refactor(manipulation): cut over to single robot model

[TomCC7]

Contribution path

• Linked design: openspec/changes/refactor-control-coordinator-connections
• Stacked on refactor(manipulation): introduce static single-robot models #3420; keep draft until prerequisite feat: control coordinator gripper api refactor #3381 merges and the stack is rebased.

Problem

Manipulation still models configuration, planning state, execution, and visualization as maps of independently named robots. That duplicates namespaces, requires local/global joint-name translation, and prevents a bimanual robot from being planned as one coherent model.

Solution

• Replace ManipulationModuleConfig.robots with one prepared model.
• Use canonical model joint names throughout planning, IK, collision, FK, monitoring, execution, and visualization.
• Make planning-group IDs stable declared names such as left_arm; groups select canonical subsets of the one model.
• Solve multi-group Pink targets in one model context.
• Forward one canonical trajectory to the coordinator without splitting or mapping inversion.
• Remove robot selectors, registries, lookup APIs, compatibility aliases, and robot-prefixed group parsing from migrated manipulation surfaces.
• Cut the dual-xArm manipulation blueprint over to the prepared bimanual model with left_arm, right_arm, and both_arms groups.

The legacy gripper hardware-ID path remains intentionally deferred to PR6 in the OpenSpec stack.

How to Test

./bin/pytest-fast
uv run pytest dimos/manipulation
uv run pytest dimos/robot/test_all_blueprints_generation.py
openspec validate refactor-control-coordinator-connections --strict

Validated locally:

• Fast suite: 3,846 passed, 34 skipped.
• Manipulation suite: 324 passed, 15 skipped, 12 deselected.
• Ruff format/check, blueprint registry generation, strict OpenSpec validation, and all available pre-commit hooks passed.
• Drake and RoboPlan optional integration tests were migrated but skipped where their optional packages were unavailable.
• Mypy and deno fmt were unavailable in the local environment.

AI assistance

Codex with GPT-5 implemented the refactor, migrated tests and blueprints, and ran validation under human direction.

Checklist

• I have read and approved the CLA.

[codecov]

❌ 3 Tests Failed:

Tests completed	Failed	Passed	Skipped
3679	3	3676	175

View the top 3 failed test(s) by shortest run time

dimos.robot.manipulators.xarm.test_model_config::test_prefixed_xarm_model_uses_coordinator_facing_names_in_asset

Stack Traces | 3.11s run time

def test_prefixed_xarm_model_uses_coordinator_facing_names_in_asset() -> None:
        config = make_xarm6_model_config(add_gripper=False, prefix="xarm_arm/")
    
>       model = validate_robot_model_config(config)

config     = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm_description.tar.gz after 3 attemp...m_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] RobotModelConfig object at 0xff92a9890190>

.../manipulators/xarm/test_model_config.py:43: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../planning/spec/validation.py:47: in validate_robot_model_config
    model = parse_model(
        config     = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm_description.tar.gz after 3 attemp...m_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] RobotModelConfig object at 0xff92a9890190>
dimos/robot/model_parser.py:71: in parse_model
    path = Path(path)
        package_paths = {'xarm_description': <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm_description.....lfs/xarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff93190f32d0>}
        path       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm_description.tar.gz after 3 attemp.../.lfs/xarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff93190f3ed0>
        xacro_args = {'attach_rpy': '0 0 0', 'attach_xyz': '0 0 0', 'dof': '6', 'limited': 'true', ...}
....../usr/lib/python3.12/pathlib.py:1164: in __init__
    super().__init__(*args)
        __class__  = <class 'pathlib.Path'>
        args       = (<[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm_description.tar.gz after 3 attem...lfs/xarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff93190f3ed0>,)
        kwargs     = {}
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xff92a987f530>
....../usr/lib/python3.12/pathlib.py:362: in __init__
    if arg._flavour is ntpath and self._flavour is posixpath:
        arg        = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm_description.tar.gz after 3 attemp.../.lfs/xarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff93190f3ed0>
        args       = (<[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm_description.tar.gz after 3 attem...lfs/xarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff93190f3ed0>,)
        ntpath     = <module 'ntpath' (frozen)>
        paths      = []
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xff92a987f530>
dimos/utils/data.py:364: in __getattribute__
    resolved = object.__getattribute__(self, "_ensure_downloaded")()
        name       = '_flavour'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm_description.tar.gz after 3 attemp.../.lfs/xarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff93190f3ed0>
dimos/utils/data.py:347: in _ensure_downloaded
    cache = get_data(filename)
        cache      = None
        filename   = 'xarm_description/urdf/xarm_device.urdf.xacro'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm_description.tar.gz after 3 attemp.../.lfs/xarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff93190f3ed0>
dimos/utils/data.py:304: in get_data
    archive_path = _decompress_archive(_pull_lfs_archive(archive_name))
        archive_name = 'xarm_description'
        data_dir   = PosixPath('.../dimos/dimos/data')
        file_path  = PosixPath('.../dimos/dimos/data/xarm_description/urdf/xarm_device.urdf.xacro')
        name       = 'xarm_description/urdf/xarm_device.urdf.xacro'
        nested_path = PosixPath('urdf/xarm_device.urdf.xacro')
        path_parts = ('xarm_description', 'urdf', 'xarm_device.urdf.xacro')
dimos/utils/data.py:248: in _pull_lfs_archive
    _lfs_pull(file_path, repo_root)
        file_path  = PosixPath('.../dimos/data/.lfs/xarm_description.tar.gz')
        filename   = 'xarm_description'
        repo_root  = PosixPath('.../work/dimos/dimos')
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

file_path = PosixPath('.../dimos/data/.lfs/xarm_description.tar.gz')
repo_root = PosixPath('.../work/dimos/dimos')

    def _lfs_pull(file_path: Path, repo_root: Path, *, retries: int = 2) -> None:
        relative_path = file_path.relative_to(repo_root)
    
        env = os.environ.copy()
        env["GIT_LFS_FORCE_PROGRESS"] = "1"
    
        last_err: subprocess.CalledProcessError | None = None
        for attempt in range(1, retries + 2):  # retries + 1 total attempts
            try:
                subprocess.run(
                    ["git", "lfs", "pull", "--include", str(relative_path)],
                    cwd=repo_root,
                    check=True,
                    env=env,
                )
                return
            except subprocess.CalledProcessError as e:
                last_err = e
                if attempt <= retries:
                    time.sleep(attempt)  # 1s, 2s backoff
    
>       raise RuntimeError(
            f"Failed to pull LFS file {file_path} after {retries + 1} attempts: {last_err}"
        )
E       RuntimeError: Failed to pull LFS file .../dimos/data/.lfs/xarm_description.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/xarm_description.tar.gz']' returned non-zero exit status 1.

attempt    = 3
env        = {'ACCEPT_EULA': 'Y', 'ACTIONS_ID_TOKEN_REQUEST_TOKEN': 'eyJhbGciOiJSUzI1NiIsImtpZCI6IjM4ODI2YjE3LTZhMzAtNWY5Yi1iMTY5LT...-version=2.0', 'ACTIONS_ORCHESTRATION_ID': '241503d3-d034-4e7e-9970-d6e8ace9d544.tests.ubuntu-24_04-arm_3_14_fal', ...}
file_path  = PosixPath('.../dimos/data/.lfs/xarm_description.tar.gz')
last_err   = CalledProcessError(1, ['git', 'lfs', 'pull', '--include', 'data/.lfs/xarm_description.tar.gz'])
relative_path = PosixPath('data/.lfs/xarm_description.tar.gz')
repo_root  = PosixPath('.../work/dimos/dimos')
retries    = 2

dimos/utils/data.py:216: RuntimeError

dimos.robot.manipulators.openarm.test_openarm::test_openarm_dual_model_contains_every_canonical_joint_and_group_frame

Stack Traces | 3.11s run time

def test_openarm_dual_model_contains_every_canonical_joint_and_group_frame() -> None:
        config = openarm_dual_model_config()
    
>       description = validate_robot_model_config(config)

config     = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/openarm_description.tar.gz after 3 att...m_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] RobotModelConfig object at 0xff8697e6a760>

.../manipulators/openarm/test_openarm.py:22: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../planning/spec/validation.py:47: in validate_robot_model_config
    model = parse_model(
        config     = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/openarm_description.tar.gz after 3 att...m_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] RobotModelConfig object at 0xff8697e6a760>
dimos/robot/model_parser.py:71: in parse_model
    path = Path(path)
        package_paths = {'openarm_description': <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/openarm_descri...s/openarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff86a38497d0>}
        path       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/openarm_description.tar.gz after 3 att...fs/openarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff86a3848150>
        xacro_args = {}
....../usr/lib/python3.12/pathlib.py:1164: in __init__
    super().__init__(*args)
        __class__  = <class 'pathlib.Path'>
        args       = (<[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/openarm_description.tar.gz after 3 at.../openarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff86a3848150>,)
        kwargs     = {}
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xff8697fe5bd0>
....../usr/lib/python3.12/pathlib.py:362: in __init__
    if arg._flavour is ntpath and self._flavour is posixpath:
        arg        = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/openarm_description.tar.gz after 3 att...fs/openarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff86a3848150>
        args       = (<[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/openarm_description.tar.gz after 3 at.../openarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff86a3848150>,)
        ntpath     = <module 'ntpath' (frozen)>
        paths      = []
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xff8697fe5bd0>
dimos/utils/data.py:364: in __getattribute__
    resolved = object.__getattribute__(self, "_ensure_downloaded")()
        name       = '_flavour'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/openarm_description.tar.gz after 3 att...fs/openarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff86a3848150>
dimos/utils/data.py:347: in _ensure_downloaded
    cache = get_data(filename)
        cache      = None
        filename   = '.../urdf/robot/openarm_v10_bimanual.urdf'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/openarm_description.tar.gz after 3 att...fs/openarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff86a3848150>
dimos/utils/data.py:304: in get_data
    archive_path = _decompress_archive(_pull_lfs_archive(archive_name))
        archive_name = 'openarm_description'
        data_dir   = PosixPath('.../dimos/dimos/data')
        file_path  = PosixPath('.../dimos/dimos/data/.../urdf/robot/openarm_v10_bimanual.urdf')
        name       = '.../urdf/robot/openarm_v10_bimanual.urdf'
        nested_path = PosixPath('urdf/robot/openarm_v10_bimanual.urdf')
        path_parts = ('openarm_description', 'urdf', 'robot', 'openarm_v10_bimanual.urdf')
dimos/utils/data.py:248: in _pull_lfs_archive
    _lfs_pull(file_path, repo_root)
        file_path  = PosixPath('.../dimos/data/.lfs/openarm_description.tar.gz')
        filename   = 'openarm_description'
        repo_root  = PosixPath('.../work/dimos/dimos')
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

file_path = PosixPath('.../dimos/data/.lfs/openarm_description.tar.gz')
repo_root = PosixPath('.../work/dimos/dimos')

    def _lfs_pull(file_path: Path, repo_root: Path, *, retries: int = 2) -> None:
        relative_path = file_path.relative_to(repo_root)
    
        env = os.environ.copy()
        env["GIT_LFS_FORCE_PROGRESS"] = "1"
    
        last_err: subprocess.CalledProcessError | None = None
        for attempt in range(1, retries + 2):  # retries + 1 total attempts
            try:
                subprocess.run(
                    ["git", "lfs", "pull", "--include", str(relative_path)],
                    cwd=repo_root,
                    check=True,
                    env=env,
                )
                return
            except subprocess.CalledProcessError as e:
                last_err = e
                if attempt <= retries:
                    time.sleep(attempt)  # 1s, 2s backoff
    
>       raise RuntimeError(
            f"Failed to pull LFS file {file_path} after {retries + 1} attempts: {last_err}"
        )
E       RuntimeError: Failed to pull LFS file .../dimos/data/.lfs/openarm_description.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/openarm_description.tar.gz']' returned non-zero exit status 1.

attempt    = 3
env        = {'ACCEPT_EULA': 'Y', 'ACTIONS_ID_TOKEN_REQUEST_TOKEN': 'eyJhbGciOiJSUzI1NiIsImtpZCI6IjM4ODI2YjE3LTZhMzAtNWY5Yi1iMTY5LT...-version=2.0', 'ACTIONS_ORCHESTRATION_ID': '241503d3-d034-4e7e-9970-d6e8ace9d544.tests.ubuntu-24_04-arm_3_14_fal', ...}
file_path  = PosixPath('.../dimos/data/.lfs/openarm_description.tar.gz')
last_err   = CalledProcessError(1, ['git', 'lfs', 'pull', '--include', 'data/.lfs/openarm_description.tar.gz'])
relative_path = PosixPath('data/.lfs/openarm_description.tar.gz')
repo_root  = PosixPath('.../work/dimos/dimos')
retries    = 2

dimos/utils/data.py:216: RuntimeError

dimos.robot.manipulators.xarm.test_model_config::test_dual_xarm6_is_one_prepared_model_with_canonical_groups

Stack Traces | 3.12s run time

def test_dual_xarm6_is_one_prepared_model_with_canonical_groups() -> None:
        config = make_dual_xarm6_model_config()
    
>       model = validate_robot_model_config(config)

config     = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm_description.tar.gz after 3 attemp...m_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] RobotModelConfig object at 0xff92a9439d60>

.../manipulators/xarm/test_model_config.py:27: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../planning/spec/validation.py:47: in validate_robot_model_config
    model = parse_model(
        config     = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm_description.tar.gz after 3 attemp...m_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] RobotModelConfig object at 0xff92a9439d60>
dimos/robot/model_parser.py:71: in parse_model
    path = Path(path)
        package_paths = {'xarm_description': <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm_description.....lfs/xarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff93190f32d0>}
        path       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm_description.tar.gz after 3 attemp.../.lfs/xarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff93190f3b50>
        xacro_args = {'dof_1': '6', 'dof_2': '6', 'limited': 'true', 'prefix_1': 'left/', ...}
....../usr/lib/python3.12/pathlib.py:1164: in __init__
    super().__init__(*args)
        __class__  = <class 'pathlib.Path'>
        args       = (<[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm_description.tar.gz after 3 attem...lfs/xarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff93190f3b50>,)
        kwargs     = {}
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xff92a93b47b0>
....../usr/lib/python3.12/pathlib.py:362: in __init__
    if arg._flavour is ntpath and self._flavour is posixpath:
        arg        = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm_description.tar.gz after 3 attemp.../.lfs/xarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff93190f3b50>
        args       = (<[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm_description.tar.gz after 3 attem...lfs/xarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff93190f3b50>,)
        ntpath     = <module 'ntpath' (frozen)>
        paths      = []
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xff92a93b47b0>
dimos/utils/data.py:364: in __getattribute__
    resolved = object.__getattribute__(self, "_ensure_downloaded")()
        name       = '_flavour'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm_description.tar.gz after 3 attemp.../.lfs/xarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff93190f3b50>
dimos/utils/data.py:347: in _ensure_downloaded
    cache = get_data(filename)
        cache      = None
        filename   = 'xarm_description/urdf/dual_xarm_device.urdf.xacro'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm_description.tar.gz after 3 attemp.../.lfs/xarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff93190f3b50>
dimos/utils/data.py:304: in get_data
    archive_path = _decompress_archive(_pull_lfs_archive(archive_name))
        archive_name = 'xarm_description'
        data_dir   = PosixPath('.../dimos/dimos/data')
        file_path  = PosixPath('.../dimos/dimos/data/xarm_description/urdf/dual_xarm_device.urdf.xacro')
        name       = 'xarm_description/urdf/dual_xarm_device.urdf.xacro'
        nested_path = PosixPath('urdf/dual_xarm_device.urdf.xacro')
        path_parts = ('xarm_description', 'urdf', 'dual_xarm_device.urdf.xacro')
dimos/utils/data.py:248: in _pull_lfs_archive
    _lfs_pull(file_path, repo_root)
        file_path  = PosixPath('.../dimos/data/.lfs/xarm_description.tar.gz')
        filename   = 'xarm_description'
        repo_root  = PosixPath('.../work/dimos/dimos')
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

file_path = PosixPath('.../dimos/data/.lfs/xarm_description.tar.gz')
repo_root = PosixPath('.../work/dimos/dimos')

    def _lfs_pull(file_path: Path, repo_root: Path, *, retries: int = 2) -> None:
        relative_path = file_path.relative_to(repo_root)
    
        env = os.environ.copy()
        env["GIT_LFS_FORCE_PROGRESS"] = "1"
    
        last_err: subprocess.CalledProcessError | None = None
        for attempt in range(1, retries + 2):  # retries + 1 total attempts
            try:
                subprocess.run(
                    ["git", "lfs", "pull", "--include", str(relative_path)],
                    cwd=repo_root,
                    check=True,
                    env=env,
                )
                return
            except subprocess.CalledProcessError as e:
                last_err = e
                if attempt <= retries:
                    time.sleep(attempt)  # 1s, 2s backoff
    
>       raise RuntimeError(
            f"Failed to pull LFS file {file_path} after {retries + 1} attempts: {last_err}"
        )
E       RuntimeError: Failed to pull LFS file .../dimos/data/.lfs/xarm_description.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/xarm_description.tar.gz']' returned non-zero exit status 1.

attempt    = 3
env        = {'ACCEPT_EULA': 'Y', 'ACTIONS_ID_TOKEN_REQUEST_TOKEN': 'eyJhbGciOiJSUzI1NiIsImtpZCI6IjM4ODI2YjE3LTZhMzAtNWY5Yi1iMTY5LT...-version=2.0', 'ACTIONS_ORCHESTRATION_ID': '241503d3-d034-4e7e-9970-d6e8ace9d544.tests.ubuntu-24_04-arm_3_14_fal', ...}
file_path  = PosixPath('.../dimos/data/.lfs/xarm_description.tar.gz')
last_err   = CalledProcessError(1, ['git', 'lfs', 'pull', '--include', 'data/.lfs/xarm_description.tar.gz'])
relative_path = PosixPath('data/.lfs/xarm_description.tar.gz')
repo_root  = PosixPath('.../work/dimos/dimos')
retries    = 2

dimos/utils/data.py:216: RuntimeError

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