("robots/testbot/model.urdf")
+ assert git_cache.resolve_calls == [("https://example.invalid/testbot_description.git", "main")]
+
+ assert os.fspath(package_path).endswith("packages/testbot_description")
+ assert git_cache.resolve_calls == [("https://example.invalid/testbot_description.git", "main")]
+
+ assert model_path.exists()
+ assert (package_path / "package.xml").exists()
+
+
+def test_source_parent_can_express_package_root_without_resolving(
+ robot_source: tuple[RobotDescriptionSource, RecordingGitAssetCache],
+) -> None:
+ source, git_cache = robot_source
+
+ package_root = source.parent
+
+ assert isinstance(package_root, RobotDescriptionPath)
+ assert git_cache.resolve_calls == []
+ assert package_root.resolve().name == "checkout"
+ assert git_cache.resolve_calls == [("https://example.invalid/testbot_description.git", "main")]
+
+
+def test_lazy_path_metadata_uses_relative_path_without_checkout(
+ robot_source: tuple[RobotDescriptionSource, RecordingGitAssetCache],
+) -> None:
+ source, git_cache = robot_source
+
+ model_path = source / "robots" / "testbot" / "model.urdf"
+
+ assert model_path.name == "model.urdf"
+ assert model_path.stem == "model"
+ assert model_path.suffix == ".urdf"
+ assert model_path.parent.name == "testbot"
+ assert git_cache.resolve_calls == []
+
+
+def test_custom_source_handle_needs_no_registration(tmp_path: Path) -> None:
+ checkout = tmp_path / "custom_robot_description"
+ (checkout / "urdf").mkdir(parents=True)
+ (checkout / "urdf" / "custom.urdf").write_text("")
+ git_cache = RecordingGitAssetCache(checkout)
+
+ custom_source = RobotDescriptionSource(
+ url="https://example.invalid/custom_robot_description.git",
+ ref="feature/custom",
+ git_cache=git_cache,
+ )
+
+ model_path = custom_source / "urdf" / "custom.urdf"
+
+ assert model_path.read_text() == ""
+ assert git_cache.resolve_calls == [
+ ("https://example.invalid/custom_robot_description.git", "feature/custom")
+ ]
diff --git a/dimos/robot/manipulators/a750/blueprints.py b/dimos/robot/manipulators/a750/blueprints.py
index 408f2a4a83..6d8040d513 100644
--- a/dimos/robot/manipulators/a750/blueprints.py
+++ b/dimos/robot/manipulators/a750/blueprints.py
@@ -33,8 +33,8 @@
from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
from dimos.msgs.geometry_msgs.Quaternion import Quaternion
from dimos.msgs.geometry_msgs.Vector3 import Vector3
+from dimos.robot.assets.source import RobotDescriptionSource
from dimos.teleop.keyboard.keyboard_teleop_module import KeyboardTeleopModule
-from dimos.utils.data import LfsPath
A750_GRIPPER_COLLISION_EXCLUSIONS: list[tuple[str, str]] = [
("base_link", "link1"),
@@ -58,11 +58,12 @@
("link6", "right_finger_link"),
]
-_A750_MODEL_PATH = LfsPath("a750_description") / "urdf/a750_rev1.urdf"
+A750_DESCRIPTION_REPO = "https://github.com/adob/a750_description"
+_A750_REPO = RobotDescriptionSource(url=A750_DESCRIPTION_REPO, ref="master")
+_A750_MODEL_PATH = _A750_REPO / "urdf" / "a750_rev1.urdf"
_A750_HOME_JOINTS = [0.0, 0.0, -math.radians(90), 0.0, 0.0, 0.0]
_A750_PACKAGE_PATHS: dict[str, Path] = {
- "a750_description": LfsPath("a750_description"),
- "a750_gazebo": LfsPath("a750_description"),
+ "a750_description": _A750_REPO / ".",
}
diff --git a/dimos/robot/manipulators/piper/blueprints.py b/dimos/robot/manipulators/piper/blueprints.py
index 2ae06e98d5..719e5d95ba 100644
--- a/dimos/robot/manipulators/piper/blueprints.py
+++ b/dimos/robot/manipulators/piper/blueprints.py
@@ -33,8 +33,8 @@
from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
from dimos.msgs.geometry_msgs.Quaternion import Quaternion
from dimos.msgs.geometry_msgs.Vector3 import Vector3
+from dimos.robot.assets.source import RobotDescriptionSource
from dimos.teleop.keyboard.keyboard_teleop_module import KeyboardTeleopModule
-from dimos.utils.data import LfsPath
PIPER_GRIPPER_COLLISION_EXCLUSIONS: list[tuple[str, str]] = [
("gripper_base", "link7"),
@@ -43,10 +43,13 @@
("link6", "gripper_base"),
]
-_PIPER_MODEL_PATH = LfsPath("piper_description") / "urdf/piper_description.xacro"
+PIPER_DESCRIPTION_REPO = "https://github.com/agilexrobotics/agx_arm_urdf"
+_PIPER_REPO = RobotDescriptionSource(url=PIPER_DESCRIPTION_REPO, ref="main")
+_PIPER_MODEL_PATH = _PIPER_REPO / "piper" / "urdf" / "piper_with_gripper_description.xacro"
_PIPER_PACKAGE_PATHS: dict[str, Path] = {
- "piper_description": LfsPath("piper_description"),
- "piper_gazebo": LfsPath("piper_description"),
+ # Upstream URIs are package://agx_arm_description/agx_arm_urdf/..., so the
+ # package root is the parent of the preserved agx_arm_urdf checkout folder.
+ "agx_arm_description": _PIPER_REPO.parent,
}
diff --git a/dimos/robot/manipulators/xarm/blueprints.py b/dimos/robot/manipulators/xarm/blueprints.py
index 97b3db042b..141e6e6977 100644
--- a/dimos/robot/manipulators/xarm/blueprints.py
+++ b/dimos/robot/manipulators/xarm/blueprints.py
@@ -34,11 +34,13 @@
from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
from dimos.msgs.geometry_msgs.Quaternion import Quaternion
from dimos.msgs.geometry_msgs.Vector3 import Vector3
+from dimos.robot.assets.source import RobotDescriptionSource
from dimos.teleop.keyboard.keyboard_teleop_module import KeyboardTeleopModule
-from dimos.utils.data import LfsPath
-_XARM_MODEL_PATH = LfsPath("xarm_description") / "urdf/xarm_device.urdf.xacro"
-_XARM_PACKAGE_PATHS: dict[str, Path] = {"xarm_description": LfsPath("xarm_description")}
+XARM_ROS2_REPO = "https://github.com/xArm-Developer/xarm_ros2"
+_XARM_REPO = RobotDescriptionSource(url=XARM_ROS2_REPO, ref="humble")
+_XARM_MODEL_PATH = _XARM_REPO / "xarm_description" / "urdf" / "xarm_device.urdf.xacro"
+_XARM_PACKAGE_PATHS: dict[str, Path] = {"xarm_description": _XARM_REPO / "xarm_description"}
XARM_GRIPPER_COLLISION_EXCLUSIONS: list[tuple[str, str]] = [
("right_inner_knuckle", "right_outer_knuckle"),
diff --git a/dimos/robot/model_parser.py b/dimos/robot/model_parser.py
index 7040d98fc3..6c8cc27a4f 100644
--- a/dimos/robot/model_parser.py
+++ b/dimos/robot/model_parser.py
@@ -17,6 +17,7 @@
from __future__ import annotations
from dataclasses import dataclass, field
+import os
from pathlib import Path
import xml.etree.ElementTree as ET
@@ -68,7 +69,7 @@ def parse_model(
xacro_args: dict[str, str] | None = None,
) -> ModelDescription:
"""Parse a robot description file (.urdf, .xacro, .xml/MJCF)."""
- path = Path(path)
+ path = Path(os.fspath(path))
if not path.exists():
raise FileNotFoundError(f"Robot model file not found: {path}")
diff --git a/dimos/robot/test_all_blueprints.py b/dimos/robot/test_all_blueprints.py
index cdf72e9b6b..66724b6a3d 100644
--- a/dimos/robot/test_all_blueprints.py
+++ b/dimos/robot/test_all_blueprints.py
@@ -40,6 +40,10 @@
"coordinator-mobile-manip-mock",
"coordinator-mock",
"coordinator-mock-twist-base",
+ "coordinator-openarm-bimanual",
+ "coordinator-openarm-left",
+ "coordinator-openarm-mock",
+ "coordinator-openarm-right",
"coordinator-piper",
"coordinator-servo-xarm6",
"coordinator-teleop-dual",
@@ -50,6 +54,10 @@
"coordinator-xarm6",
"coordinator-xarm7",
"dual-xarm6-planner",
+ "keyboard-teleop-openarm",
+ "keyboard-teleop-openarm-mock",
+ "openarm-mock-planner-coordinator",
+ "openarm-planner-coordinator",
"teleop-hosted-go2",
"teleop-hosted-xarm7",
"teleop-quest-dual",
diff --git a/dimos/utils/ament_prefix.py b/dimos/utils/ament_prefix.py
index d505a4609b..6118deb61e 100644
--- a/dimos/utils/ament_prefix.py
+++ b/dimos/utils/ament_prefix.py
@@ -61,7 +61,7 @@ def _setup_ament_index(package_paths: dict[str, Path]) -> None:
resource_dir.mkdir(parents=True, exist_ok=True)
for pkg_name, pkg_path in package_paths.items():
- resolved = Path(pkg_path).resolve()
+ resolved = Path(os.fspath(pkg_path)).resolve()
if _ament_registered.get(pkg_name) == resolved:
continue
@@ -95,7 +95,7 @@ def _patch_xacro_find(package_paths: dict[str, Path]) -> Iterator[None]:
def custom_find(resolved: str, a: str, args: list[str], context: dict[str, str]) -> str:
pkg_name = args[0] if args else ""
if pkg_name in package_paths:
- pkg_path = str(Path(package_paths[pkg_name]).resolve())
+ pkg_path = str(Path(os.fspath(package_paths[pkg_name])).resolve())
return resolved.replace(f"$({a})", pkg_path)
return str(original_find(resolved, a, args, context))
diff --git a/docs/capabilities/manipulation/a750.md b/docs/capabilities/manipulation/a750.md
index 8f4402ead0..f5974e24d6 100644
--- a/docs/capabilities/manipulation/a750.md
+++ b/docs/capabilities/manipulation/a750.md
@@ -60,10 +60,10 @@ defined in [`dimos/robot/manipulators/a750/blueprints.py`](/dimos/robot/manipula
| Base link | `base_link` |
| End-effector link | `gripper_base` |
| Home joints | `[0, 0, -90 deg, 0, 0, 0]` |
-| Drake model | `a750_description/urdf/a750_rev1.urdf` |
+| Drake model | `RobotDescriptionSource(..., ref="master") / "urdf" / "a750_rev1.urdf"` from `https://github.com/adob/a750_description` |
| FK/keyboard model | `a750_description/urdf/a750_rev1_no_gripper.urdf` |
-The no-gripper model is used for Pinocchio FK in keyboard teleop because Pinocchio does not consume the xacro path used by the full robot description.
+The runtime model and `a750_description` package root are resolved through a Git-backed robot description source handle. The no-gripper model remains LFS-backed for Pinocchio FK because the upstream source publishes the full gripper URDF but not the generated no-gripper variant used by keyboard teleop.
## Gripper
diff --git a/docs/capabilities/manipulation/adding_a_custom_arm.md b/docs/capabilities/manipulation/adding_a_custom_arm.md
index f5ca1c536f..3e6c3fb969 100644
--- a/docs/capabilities/manipulation/adding_a_custom_arm.md
+++ b/docs/capabilities/manipulation/adding_a_custom_arm.md
@@ -477,19 +477,24 @@ If you want motion planning (collision-free trajectories via Drake), you need a
### 4a. Add your URDF
-Place your URDF/xacro files under LFS data so they can be resolved via `LfsPath`. `LfsPath` is a `Path` subclass that lazily downloads LFS data on first access — this avoids downloading at import time when the blueprint module is loaded.
+Prefer an upstream Robot Description Source and create a `RobotDescriptionSource` handle beside your robot adapter. Joining paths from the source is lazy: importing the catalog does not clone or update the repo, but the first concrete path access resolves the source into the robot asset cache.
+
+Use `LfsPath` only when the asset is intentionally vendored, locally modified, or has no suitable upstream source.
```python skip
-from dimos.utils.data import LfsPath
+from dimos.robot.assets.source import RobotDescriptionSource
from dimos.manipulation.manipulation_module import manipulation_module
from dimos.manipulation.planning.spec import RobotModelConfig
from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
from dimos.msgs.geometry_msgs.Quaternion import Quaternion
from dimos.msgs.geometry_msgs.Vector3 import Vector3
-# LfsPath defers download until the path is actually accessed
-_YOURARM_URDF_PATH = LfsPath("yourarm_description/urdf/yourarm.urdf")
-_YOURARM_PACKAGE_PATH = LfsPath("yourarm_description")
+_YOURARM_REPO = RobotDescriptionSource(
+ url="https://github.com/example/yourarm_description",
+ ref="main",
+)
+_YOURARM_URDF_PATH = _YOURARM_REPO / "urdf" / "yourarm.urdf.xacro"
+_YOURARM_PACKAGE_PATHS = {"yourarm_description": _YOURARM_REPO / "."}
def _make_base_pose(x=0.0, y=0.0, z=0.0) -> PoseStamped:
@@ -528,7 +533,7 @@ def _make_yourarm_config(
joint_names=joint_names,
end_effector_link="link6", # Last link in your URDF's kinematic chain
base_link="base_link", # Root link of your URDF
- package_paths={"yourarm_description": _YOURARM_PACKAGE_PATH},
+ package_paths=_YOURARM_PACKAGE_PATHS,
xacro_args={}, # Xacro arguments if using .xacro files
collision_exclusion_pairs=[], # Pairs of links that can touch (e.g., gripper fingers)
auto_convert_meshes=True, # Convert DAE/STL meshes for Drake
diff --git a/docs/coding-agents/code-quality-rules.md b/docs/coding-agents/code-quality-rules.md
index 5b252fc968..d59d543ccd 100644
--- a/docs/coding-agents/code-quality-rules.md
+++ b/docs/coding-agents/code-quality-rules.md
@@ -16,7 +16,7 @@ Rules dimos code is expected to follow. They address recurring issues found in c
* Specify only what differs from defaults. Don't restate defaults like `tick_rate=100.0`, `publish_joint_state=True`, or default topics (`/cmd_vel`, `/odom`).
* `.transports({...})` applies to all matching modules, so define a remap once, not twice across sub-blueprints.
* No lambdas -- they can't be pickled to worker processes. Use named functions.
-* Do no work at import time: no subprocesses, viewers, model parsing, or network. In particular don't call `get_data(...)` (it blocks import until the download finishes) -- use `LfsPath` (resolved at access time) or build the config in `start`/`build`. Any process you start must be managed (shut down when not needed).
+* Do no work at import time: no subprocesses, viewers, model parsing, or network. In particular don't call `get_data(...)` (it blocks import until the download finishes) -- use lazy path adapters such as `RobotDescriptionSource` paths for upstream robot descriptions or `LfsPath` for intentionally vendored assets, or build the config in `start`/`build`. Any process you start must be managed (shut down when not needed).
* Blueprint files define blueprints, not modules/classes.
* Helper blueprints not meant to run alone must start with `_` (the `all_blueprints.py` generator skips them); demo/non-shared ones get a `demo_` prefix (hidden from `dimos list`).
diff --git a/pyproject.toml b/pyproject.toml
index b5af8dc760..240b138d96 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -106,6 +106,9 @@ dependencies = [
"typing_extensions>=4.0; python_version < '3.11'",
"annotation-protocol>=1.4.0",
"plum-dispatch==2.5.7",
+ "GitPython>=3.1.45",
+ "filelock>=3.20.0",
+ "platformdirs>=4.0.0",
# Logging
"structlog>=25.5.0,<26",
# Core Msgs
diff --git a/uv.lock b/uv.lock
index a22bbafc62..b1dad7e8e7 100644
--- a/uv.lock
+++ b/uv.lock
@@ -479,6 +479,15 @@ wheels = [
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]
+[[package]]
+name = "backoff"
+version = "2.2.1"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/47/d7/5bbeb12c44d7c4f2fb5b56abce497eb5ed9f34d85701de869acedd602619/backoff-2.2.1.tar.gz", hash = "sha256:03f829f5bb1923180821643f8753b0502c3b682293992485b0eef2807afa5cba", size = 17001, upload-time = "2022-10-05T19:19:32.061Z" }
+wheels = [
+ { url = "https://files.pythonhosted.org/packages/df/73/b6e24bd22e6720ca8ee9a85a0c4a2971af8497d8f3193fa05390cbd46e09/backoff-2.2.1-py3-none-any.whl", hash = "sha256:63579f9a0628e06278f7e47b7d7d5b6ce20dc65c5e96a6f3ca99a6adca0396e8", size = 15148, upload-time = "2022-10-05T19:19:30.546Z" },
+]
+
[[package]]
name = "bcrypt"
version = "5.0.0"
@@ -560,15 +569,15 @@ wheels = [
[[package]]
name = "beautifulsoup4"
-version = "4.15.0"
+version = "4.14.3"
source = { registry = "https://pypi.org/simple" }
dependencies = [
{ name = "soupsieve" },
{ name = "typing-extensions" },
]
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wheels = [
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+ { url = "https://files.pythonhosted.org/packages/1a/39/47f9197bdd44df24d67ac8893641e16f386c984a0619ef2ee4c51fbbc019/beautifulsoup4-4.14.3-py3-none-any.whl", hash = "sha256:0918bfe44902e6ad8d57732ba310582e98da931428d231a5ecb9e7c703a735bb", size = 107721, upload-time = "2025-11-30T15:08:24.087Z" },
]
[[package]]
@@ -697,7 +706,7 @@ wheels = [
[[package]]
name = "build"
-version = "1.5.0"
+version = "1.4.0"
source = { registry = "https://pypi.org/simple" }
dependencies = [
{ name = "colorama", marker = "(os_name == 'nt' and platform_machine != 'aarch64' and sys_platform == 'linux') or (os_name == 'nt' and sys_platform != 'darwin' and sys_platform != 'linux')" },
@@ -706,9 +715,9 @@ dependencies = [
{ name = "pyproject-hooks" },
{ name = "tomli", marker = "python_full_version < '3.11'" },
]
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+sdist = { url = "https://files.pythonhosted.org/packages/42/18/94eaffda7b329535d91f00fe605ab1f1e5cd68b2074d03f255c7d250687d/build-1.4.0.tar.gz", hash = "sha256:f1b91b925aa322be454f8330c6fb48b465da993d1e7e7e6fa35027ec49f3c936", size = 50054, upload-time = "2026-01-08T16:41:47.696Z" }
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+ { url = "https://files.pythonhosted.org/packages/c5/0d/84a4380f930db0010168e0aa7b7a8fed9ba1835a8fbb1472bc6d0201d529/build-1.4.0-py3-none-any.whl", hash = "sha256:6a07c1b8eb6f2b311b96fcbdbce5dab5fe637ffda0fd83c9cac622e927501596", size = 24141, upload-time = "2026-01-08T16:41:46.453Z" },
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[[package]]
@@ -989,7 +998,7 @@ wheels = [
[[package]]
name = "chromadb"
-version = "1.5.9"
+version = "1.5.0"
source = { registry = "https://pypi.org/simple" }
dependencies = [
{ name = "bcrypt" },
@@ -1008,9 +1017,9 @@ dependencies = [
{ name = "opentelemetry-sdk" },
{ name = "orjson" },
{ name = "overrides" },
+ { name = "posthog" },
{ name = "pybase64" },
{ name = "pydantic" },
- { name = "pydantic-settings" },
{ name = "pypika" },
{ name = "pyyaml" },
{ name = "rich" },
@@ -1021,13 +1030,13 @@ dependencies = [
{ name = "typing-extensions" },
{ name = "uvicorn", extra = ["standard"] },
]
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