Add Galaxea A1Z arm in simulation

[KrishnaH96]

Problem

dimos has no support for the Galaxea A1Z, a standalone 6 DOF arm with an optional G1Z parallel gripper.

Review of #2925 asked for the work to be split. This PR is the first half, the arm as a simulation and model integration. Hardware support (the CAN adapter and a setup guide) is deliberately deferred to a follow up PR, so the absence of an adapter here is intentional. This PR supersedes #2925.

Solution

Adds the A1Z following the piper, xarm and a750 pattern.

• Asset: official A1Z URDF packages vendored as one LFS archive, both variants included.
• Config (robot/manipulators/a1z/config.py): a single has_gripper flag (default true) selects between the gripper model and the bare flange model and wires the gripper joint and hardware id from it.
• Collision exclusions: enumerated with Drake ComputePointPairPenetration against the convex hulls it plans with. Without them planning fails at the home pose.
• Blueprints: a1z-planner-only, a1z-planner-coordinator, coordinator-a1z and keyboard-teleop-a1z, all on the mock adapter. Teleop uses the viser backend.
• Tests: a1z case added to the parametrized keyboard teleop test, blueprint registry regenerated.

How to Test

Sim only, no hardware needed.

Automated:

pytest dimos/robot/manipulators/test_blueprints.py dimos/robot/test_all_blueprints_generation.py -q

Teleop with interactive viser UI:

dimos run keyboard-teleop-a1z

Plan and execute (two terminals):

dimos run a1z-planner-coordinator -o manipulationmodule.visualization.backend=meshcat
python -i -m dimos.manipulation.planning.examples.manipulation_client
# plan([0.3, 0.5, -0.5, 0.2, 0.3, 0.2]); preview(); execute()
# plan([0.2]*6) is correctly rejected, joints 2 and 3 have one sided limits
# gripper(0.5)

Contributor License Agreement

• I have read and approved the CLA.

[greptile-apps]

Greptile Summary

This PR adds Galaxea A1Z simulation support. The main changes are:

• Vendored A1Z URDF assets.
• A1Z model and mock-hardware configuration.
• Planner, coordinator, and keyboard-teleop blueprints.
• Blueprint registry and test coverage updates.

Confidence Score: 5/5

This looks safe to merge.

• No blocking issues found in the changed code.

Important Files Changed

Filename	Overview
dimos/robot/manipulators/a1z/config.py	Adds A1Z model paths, joint mapping, gripper configuration, and mock hardware setup.
dimos/robot/manipulators/a1z/blueprints/basic.py	Adds planner/coordinator and coordinator-only A1Z blueprints.
dimos/robot/manipulators/a1z/blueprints/teleop.py	Adds the A1Z keyboard teleoperation blueprint and visualization setup.
dimos/robot/all_blueprints.py	Registers the new A1Z blueprint entry points.
dimos/robot/manipulators/test_blueprints.py	Adds the A1Z teleop blueprint to the shared blueprint contract test.

_{Reviews (4): Last reviewed commit: "Update dimos/robot/manipulators/a1z/conf..." | Re-trigger Greptile}

[codecov]

❌ 2 Tests Failed:

Tests completed	Failed	Passed	Skipped
3	2	1	4

View the full list of 2 ❄️ flaky test(s)

dimos.e2e_tests.test_dimsim_spatial_memory::test_go_to_the_bed

Flake rate in main: 17.27% (Passed 115 times, Failed 24 times)

Stack Traces | 564s run time

lcm_spy = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7f81ec67e900>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7f81e99fc5e0>
human_input = <function human_input.<locals>.send_human_input at 0x7f81e99fc7c0>
dim_sim = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x7f81ec3b7f20>
explore_house = <function explore_house.<locals>.explore at 0x7f81e99fcd60>

    @pytest.mark.self_hosted_large
    def test_go_to_the_bed(lcm_spy, start_blueprint, human_input, dim_sim, explore_house) -> None:
        start_blueprint(
            "run",
            "unitree-go2-agentic",
            simulator="dimsim",
        )
        lcm_spy.save_topic(".../McpClient/on_system_modules/res")
        lcm_spy.wait_for_saved_topic(".../McpClient/on_system_modules/res", timeout=1200.0)
    
        explore_house()
    
        human_input("go to the bed")
    
>       lcm_spy.wait_until_odom_position(-3.567, -1.332, threshold=2, timeout=180)

dim_sim    = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x7f81ec3b7f20>
explore_house = <function explore_house.<locals>.explore at 0x7f81e99fcd60>
human_input = <function human_input.<locals>.send_human_input at 0x7f81e99fc7c0>
lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7f81ec67e900>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7f81e99fc5e0>

dimos/e2e_tests/test_dimsim_spatial_memory.py:32: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/e2e_tests/lcm_spy.py:167: in wait_until_odom_position
    self.wait_for_message_result(
        predicate  = <function LcmSpy.wait_until_odom_position.<locals>.predicate at 0x7f81ea53ab60>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7f81ec67e900>
        threshold  = 2
        timeout    = 180
        x          = -3.567
        y          = -1.332
dimos/e2e_tests/lcm_spy.py:153: in wait_for_message_result
    wait_until(
        event      = <threading.Event at 0x7f81ec560950: unset>
        fail_message = 'Failed to get to position x=-3.567, y=-1.332'
        listener   = <function LcmSpy.wait_for_message_result.<locals>.listener at 0x7f81e99fcf40>
        predicate  = <function LcmSpy.wait_until_odom_position.<locals>.predicate at 0x7f81ea53ab60>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7f81ec67e900>
        timeout    = 180
        topic      = '/odom#geometry_msgs.PoseStamped'
        type       = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

predicate = <bound method Event.is_set of <threading.Event at 0x7f81ec560950: unset>>

    def wait_until(
        predicate: Callable[[], bool],
        *,
        timeout: float,
        interval: float = 0.1,
        message: str | None = None,
    ) -> None:
        """Poll ``predicate`` until it returns truthy or ``timeout`` elapses."""
        deadline = time.monotonic() + timeout
        while time.monotonic() < deadline:
            if predicate():
                return
            time.sleep(interval)
>       raise TimeoutError(message or f"Timed out after {timeout}s waiting for condition")
E       TimeoutError: Failed to get to position x=-3.567, y=-1.332

deadline   = 539610.871335105
interval   = 0.1
message    = 'Failed to get to position x=-3.567, y=-1.332'
predicate  = <bound method Event.is_set of <threading.Event at 0x7f81ec560950: unset>>
timeout    = 180

.../utils/testing/waiting.py:35: TimeoutError

dimos.e2e_tests.test_dimsim_walk_forward::test_walk_forward

Flake rate in main: 19.26% (Passed 109 times, Failed 26 times)

Stack Traces | 207s run time

lcm_spy = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7f81ec3d86e0>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7f81e99fcae0>
human_input = <function human_input.<locals>.send_human_input at 0x7f81e99fd4e0>
dim_sim = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x7f81ec3da600>

    @pytest.mark.self_hosted_large
    def test_walk_forward(lcm_spy, start_blueprint, human_input, dim_sim) -> None:
        start_blueprint(
            "run",
            "--disable",
            "spatial-memory",
            "--disable",
            "security-module",
            "unitree-go2-agentic",
            simulator="dimsim",
        )
        lcm_spy.save_topic(".../McpClient/on_system_modules/res")
        lcm_spy.wait_for_saved_topic(".../McpClient/on_system_modules/res", timeout=1200.0)
    
        origin_x, origin_y = 1, 2
        dim_sim.set_agent_position(origin_x, origin_y)
    
        human_input("move forward 3 meter")
    
>       lcm_spy.wait_until_odom_position(origin_x + 3, origin_y, threshold=0.4, timeout=120)

dim_sim    = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x7f81ec3da600>
human_input = <function human_input.<locals>.send_human_input at 0x7f81e99fd4e0>
lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7f81ec3d86e0>
origin_x   = 1
origin_y   = 2
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7f81e99fcae0>

dimos/e2e_tests/test_dimsim_walk_forward.py:37: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/e2e_tests/lcm_spy.py:167: in wait_until_odom_position
    self.wait_for_message_result(
        predicate  = <function LcmSpy.wait_until_odom_position.<locals>.predicate at 0x7f81e99fc360>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7f81ec3d86e0>
        threshold  = 0.4
        timeout    = 120
        x          = 4
        y          = 2
dimos/e2e_tests/lcm_spy.py:153: in wait_for_message_result
    wait_until(
        event      = <threading.Event at 0x7f81ec3dad20: unset>
        fail_message = 'Failed to get to position x=4, y=2'
        listener   = <function LcmSpy.wait_for_message_result.<locals>.listener at 0x7f81e99fd940>
        predicate  = <function LcmSpy.wait_until_odom_position.<locals>.predicate at 0x7f81e99fc360>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7f81ec3d86e0>
        timeout    = 120
        topic      = '/odom#geometry_msgs.PoseStamped'
        type       = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

predicate = <bound method Event.is_set of <threading.Event at 0x7f81ec3dad20: unset>>

    def wait_until(
        predicate: Callable[[], bool],
        *,
        timeout: float,
        interval: float = 0.1,
        message: str | None = None,
    ) -> None:
        """Poll ``predicate`` until it returns truthy or ``timeout`` elapses."""
        deadline = time.monotonic() + timeout
        while time.monotonic() < deadline:
            if predicate():
                return
            time.sleep(interval)
>       raise TimeoutError(message or f"Timed out after {timeout}s waiting for condition")
E       TimeoutError: Failed to get to position x=4, y=2

deadline   = 539817.501415238
interval   = 0.1
message    = 'Failed to get to position x=4, y=2'
predicate  = <bound method Event.is_set of <threading.Event at 0x7f81ec3dad20: unset>>
timeout    = 120

.../utils/testing/waiting.py:35: TimeoutError

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