refactor(manipulation): introduce static single-robot models

[TomCC7]

Summary

• accept canonical hierarchical joint/link names such as left/joint1 without backend-specific encoding
• validate prepared one-model URDF/Xacro/SRDF configurations before Drake or RoboPlan world mutation
• remove the model-wide end-effector compatibility property and resolve tips through planning groups
• add a static dual-xArm6 model configuration and SRDF with left_arm, right_arm, and both_arms groups
• cover the common parser, Viser/yourdfpy, Pink/Pinocchio, Drake, and RoboPlan loading paths

Stack

This is PR1, Static Single-Robot Model, from refactor-control-coordinator-connections.

Depends on #3381. That prerequisite is still open, so this PR remains a draft until the branch is rebased onto its merge commit.

The actual dual-arm blueprint cutover is intentionally deferred to PR2 task 2.10.

Validation

• ./bin/pytest-fast — 3966 passed, 34 skipped
• focused manipulation/backend suite — 133 passed, 13 skipped
• regression suite — 103 passed
• ruff check and ruff format --check
• mypy on changed production modules
• pre-commit run
• openspec validate refactor-control-coordinator-connections --strict

Drake-only tests are present but skipped locally because the manipulation extra is not installed; CI will exercise them in its configured environment.

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[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
3742	1	3741	176

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

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

Stack Traces | 3.11s 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 0xff3c4aa45ef0>

.../manipulators/xarm/test_model_config.py:24: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../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 0xff3c4aa45ef0>
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 0xff3cc0981e50>}
        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 0xff3cc0983950>
        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 0xff3cc0983950>,)
        kwargs     = {}
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xff3c4aa58430>
....../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 0xff3cc0983950>
        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 0xff3cc0983950>,)
        ntpath     = <module 'ntpath' (frozen)>
        paths      = []
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xff3c4aa58430>
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 0xff3cc0983950>
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 0xff3cc0983950>
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': 'c1420bb4-fedd-4d22-9ab3-0db97bf447a4.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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