[jeff-hykin]

Replace RoboPlanPointCloudSelfFilter with UrdfManager, which can publish the URDF's joint tf, a self-masked point cloud, and the URDF and meshes for front ends to render.

[github-actions]

go2 replay realtime (arm64)

Details

Benchmark suite	Current: 7894051	Previous: 6de7182	Ratio
peak memory	1740.68 MB	1692.82 MB	1.03
peak threads	367 threads	373 threads	0.98
network (transport)	2731.995 MB	2728.305 MB	1.00
disk write	1.691 MB	1.688 MB	1.00
instructions	136.224 G	137.493 G	0.99

This comment was automatically generated by workflow using github-action-benchmark.

[codecov]

Codecov Report

❌ Patch coverage is 92.15686% with 32 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/robot/urdf_manager_point_clearing.py	84.07%	12 Missing and 6 partials ⚠️
dimos/robot/roboplan_body_filter.py	86.66%	3 Missing and 3 partials ⚠️
dimos/robot/urdf_manager.py	92.85%	5 Missing and 1 partial ⚠️
dimos/robot/assets/model.py	91.30%	1 Missing and 1 partial ⚠️

@@            Coverage Diff             @@
##             main    #4612      +/-   ##
==========================================
+ Coverage   82.44%   82.46%   +0.01%     
==========================================
  Files        1696     1698       +2     
  Lines      158776   159005     +229     
  Branches    13251    13814     +563     
==========================================
+ Hits       130904   131118     +214     
- Misses      24214    24227      +13     
- Partials     3658     3660       +2     

Components	Coverage Δ
Tests	96.85% <100.00%> (+0.01%)	⬆️

Flag	Coverage Δ
OS-macos-latest	76.41% <91.91%> (+0.03%)	⬆️
OS-ubuntu-24.04-arm	76.24% <91.66%> (?)
OS-ubuntu-latest	76.59% <91.91%> (+0.02%)	⬆️
Py-3.10	76.59% <91.91%> (+0.74%)	⬆️
Py-3.11	76.58% <91.91%> (+0.02%)	⬆️
Py-3.12	76.59% <91.91%> (+0.03%)	⬆️
SelfHosted-Large	32.13% <35.29%> (-0.01%)	⬇️
SelfHosted-Linux	40.38% <58.82%> (-0.13%)	⬇️
SelfHosted-macOS	40.84% <59.06%> (+0.02%)	⬆️

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

Files with missing lines	Coverage Δ
dimos/msgs/files/File.py	100.00% <100.00%> (ø)
dimos/robot/all_blueprints.py	100.00% <ø> (ø)
dimos/robot/galaxea/r1pro/test_joint_tf.py	100.00% <100.00%> (ø)
dimos/robot/manipulators/common/blueprints.py	91.66% <100.00%> (ø)
...s/robot/manipulators/xarm/blueprints/test_grasp.py	100.00% <100.00%> (+7.40%)	⬆️
dimos/robot/test_urdf_manager.py	99.11% <100.00%> (ø)
dimos/robot/assets/model.py	89.49% <91.30%> (+0.10%)	⬆️
dimos/robot/roboplan_body_filter.py	86.66% <86.66%> (ø)
dimos/robot/urdf_manager.py	92.85% <92.85%> (ø)
dimos/robot/urdf_manager_point_clearing.py	84.07% <84.07%> (ø)

... and 10 files with indirect coverage changes

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[greptile-apps]

Confidence Score: 4/5

[High impact] Renames and refactors the point cloud self-filter module.

Not safe to merge until mesh requests are processed without silently dropping distinct requested files.

Findings

1.  Mesh requests disappear during bursts ▶

Summary

This PR replaces RoboPlanPointCloudSelfFilter with UrdfManager.

• UrdfManager publishes model joint transforms from joint states.
• The xArm map uses UrdfManager to filter robot returns.
• URDF viewers can fetch meshes by package URI.

Fix the mesh-request delivery failure before merging: clients can remain waiting for files needed to complete the robot view.

_{Reviews (1) · Last reviewed commit: "UrdfManager: one module poses a URDF fro..." · Reviewed by Greptile}

[mustafab0]

We will have to find a better home for the urdf manager and the filter util as well.