fix(data): add pre-generated xarm7.urdf to xarm_description LFS archive#1312
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spomichter merged 1 commit intofix/lazy-realsense-importfrom Feb 20, 2026
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The keyboard-teleop-xarm7 blueprint references xarm7.urdf via LfsPath, but only xarm7.urdf.xacro existed. CartesianIKTask/PinocchioIK need a plain URDF — they don't process xacro. xarm6.urdf was already pre-generated; xarm7 was missed. Generated from xarm_device.urdf.xacro with dof=7, limited=true using DimOS's own xacro processor (with package_paths resolution).
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…lation (#1309) * fix(realsense): lazy-load pyrealsense2 to avoid import errors in simulation pyrealsense2 is a system-level dependency that requires hardware libraries. Importing it eagerly in camera.py caused ModuleNotFoundError when loading any blueprint from manipulation_blueprints.py, even simulation blueprints that don't use RealSense cameras. - Use __getattr__ in realsense/__init__.py for lazy package exports - Defer pyrealsense2 import to runtime methods (start, _build_camera_info, _intrinsics_to_camera_info, _get_extrinsics) via local imports - Use TYPE_CHECKING guard + from __future__ import annotations for type hints Python's module cache makes repeated local imports effectively free. * fix(data): add pre-generated xarm7.urdf to xarm_description LFS archive (#1312) The keyboard-teleop-xarm7 blueprint references xarm7.urdf via LfsPath, but only xarm7.urdf.xacro existed. CartesianIKTask/PinocchioIK need a plain URDF — they don't process xacro. xarm6.urdf was already pre-generated; xarm7 was missed. Generated from xarm_device.urdf.xacro with dof=7, limited=true using DimOS's own xacro processor (with package_paths resolution). * fix(zed): add zed_camera stub when SDK is not installed The else branch (no pyzed) was missing a zed_camera stub, causing ImportError when blueprints tried to import it. Added a stub that raises ModuleNotFoundError with name='pyzed' so the integration test skips gracefully. Also added pyzed to OPTIONAL_DEPENDENCIES in test_all_blueprints.py. * fix(zed): add type annotations to zed_camera stub
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Problem
dimos run keyboard-teleop-xarm7crashes with:The blueprint references
xarm7.urdfviaLfsPath, but onlyxarm7.urdf.xacroexisted in the archive.CartesianIKTask/PinocchioIKneed a plain URDF — they don't process xacro at runtime.xarm6.urdfwas already pre-generated; xarm7 was missed when the keyboard teleop blueprints were added in #1308.Fix
Generated
xarm7.urdffromxarm_device.urdf.xacro(dof=7, limited=true) using DimOS's own xacro processor with package_paths resolution, and repacked thexarm_description.tar.gzLFS archive.Verification
Depends on #1309 (lazy realsense import fix).