diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 25120a2..1275608 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -65,7 +65,7 @@ jobs:
           # Each assembly must expand on every backend it supports, not just the
           # default. Only the real backend emits the per-bus <ros2_control>
           # blocks that the hardware bring-ups depend on.
-          for assembly in robots/*/xacro/*.urdf.xacro; do
+          for assembly in lite_description/robots/*/xacro/*.urdf.xacro; do
             for backend in \
               "" \
               "use_mock_hardware:=false" \
diff --git a/.gitignore b/.gitignore
index 751c5e6..e45adf3 100644
--- a/.gitignore
+++ b/.gitignore
@@ -15,11 +15,8 @@ wheels/
 
 # Onshape export intermediates (transient; the committed urdf/<robot>.urdf hub
 # is what the generator reuses instead of re-exporting).
-robots/*/cad/assets/
-robots/*/cad/robot.pkl
-
-# load_asset() download cache
-data/
+lite_description/robots/*/cad/assets/
+lite_description/robots/*/cad/robot.pkl
 
 # colcon build artifacts (when robot_descriptions is built in a ROS workspace)
 /install/
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0e941cc..5c3beb2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,12 +3,14 @@ project(lite_description)
 
 find_package(ament_cmake REQUIRED)
 
-# Lite variants live under robots/<robot>/ (franka_description layout: package at
-# the repo root, per-robot assets in a robots/ subdir). Each ships generated,
-# installable artifacts (xacro / urdf / mjcf / meshes). The cad/ subdir holds
-# generation INPUTS (Onshape config, joint_properties.json, physics.json,
-# ros2_control.json, scad) and is intentionally NOT installed.
-# Keep this list in sync with the converter's robot list.
+# Lite variants live under lite_description/robots/<robot>/, inside the Python
+# package that ships them in a wheel. They install to
+# share/lite_description/robots/<robot>/, so package:// URLs and $(find ...) do
+# not depend on the source layout. Each ships generated, installable artifacts
+# (xacro / urdf / mjcf / meshes). The cad/ subdir holds generation INPUTS
+# (Onshape config, joint_properties.json, physics.json, ros2_control.json, scad)
+# and is intentionally NOT installed.
+# The generator's package stage adds each new robot to this list.
 set(ROBOTS
   lite
   lite_bimanual
@@ -22,9 +24,9 @@ set(ROBOTS
 # a model-only robot may have no ros2_control xacro, etc.).
 foreach(robot ${ROBOTS})
   foreach(sub xacro urdf mjcf meshes)
-    if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/robots/${robot}/${sub})
+    if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/lite_description/robots/${robot}/${sub})
       install(
-        DIRECTORY robots/${robot}/${sub}
+        DIRECTORY lite_description/robots/${robot}/${sub}
         DESTINATION share/${PROJECT_NAME}/robots/${robot}
       )
     endif()
diff --git a/README.md b/README.md
index bd3b4eb..f7de91a 100644
--- a/README.md
+++ b/README.md
@@ -13,7 +13,7 @@ meshes, all generated from the Onshape CAD.
 
 The same source serves both worlds:
 
-- Simulation and RL, through the `robot_assets` Python loader, for Mujoco Lab and Isaac Lab.
+- Simulation and RL, through the `lite_description` Python package, for Mujoco Lab and Isaac Lab.
 - ROS 2, through `ros2_control` and `robot_state_publisher`, as the `lite_description`
   ament package.
 
@@ -53,27 +53,36 @@ path emits several blocks while the mock and MuJoCo paths share one combined blo
 ## CAD source
 
 Every description is generated from an Onshape assembly (document
-`e9ee61a2e2678af2088d9f31`) by the `robot_assets` tool. See
-[Re-generating from CAD](#re-generating-from-cad). The files under `robots/<variant>/` are
-build artifacts. Do not hand-edit them. Change the `cad/` inputs and regenerate.
+`e9ee61a2e2678af2088d9f31`) by the generator in `lite_description.workflow`. See
+[Re-generating from CAD](#re-generating-from-cad). The files under
+`lite_description/robots/<variant>/` are build artifacts. Do not hand-edit them. Change the
+`cad/` inputs and regenerate.
 
 ## Usage
 
 ### Simulation and RL (Python, no ROS toolchain)
 
+The `lite_description` Python package carries every variant, so a simulator or a training
+run reaches the assets without a checkout. The package has no dependencies of its own.
+
 ```bash
 uv add git+https://github.com/Berkeley-Humanoids/Lite-Description.git
 ```
 
 ```python
-from robot_assets import load
+import mujoco
+from lite_description import VARIANTS, get_mjcf_path, get_urdf_path
 
-urdf_path = load("robots/lite/urdf/lite.urdf")               # Isaac Lab
-mjcf_path = load("robots/lite_dummy/mjcf/lite_dummy.xml")    # MuJoCo
+model = mujoco.MjModel.from_xml_path(str(get_mjcf_path("lite_biped")))  # MuJoCo
+urdf_path = get_urdf_path("lite")                                      # Isaac Lab
 ```
 
-`load()` fetches the requested variant's subtree from this GitHub repo and caches it. No
-ROS install is required.
+Each function returns a path inside the installed package. A name that is not in
+`VARIANTS` raises `ValueError`. A URDF or MJCF reaches its meshes by a path relative to its
+own directory, so load the file where it lies instead of copying it out alone.
+
+The `uv.lock` of the consuming project records the commit of this repository. The assets
+thus change only when that project upgrades `lite-description`. No ROS install is required.
 
 ### ROS 2
 
@@ -81,33 +90,36 @@ ROS install is required.
 repo root. Build it in a ROS 2 workspace, or pull it with `vcs` or
 `humanoid_control.repos` from `Humanoid Control`, then run `colcon build`. Downstream,
 `robot_state_publisher` runs xacro on
-`robots/<variant>/xacro/<variant>.urdf.xacro`, and
+`$(find lite_description)/robots/<variant>/xacro/<variant>.urdf.xacro`, and
 `package://lite_description/robots/<variant>/meshes/visual/...` resolves after install.
+colcon installs `lite_description/robots/<variant>/` to
+`share/lite_description/robots/<variant>/` and leaves out `cad/`.
 
 ## Repository layout
 
 ```
 Lite-Description/                  # repo root == ament package "lite_description"
-  package.xml  CMakeLists.txt      # ament (colcon); installs robots/<variant>/...
-  pyproject.toml                   # pip/uv: builds the robot_assets Python module
-  robot_assets/                    # Python module: load() and the CAD->assets generator
+  package.xml  CMakeLists.txt      # ament (colcon); installs lite_description/robots/<variant>/...
+  pyproject.toml                   # pip/uv: builds the lite-description wheel
+  lite_description/                # Python package
+    __init__.py                    #   ROBOTS_DIR, VARIANTS, get_urdf_path(), get_mjcf_path()
     actuators/                     #   actuator spec tables (velocity/effort/armature)
-    workflow/                      #   the generator stages
-  robots/                          # per-variant assets (franka_description-style subdir)
-    <variant>/
-      xacro/                       #   ROS entry (GENERATED)
-        <variant>.urdf.xacro       #     assembly: args, includes, instantiation
-        <variant>.description.xacro  #   model macro: kinematics, ${mesh_root}, base_link
-        <variant>.ros2_control.xacro #   hardware macros: joints, groups, backends
-      urdf/<variant>.urdf          #   flat URDF (GENERATED; the kinematic HUB)
-      mjcf/<variant>.xml           #   MJCF (GENERATED; MuJoCo training + deployment sim)
-      meshes/visual/*.stl          #   one shared mesh copy
-      cad/                         #   generation INPUTS (not installed):
-        config.json                #     Onshape document + export options
-        joint_properties.json      #     sim tuning: armature / friction / effort_limit
-        physics.json               #     MJCF <option>, freejoint, IMU, contact (optional)
-        ros2_control.json          #     ROS hardware map (optional)
-        scad/                      #     collider sources
+    workflow/                      #   the generator stages (needs the `cad` extra)
+    robots/                        #   per-variant assets, inside the package so a wheel carries them
+      <variant>/
+        xacro/                     #     ROS entry (GENERATED)
+          <variant>.urdf.xacro     #       assembly: args, includes, instantiation
+          <variant>.description.xacro  #   model macro: kinematics, ${mesh_root}, base_link
+          <variant>.ros2_control.xacro #   hardware macros: joints, groups, backends
+        urdf/<variant>.urdf        #     flat URDF (GENERATED; the kinematic HUB)
+        mjcf/<variant>.xml         #     MJCF (GENERATED; MuJoCo training + deployment sim)
+        meshes/visual/*.stl        #     one shared mesh copy
+        cad/                       #     generation INPUTS (not in the wheel, not installed):
+          config.json              #       Onshape document + export options
+          joint_properties.json    #       sim tuning: armature / friction / effort_limit
+          physics.json             #       MJCF <option>, freejoint, IMU, contact (optional)
+          ros2_control.json        #       ROS hardware map (optional)
+          scad/                    #       collider sources
 ```
 
 The committed `urdf/<variant>.urdf` is the single kinematic hub. The `mjcf` and `xacro`
@@ -123,17 +135,20 @@ uv sync --extra cad
 sudo apt install openscad        # for collider editing (onshape-to-robot)
 ```
 
+The generator reads `cad/`, which only a checkout has, so run it from a checkout. In an
+installed package, it stops with an error instead of writing into `site-packages`.
+
 One command produces all three formats from a variant's `cad/` inputs:
 
 ```bash
 # Full pipeline. The Onshape stage is skipped whenever the URDF hub is committed.
-uv run robot-assets-generate lite_dummy
+uv run lite-description-generate lite_dummy
 
 # Re-emit only some stages, after editing physics.json or ros2_control.json:
-uv run robot-assets-generate lite_dummy --only mjcf,xacro
+uv run lite-description-generate lite_dummy --only mjcf,xacro
 
 # Re-run the Onshape export even though the hub is committed:
-uv run robot-assets-generate lite_dummy --force
+uv run lite-description-generate lite_dummy --force
 ```
 
 | Stage | Reads | Writes |
@@ -156,8 +171,8 @@ that is not backed by a `<site>`.
 ### Editing colliders (OpenSCAD)
 
 ```bash
-uv run robot-assets-onshape-to-urdf lite_dummy --keep-assets
-cd robots/lite_dummy/cad/assets/
+uv run lite-description-onshape-to-urdf lite_dummy --keep-assets
+cd lite_description/robots/lite_dummy/cad/assets/
 uv run onshape-to-robot-edit-shape ./chest.stl
 ```
 
diff --git a/lite_description/__init__.py b/lite_description/__init__.py
new file mode 100644
index 0000000..a09e1c7
--- /dev/null
+++ b/lite_description/__init__.py
@@ -0,0 +1,28 @@
+"""Paths to the generated Lite robot descriptions.
+
+Each path names a file inside the installed package. A URDF or MJCF reaches its meshes by a
+path relative to its own directory, so open the file where it lies instead of copying it out.
+"""
+
+from pathlib import Path
+
+ROBOTS_DIR = Path(__file__).parent / "robots"
+VARIANTS = tuple(sorted(path.name for path in ROBOTS_DIR.iterdir() if path.is_dir()))
+
+__all__ = ["ROBOTS_DIR", "VARIANTS", "get_mjcf_path", "get_urdf_path"]
+
+
+def get_urdf_path(variant: str) -> Path:
+    """Return the flat URDF of ``variant``, for Isaac Lab and other URDF consumers."""
+    return _variant_dir(variant) / "urdf" / f"{variant}.urdf"
+
+
+def get_mjcf_path(variant: str) -> Path:
+    """Return the MJCF of ``variant``, the MuJoCo training and deployment model."""
+    return _variant_dir(variant) / "mjcf" / f"{variant}.xml"
+
+
+def _variant_dir(variant: str) -> Path:
+    if variant not in VARIANTS:
+        raise ValueError(f"Unknown variant {variant!r}. Expected one of {VARIANTS}.")
+    return ROBOTS_DIR / variant
diff --git a/robot_assets/actuators/__init__.py b/lite_description/actuators/__init__.py
similarity index 100%
rename from robot_assets/actuators/__init__.py
rename to lite_description/actuators/__init__.py
diff --git a/robot_assets/actuators/damiao.py b/lite_description/actuators/damiao.py
similarity index 100%
rename from robot_assets/actuators/damiao.py
rename to lite_description/actuators/damiao.py
diff --git a/robot_assets/actuators/ideal.py b/lite_description/actuators/ideal.py
similarity index 100%
rename from robot_assets/actuators/ideal.py
rename to lite_description/actuators/ideal.py
diff --git a/robot_assets/actuators/func.py b/lite_description/actuators/modeling.py
similarity index 58%
rename from robot_assets/actuators/func.py
rename to lite_description/actuators/modeling.py
index 448140f..769f685 100644
--- a/robot_assets/actuators/func.py
+++ b/lite_description/actuators/modeling.py
@@ -1,8 +1,8 @@
 """Compute actuator parameters from a second-order model of the joint.
 
 The equations come from BeyondMimic: From Motion Tracking to Versatile Humanoid Control
-via Guided Diffusion (https://arxiv.org/abs/2508.08241). Each function takes one of the
-actuator spec tables in this package, such as ``ROBSTRIDE_06_ACTUATOR_PARAMS``.
+via Guided Diffusion (https://arxiv.org/abs/2508.08241). Each input is a field of an
+actuator spec table in this package, such as ``ROBSTRIDE_06_ACTUATOR_PARAMS["armature"]``.
 """
 
 from math import pi
@@ -12,35 +12,36 @@
 
 
 def compute_stiffness(
-    actuator_params: dict[str, float],
+    armature: float,
     natural_frequency: float = NATURAL_FREQUENCY,
 ) -> float:
     """Return the joint stiffness in Nm/rad.
 
     Args:
-        actuator_params: An actuator spec table. Reads ``armature`` in kg m^2.
+        armature: Armature in kg·m^2.
         natural_frequency: Closed-loop natural frequency in rad/s.
     """
-    return actuator_params["armature"] * natural_frequency**2
+    return armature * natural_frequency**2
 
 
 def compute_damping(
-    actuator_params: dict[str, float],
+    armature: float,
     natural_frequency: float = NATURAL_FREQUENCY,
     damping_ratio: float = 2.0,
 ) -> float:
-    """Return the joint damping in Nm s/rad.
+    """Return the joint damping in Nm·s/rad.
 
     Args:
-        actuator_params: An actuator spec table. Reads ``armature`` in kg m^2.
+        armature: Armature in kg·m^2.
         natural_frequency: Closed-loop natural frequency in rad/s.
         damping_ratio: Damping ratio. Above 1.0 is overdamped.
     """
-    return 2.0 * damping_ratio * actuator_params["armature"] * natural_frequency
+    return 2.0 * damping_ratio * armature * natural_frequency
 
 
 def compute_action_scale(
-    actuator_params: dict[str, float],
+    armature: float,
+    effort_limit: float,
     natural_frequency: float = NATURAL_FREQUENCY,
     action_scale_coefficient: float = 0.25,
 ) -> float:
@@ -50,9 +51,10 @@ def compute_action_scale(
     ``action_scale_coefficient`` of the actuator's effort limit.
 
     Args:
-        actuator_params: An actuator spec table. Reads ``armature`` and ``effort_limit``.
+        armature: Armature in kg·m^2.
+        effort_limit: Effort limit in Nm.
         natural_frequency: Closed-loop natural frequency in rad/s.
         action_scale_coefficient: Fraction of the effort limit a unit action commands.
     """
-    stiffness = compute_stiffness(actuator_params, natural_frequency)
-    return action_scale_coefficient * actuator_params["effort_limit"] / stiffness
+    stiffness = compute_stiffness(armature, natural_frequency)
+    return action_scale_coefficient * effort_limit / stiffness
diff --git a/robot_assets/actuators/robstride.py b/lite_description/actuators/robstride.py
similarity index 100%
rename from robot_assets/actuators/robstride.py
rename to lite_description/actuators/robstride.py
diff --git a/robot_assets/actuators/sito.py b/lite_description/actuators/sito.py
similarity index 100%
rename from robot_assets/actuators/sito.py
rename to lite_description/actuators/sito.py
diff --git a/robots/lite/cad/config.json b/lite_description/robots/lite/cad/config.json
similarity index 100%
rename from robots/lite/cad/config.json
rename to lite_description/robots/lite/cad/config.json
diff --git a/robots/lite/cad/joint_properties.json b/lite_description/robots/lite/cad/joint_properties.json
similarity index 100%
rename from robots/lite/cad/joint_properties.json
rename to lite_description/robots/lite/cad/joint_properties.json
diff --git a/robots/lite/cad/scad/chest.scad b/lite_description/robots/lite/cad/scad/chest.scad
similarity index 100%
rename from robots/lite/cad/scad/chest.scad
rename to lite_description/robots/lite/cad/scad/chest.scad
diff --git a/robots/lite/cad/scad/head.scad b/lite_description/robots/lite/cad/scad/head.scad
similarity index 100%
rename from robots/lite/cad/scad/head.scad
rename to lite_description/robots/lite/cad/scad/head.scad
diff --git a/robots/lite/cad/scad/left_fingertip.scad b/lite_description/robots/lite/cad/scad/left_fingertip.scad
similarity index 100%
rename from robots/lite/cad/scad/left_fingertip.scad
rename to lite_description/robots/lite/cad/scad/left_fingertip.scad
diff --git a/robots/lite/cad/scad/left_foot.scad b/lite_description/robots/lite/cad/scad/left_foot.scad
similarity index 100%
rename from robots/lite/cad/scad/left_foot.scad
rename to lite_description/robots/lite/cad/scad/left_foot.scad
diff --git a/robots/lite/cad/scad/left_hand.scad b/lite_description/robots/lite/cad/scad/left_hand.scad
similarity index 100%
rename from robots/lite/cad/scad/left_hand.scad
rename to lite_description/robots/lite/cad/scad/left_hand.scad
diff --git a/robots/lite/cad/scad/left_hip_roll.scad b/lite_description/robots/lite/cad/scad/left_hip_roll.scad
similarity index 100%
rename from robots/lite/cad/scad/left_hip_roll.scad
rename to lite_description/robots/lite/cad/scad/left_hip_roll.scad
diff --git a/robots/lite/cad/scad/left_knee_pitch.scad b/lite_description/robots/lite/cad/scad/left_knee_pitch.scad
similarity index 100%
rename from robots/lite/cad/scad/left_knee_pitch.scad
rename to lite_description/robots/lite/cad/scad/left_knee_pitch.scad
diff --git a/robots/lite/cad/scad/left_shoulder_yaw.scad b/lite_description/robots/lite/cad/scad/left_shoulder_yaw.scad
similarity index 100%
rename from robots/lite/cad/scad/left_shoulder_yaw.scad
rename to lite_description/robots/lite/cad/scad/left_shoulder_yaw.scad
diff --git a/robots/lite/cad/scad/left_wrist_yaw.scad b/lite_description/robots/lite/cad/scad/left_wrist_yaw.scad
similarity index 100%
rename from robots/lite/cad/scad/left_wrist_yaw.scad
rename to lite_description/robots/lite/cad/scad/left_wrist_yaw.scad
diff --git a/robots/lite/cad/scad/right_fingertip.scad b/lite_description/robots/lite/cad/scad/right_fingertip.scad
similarity index 100%
rename from robots/lite/cad/scad/right_fingertip.scad
rename to lite_description/robots/lite/cad/scad/right_fingertip.scad
diff --git a/robots/lite/cad/scad/right_foot.scad b/lite_description/robots/lite/cad/scad/right_foot.scad
similarity index 100%
rename from robots/lite/cad/scad/right_foot.scad
rename to lite_description/robots/lite/cad/scad/right_foot.scad
diff --git a/robots/lite/cad/scad/right_hand.scad b/lite_description/robots/lite/cad/scad/right_hand.scad
similarity index 100%
rename from robots/lite/cad/scad/right_hand.scad
rename to lite_description/robots/lite/cad/scad/right_hand.scad
diff --git a/robots/lite/cad/scad/right_hip_roll.scad b/lite_description/robots/lite/cad/scad/right_hip_roll.scad
similarity index 100%
rename from robots/lite/cad/scad/right_hip_roll.scad
rename to lite_description/robots/lite/cad/scad/right_hip_roll.scad
diff --git a/robots/lite/cad/scad/right_knee_pitch.scad b/lite_description/robots/lite/cad/scad/right_knee_pitch.scad
similarity index 100%
rename from robots/lite/cad/scad/right_knee_pitch.scad
rename to lite_description/robots/lite/cad/scad/right_knee_pitch.scad
diff --git a/robots/lite/cad/scad/right_shoulder_yaw.scad b/lite_description/robots/lite/cad/scad/right_shoulder_yaw.scad
similarity index 100%
rename from robots/lite/cad/scad/right_shoulder_yaw.scad
rename to lite_description/robots/lite/cad/scad/right_shoulder_yaw.scad
diff --git a/robots/lite/cad/scad/right_wrist_yaw.scad b/lite_description/robots/lite/cad/scad/right_wrist_yaw.scad
similarity index 100%
rename from robots/lite/cad/scad/right_wrist_yaw.scad
rename to lite_description/robots/lite/cad/scad/right_wrist_yaw.scad
diff --git a/robots/lite/cad/scad/torso.scad b/lite_description/robots/lite/cad/scad/torso.scad
similarity index 100%
rename from robots/lite/cad/scad/torso.scad
rename to lite_description/robots/lite/cad/scad/torso.scad
diff --git a/robots/lite/cad/scad/waist.scad b/lite_description/robots/lite/cad/scad/waist.scad
similarity index 100%
rename from robots/lite/cad/scad/waist.scad
rename to lite_description/robots/lite/cad/scad/waist.scad
diff --git a/robots/lite/meshes/visual/chest_visual.stl b/lite_description/robots/lite/meshes/visual/chest_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/chest_visual.stl
rename to lite_description/robots/lite/meshes/visual/chest_visual.stl
diff --git a/robots/lite/meshes/visual/head_visual.stl b/lite_description/robots/lite/meshes/visual/head_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/head_visual.stl
rename to lite_description/robots/lite/meshes/visual/head_visual.stl
diff --git a/robots/lite/meshes/visual/left_ankle_pitch_visual.stl b/lite_description/robots/lite/meshes/visual/left_ankle_pitch_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_ankle_pitch_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_ankle_pitch_visual.stl
diff --git a/robots/lite/meshes/visual/left_ankle_yaw_visual.stl b/lite_description/robots/lite/meshes/visual/left_ankle_yaw_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_ankle_yaw_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_ankle_yaw_visual.stl
diff --git a/robots/lite/meshes/visual/left_elbow_pitch_visual.stl b/lite_description/robots/lite/meshes/visual/left_elbow_pitch_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_elbow_pitch_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_elbow_pitch_visual.stl
diff --git a/robots/lite/meshes/visual/left_finger1_j1_visual.stl b/lite_description/robots/lite/meshes/visual/left_finger1_j1_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_finger1_j1_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_finger1_j1_visual.stl
diff --git a/robots/lite/meshes/visual/left_finger1_j2_visual.stl b/lite_description/robots/lite/meshes/visual/left_finger1_j2_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_finger1_j2_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_finger1_j2_visual.stl
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diff --git a/robots/lite/mjcf/lite.xml b/lite_description/robots/lite/mjcf/lite.xml
similarity index 99%
rename from robots/lite/mjcf/lite.xml
rename to lite_description/robots/lite/mjcf/lite.xml
index 115cc9d..ea7ce56 100644
--- a/robots/lite/mjcf/lite.xml
+++ b/lite_description/robots/lite/mjcf/lite.xml
@@ -1,6 +1,6 @@
 <?xml version='1.0' encoding='utf-8'?>
 <mujoco model="lite">
-  <!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite -->
+  <!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite -->
   <compiler angle="radian" meshdir="../meshes/visual/" />
   <asset>
     <mesh name="pelvis_visual" content_type="model/stl" file="pelvis_visual.stl" />
diff --git a/robots/lite/urdf/lite.urdf b/lite_description/robots/lite/urdf/lite.urdf
similarity index 99%
rename from robots/lite/urdf/lite.urdf
rename to lite_description/robots/lite/urdf/lite.urdf
index 522e726..1269393 100644
--- a/robots/lite/urdf/lite.urdf
+++ b/lite_description/robots/lite/urdf/lite.urdf
@@ -1,6 +1,6 @@
 <?xml version='1.0' encoding='utf-8'?>
 <robot name="lite">
-  <!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite -->
+  <!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite -->
   <link name="pelvis">
     <inertial>
       <origin xyz="0.0135183 5.78646e-07 0.0691358" rpy="0 0 0" />
diff --git a/robots/lite/xacro/lite.description.xacro b/lite_description/robots/lite/xacro/lite.description.xacro
similarity index 99%
rename from robots/lite/xacro/lite.description.xacro
rename to lite_description/robots/lite/xacro/lite.description.xacro
index d0b46ae..960e068 100644
--- a/robots/lite/xacro/lite.description.xacro
+++ b/lite_description/robots/lite/xacro/lite.description.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite -->
+<!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:macro name="lite_description" params="mesh_root:=package://lite_description/robots/lite/meshes/visual">
     <link name="base_link" />
@@ -8,7 +8,7 @@
       <child link="pelvis" />
       <origin xyz="0 0 0" rpy="0 0 0" />
     </joint>
-    <!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite -->
+    <!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite -->
     <link name="pelvis">
       <inertial>
         <origin xyz="0.0135183 5.78646e-07 0.0691358" rpy="0 0 0" />
diff --git a/robots/lite/xacro/lite.urdf.xacro b/lite_description/robots/lite/xacro/lite.urdf.xacro
similarity index 62%
rename from robots/lite/xacro/lite.urdf.xacro
rename to lite_description/robots/lite/xacro/lite.urdf.xacro
index 99e00b7..6f9c2a5 100644
--- a/robots/lite/xacro/lite.urdf.xacro
+++ b/lite_description/robots/lite/xacro/lite.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite -->
+<!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="lite">
 
   <xacro:include filename="$(find lite_description)/robots/lite/xacro/lite.description.xacro"/>
diff --git a/robots/lite_bimanual/cad/config.json b/lite_description/robots/lite_bimanual/cad/config.json
similarity index 100%
rename from robots/lite_bimanual/cad/config.json
rename to lite_description/robots/lite_bimanual/cad/config.json
diff --git a/robots/lite_bimanual/cad/joint_properties.json b/lite_description/robots/lite_bimanual/cad/joint_properties.json
similarity index 100%
rename from robots/lite_bimanual/cad/joint_properties.json
rename to lite_description/robots/lite_bimanual/cad/joint_properties.json
diff --git a/robots/lite_bimanual/cad/physics.json b/lite_description/robots/lite_bimanual/cad/physics.json
similarity index 100%
rename from robots/lite_bimanual/cad/physics.json
rename to lite_description/robots/lite_bimanual/cad/physics.json
diff --git a/robots/lite_bimanual/cad/ros2_control.json b/lite_description/robots/lite_bimanual/cad/ros2_control.json
similarity index 100%
rename from robots/lite_bimanual/cad/ros2_control.json
rename to lite_description/robots/lite_bimanual/cad/ros2_control.json
diff --git a/robots/lite_bimanual/cad/scad/chest.scad b/lite_description/robots/lite_bimanual/cad/scad/chest.scad
similarity index 100%
rename from robots/lite_bimanual/cad/scad/chest.scad
rename to lite_description/robots/lite_bimanual/cad/scad/chest.scad
diff --git a/robots/lite_bimanual/cad/scad/left_fingertip.scad b/lite_description/robots/lite_bimanual/cad/scad/left_fingertip.scad
similarity index 100%
rename from robots/lite_bimanual/cad/scad/left_fingertip.scad
rename to lite_description/robots/lite_bimanual/cad/scad/left_fingertip.scad
diff --git a/robots/lite_bimanual/cad/scad/left_hand.scad b/lite_description/robots/lite_bimanual/cad/scad/left_hand.scad
similarity index 100%
rename from robots/lite_bimanual/cad/scad/left_hand.scad
rename to lite_description/robots/lite_bimanual/cad/scad/left_hand.scad
diff --git a/robots/lite_bimanual/cad/scad/left_shoulder_yaw.scad b/lite_description/robots/lite_bimanual/cad/scad/left_shoulder_yaw.scad
similarity index 100%
rename from robots/lite_bimanual/cad/scad/left_shoulder_yaw.scad
rename to lite_description/robots/lite_bimanual/cad/scad/left_shoulder_yaw.scad
diff --git a/robots/lite_bimanual/cad/scad/left_wrist_yaw.scad b/lite_description/robots/lite_bimanual/cad/scad/left_wrist_yaw.scad
similarity index 100%
rename from robots/lite_bimanual/cad/scad/left_wrist_yaw.scad
rename to lite_description/robots/lite_bimanual/cad/scad/left_wrist_yaw.scad
diff --git a/robots/lite_bimanual/cad/scad/right_fingertip.scad b/lite_description/robots/lite_bimanual/cad/scad/right_fingertip.scad
similarity index 100%
rename from robots/lite_bimanual/cad/scad/right_fingertip.scad
rename to lite_description/robots/lite_bimanual/cad/scad/right_fingertip.scad
diff --git a/robots/lite_bimanual/cad/scad/right_hand.scad b/lite_description/robots/lite_bimanual/cad/scad/right_hand.scad
similarity index 100%
rename from robots/lite_bimanual/cad/scad/right_hand.scad
rename to lite_description/robots/lite_bimanual/cad/scad/right_hand.scad
diff --git a/robots/lite_bimanual/cad/scad/right_shoulder_yaw.scad b/lite_description/robots/lite_bimanual/cad/scad/right_shoulder_yaw.scad
similarity index 100%
rename from robots/lite_bimanual/cad/scad/right_shoulder_yaw.scad
rename to lite_description/robots/lite_bimanual/cad/scad/right_shoulder_yaw.scad
diff --git a/robots/lite_bimanual/cad/scad/right_wrist_yaw.scad b/lite_description/robots/lite_bimanual/cad/scad/right_wrist_yaw.scad
similarity index 100%
rename from robots/lite_bimanual/cad/scad/right_wrist_yaw.scad
rename to lite_description/robots/lite_bimanual/cad/scad/right_wrist_yaw.scad
diff --git a/robots/lite_bimanual/meshes/visual/chest_visual.stl b/lite_description/robots/lite_bimanual/meshes/visual/chest_visual.stl
similarity index 100%
rename from robots/lite_bimanual/meshes/visual/chest_visual.stl
rename to lite_description/robots/lite_bimanual/meshes/visual/chest_visual.stl
diff --git a/robots/lite_bimanual/meshes/visual/left_elbow_pitch_visual.stl b/lite_description/robots/lite_bimanual/meshes/visual/left_elbow_pitch_visual.stl
similarity index 100%
rename from robots/lite_bimanual/meshes/visual/left_elbow_pitch_visual.stl
rename to lite_description/robots/lite_bimanual/meshes/visual/left_elbow_pitch_visual.stl
diff --git a/robots/lite_bimanual/meshes/visual/left_hand_visual.stl b/lite_description/robots/lite_bimanual/meshes/visual/left_hand_visual.stl
similarity index 100%
rename from robots/lite_bimanual/meshes/visual/left_hand_visual.stl
rename to lite_description/robots/lite_bimanual/meshes/visual/left_hand_visual.stl
diff --git a/robots/lite_bimanual/meshes/visual/left_shoulder_pitch_visual.stl b/lite_description/robots/lite_bimanual/meshes/visual/left_shoulder_pitch_visual.stl
similarity index 100%
rename from robots/lite_bimanual/meshes/visual/left_shoulder_pitch_visual.stl
rename to lite_description/robots/lite_bimanual/meshes/visual/left_shoulder_pitch_visual.stl
diff --git a/robots/lite_bimanual/meshes/visual/left_shoulder_roll_visual.stl b/lite_description/robots/lite_bimanual/meshes/visual/left_shoulder_roll_visual.stl
similarity index 100%
rename from robots/lite_bimanual/meshes/visual/left_shoulder_roll_visual.stl
rename to lite_description/robots/lite_bimanual/meshes/visual/left_shoulder_roll_visual.stl
diff --git a/robots/lite_bimanual/meshes/visual/left_shoulder_yaw_visual.stl b/lite_description/robots/lite_bimanual/meshes/visual/left_shoulder_yaw_visual.stl
similarity index 100%
rename from robots/lite_bimanual/meshes/visual/left_shoulder_yaw_visual.stl
rename to lite_description/robots/lite_bimanual/meshes/visual/left_shoulder_yaw_visual.stl
diff --git a/robots/lite_bimanual/meshes/visual/left_wrist_roll_visual.stl b/lite_description/robots/lite_bimanual/meshes/visual/left_wrist_roll_visual.stl
similarity index 100%
rename from robots/lite_bimanual/meshes/visual/left_wrist_roll_visual.stl
rename to lite_description/robots/lite_bimanual/meshes/visual/left_wrist_roll_visual.stl
diff --git a/robots/lite_bimanual/meshes/visual/left_wrist_yaw_visual.stl b/lite_description/robots/lite_bimanual/meshes/visual/left_wrist_yaw_visual.stl
similarity index 100%
rename from robots/lite_bimanual/meshes/visual/left_wrist_yaw_visual.stl
rename to lite_description/robots/lite_bimanual/meshes/visual/left_wrist_yaw_visual.stl
diff --git a/robots/lite_bimanual/meshes/visual/right_elbow_pitch_visual.stl b/lite_description/robots/lite_bimanual/meshes/visual/right_elbow_pitch_visual.stl
similarity index 100%
rename from robots/lite_bimanual/meshes/visual/right_elbow_pitch_visual.stl
rename to lite_description/robots/lite_bimanual/meshes/visual/right_elbow_pitch_visual.stl
diff --git a/robots/lite_bimanual/meshes/visual/right_hand_visual.stl b/lite_description/robots/lite_bimanual/meshes/visual/right_hand_visual.stl
similarity index 100%
rename from robots/lite_bimanual/meshes/visual/right_hand_visual.stl
rename to lite_description/robots/lite_bimanual/meshes/visual/right_hand_visual.stl
diff --git a/robots/lite_bimanual/meshes/visual/right_shoulder_pitch_visual.stl b/lite_description/robots/lite_bimanual/meshes/visual/right_shoulder_pitch_visual.stl
similarity index 100%
rename from robots/lite_bimanual/meshes/visual/right_shoulder_pitch_visual.stl
rename to lite_description/robots/lite_bimanual/meshes/visual/right_shoulder_pitch_visual.stl
diff --git a/robots/lite_bimanual/meshes/visual/right_shoulder_roll_visual.stl b/lite_description/robots/lite_bimanual/meshes/visual/right_shoulder_roll_visual.stl
similarity index 100%
rename from robots/lite_bimanual/meshes/visual/right_shoulder_roll_visual.stl
rename to lite_description/robots/lite_bimanual/meshes/visual/right_shoulder_roll_visual.stl
diff --git a/robots/lite_bimanual/meshes/visual/right_shoulder_yaw_visual.stl b/lite_description/robots/lite_bimanual/meshes/visual/right_shoulder_yaw_visual.stl
similarity index 100%
rename from robots/lite_bimanual/meshes/visual/right_shoulder_yaw_visual.stl
rename to lite_description/robots/lite_bimanual/meshes/visual/right_shoulder_yaw_visual.stl
diff --git a/robots/lite_bimanual/meshes/visual/right_wrist_roll_visual.stl b/lite_description/robots/lite_bimanual/meshes/visual/right_wrist_roll_visual.stl
similarity index 100%
rename from robots/lite_bimanual/meshes/visual/right_wrist_roll_visual.stl
rename to lite_description/robots/lite_bimanual/meshes/visual/right_wrist_roll_visual.stl
diff --git a/robots/lite_bimanual/meshes/visual/right_wrist_yaw_visual.stl b/lite_description/robots/lite_bimanual/meshes/visual/right_wrist_yaw_visual.stl
similarity index 100%
rename from robots/lite_bimanual/meshes/visual/right_wrist_yaw_visual.stl
rename to lite_description/robots/lite_bimanual/meshes/visual/right_wrist_yaw_visual.stl
diff --git a/robots/lite_bimanual/mjcf/lite_bimanual.xml b/lite_description/robots/lite_bimanual/mjcf/lite_bimanual.xml
similarity index 99%
rename from robots/lite_bimanual/mjcf/lite_bimanual.xml
rename to lite_description/robots/lite_bimanual/mjcf/lite_bimanual.xml
index 4fcb03e..a72e9dc 100644
--- a/robots/lite_bimanual/mjcf/lite_bimanual.xml
+++ b/lite_description/robots/lite_bimanual/mjcf/lite_bimanual.xml
@@ -1,6 +1,6 @@
 <?xml version='1.0' encoding='utf-8'?>
 <mujoco model="lite_bimanual">
-  <!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_bimanual -->
+  <!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_bimanual -->
   <compiler angle="radian" meshdir="../meshes/visual/" />
   <option timestep="0.001" integrator="implicitfast" solver="Newton" cone="elliptic" impratio="10" />
   <asset>
diff --git a/robots/lite_bimanual/urdf/lite_bimanual.urdf b/lite_description/robots/lite_bimanual/urdf/lite_bimanual.urdf
similarity index 99%
rename from robots/lite_bimanual/urdf/lite_bimanual.urdf
rename to lite_description/robots/lite_bimanual/urdf/lite_bimanual.urdf
index 428cae7..2279d1e 100644
--- a/robots/lite_bimanual/urdf/lite_bimanual.urdf
+++ b/lite_description/robots/lite_bimanual/urdf/lite_bimanual.urdf
@@ -1,6 +1,6 @@
 <?xml version='1.0' encoding='utf-8'?>
 <robot name="lite_bimanual">
-  <!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_bimanual -->
+  <!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_bimanual -->
   <link name="chest">
     <inertial>
       <origin xyz="0.0223994 -6.1147e-08 0.218844" rpy="0 0 0" />
diff --git a/robots/lite_bimanual/xacro/lite_bimanual.description.xacro b/lite_description/robots/lite_bimanual/xacro/lite_bimanual.description.xacro
similarity index 98%
rename from robots/lite_bimanual/xacro/lite_bimanual.description.xacro
rename to lite_description/robots/lite_bimanual/xacro/lite_bimanual.description.xacro
index 15abfa7..394af08 100644
--- a/robots/lite_bimanual/xacro/lite_bimanual.description.xacro
+++ b/lite_description/robots/lite_bimanual/xacro/lite_bimanual.description.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_bimanual -->
+<!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_bimanual -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:macro name="lite_bimanual_description" params="mesh_root:=package://lite_description/robots/lite_bimanual/meshes/visual">
     <link name="base_link" />
@@ -8,7 +8,7 @@
       <child link="chest" />
       <origin xyz="0 0 0" rpy="0 0 0" />
     </joint>
-    <!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_bimanual -->
+    <!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_bimanual -->
     <link name="chest">
       <inertial>
         <origin xyz="0.0223994 -6.1147e-08 0.218844" rpy="0 0 0" />
diff --git a/robots/lite_bimanual/xacro/lite_bimanual.ros2_control.xacro b/lite_description/robots/lite_bimanual/xacro/lite_bimanual.ros2_control.xacro
similarity index 98%
rename from robots/lite_bimanual/xacro/lite_bimanual.ros2_control.xacro
rename to lite_description/robots/lite_bimanual/xacro/lite_bimanual.ros2_control.xacro
index 209b06a..0c9a273 100644
--- a/robots/lite_bimanual/xacro/lite_bimanual.ros2_control.xacro
+++ b/lite_description/robots/lite_bimanual/xacro/lite_bimanual.ros2_control.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_bimanual -->
+<!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_bimanual -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <!-- One joint: 5 command + 3 state interfaces (MIT mode).
diff --git a/robots/lite_bimanual/xacro/lite_bimanual.urdf.xacro b/lite_description/robots/lite_bimanual/xacro/lite_bimanual.urdf.xacro
similarity index 86%
rename from robots/lite_bimanual/xacro/lite_bimanual.urdf.xacro
rename to lite_description/robots/lite_bimanual/xacro/lite_bimanual.urdf.xacro
index c9c636b..d020423 100644
--- a/robots/lite_bimanual/xacro/lite_bimanual.urdf.xacro
+++ b/lite_description/robots/lite_bimanual/xacro/lite_bimanual.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_bimanual -->
+<!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_bimanual -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="lite_bimanual">
   <xacro:arg name="use_mock_hardware" default="true"/>
   <xacro:arg name="sim_mujoco" default="false"/>
diff --git a/robots/lite_biped/cad/config.json b/lite_description/robots/lite_biped/cad/config.json
similarity index 100%
rename from robots/lite_biped/cad/config.json
rename to lite_description/robots/lite_biped/cad/config.json
diff --git a/robots/lite_biped/cad/joint_properties.json b/lite_description/robots/lite_biped/cad/joint_properties.json
similarity index 100%
rename from robots/lite_biped/cad/joint_properties.json
rename to lite_description/robots/lite_biped/cad/joint_properties.json
diff --git a/robots/lite_biped/cad/physics.json b/lite_description/robots/lite_biped/cad/physics.json
similarity index 100%
rename from robots/lite_biped/cad/physics.json
rename to lite_description/robots/lite_biped/cad/physics.json
diff --git a/robots/lite_biped/cad/ros2_control.json b/lite_description/robots/lite_biped/cad/ros2_control.json
similarity index 100%
rename from robots/lite_biped/cad/ros2_control.json
rename to lite_description/robots/lite_biped/cad/ros2_control.json
diff --git a/robots/lite_biped/cad/scad/left_foot.scad b/lite_description/robots/lite_biped/cad/scad/left_foot.scad
similarity index 100%
rename from robots/lite_biped/cad/scad/left_foot.scad
rename to lite_description/robots/lite_biped/cad/scad/left_foot.scad
diff --git a/robots/lite_biped/cad/scad/left_hip_roll.scad b/lite_description/robots/lite_biped/cad/scad/left_hip_roll.scad
similarity index 100%
rename from robots/lite_biped/cad/scad/left_hip_roll.scad
rename to lite_description/robots/lite_biped/cad/scad/left_hip_roll.scad
diff --git a/robots/lite_biped/cad/scad/left_knee_pitch.scad b/lite_description/robots/lite_biped/cad/scad/left_knee_pitch.scad
similarity index 100%
rename from robots/lite_biped/cad/scad/left_knee_pitch.scad
rename to lite_description/robots/lite_biped/cad/scad/left_knee_pitch.scad
diff --git a/robots/lite_biped/cad/scad/right_foot.scad b/lite_description/robots/lite_biped/cad/scad/right_foot.scad
similarity index 100%
rename from robots/lite_biped/cad/scad/right_foot.scad
rename to lite_description/robots/lite_biped/cad/scad/right_foot.scad
diff --git a/robots/lite_biped/cad/scad/right_hip_roll.scad b/lite_description/robots/lite_biped/cad/scad/right_hip_roll.scad
similarity index 100%
rename from robots/lite_biped/cad/scad/right_hip_roll.scad
rename to lite_description/robots/lite_biped/cad/scad/right_hip_roll.scad
diff --git a/robots/lite_biped/cad/scad/right_knee_pitch.scad b/lite_description/robots/lite_biped/cad/scad/right_knee_pitch.scad
similarity index 100%
rename from robots/lite_biped/cad/scad/right_knee_pitch.scad
rename to lite_description/robots/lite_biped/cad/scad/right_knee_pitch.scad
diff --git a/robots/lite_biped/meshes/visual/left_ankle_pitch_visual.stl b/lite_description/robots/lite_biped/meshes/visual/left_ankle_pitch_visual.stl
similarity index 100%
rename from robots/lite_biped/meshes/visual/left_ankle_pitch_visual.stl
rename to lite_description/robots/lite_biped/meshes/visual/left_ankle_pitch_visual.stl
diff --git a/robots/lite_biped/meshes/visual/left_ankle_yaw_visual.stl b/lite_description/robots/lite_biped/meshes/visual/left_ankle_yaw_visual.stl
similarity index 100%
rename from robots/lite_biped/meshes/visual/left_ankle_yaw_visual.stl
rename to lite_description/robots/lite_biped/meshes/visual/left_ankle_yaw_visual.stl
diff --git a/robots/lite_biped/meshes/visual/left_foot_visual.stl b/lite_description/robots/lite_biped/meshes/visual/left_foot_visual.stl
similarity index 100%
rename from robots/lite_biped/meshes/visual/left_foot_visual.stl
rename to lite_description/robots/lite_biped/meshes/visual/left_foot_visual.stl
diff --git a/robots/lite_biped/meshes/visual/left_hip_pitch_visual.stl b/lite_description/robots/lite_biped/meshes/visual/left_hip_pitch_visual.stl
similarity index 100%
rename from robots/lite_biped/meshes/visual/left_hip_pitch_visual.stl
rename to lite_description/robots/lite_biped/meshes/visual/left_hip_pitch_visual.stl
diff --git a/robots/lite_biped/meshes/visual/left_hip_roll_visual.stl b/lite_description/robots/lite_biped/meshes/visual/left_hip_roll_visual.stl
similarity index 100%
rename from robots/lite_biped/meshes/visual/left_hip_roll_visual.stl
rename to lite_description/robots/lite_biped/meshes/visual/left_hip_roll_visual.stl
diff --git a/robots/lite_biped/meshes/visual/left_hip_yaw_visual.stl b/lite_description/robots/lite_biped/meshes/visual/left_hip_yaw_visual.stl
similarity index 100%
rename from robots/lite_biped/meshes/visual/left_hip_yaw_visual.stl
rename to lite_description/robots/lite_biped/meshes/visual/left_hip_yaw_visual.stl
diff --git a/robots/lite_biped/meshes/visual/left_knee_pitch_visual.stl b/lite_description/robots/lite_biped/meshes/visual/left_knee_pitch_visual.stl
similarity index 100%
rename from robots/lite_biped/meshes/visual/left_knee_pitch_visual.stl
rename to lite_description/robots/lite_biped/meshes/visual/left_knee_pitch_visual.stl
diff --git a/robots/lite_biped/meshes/visual/pelvis_visual.stl b/lite_description/robots/lite_biped/meshes/visual/pelvis_visual.stl
similarity index 100%
rename from robots/lite_biped/meshes/visual/pelvis_visual.stl
rename to lite_description/robots/lite_biped/meshes/visual/pelvis_visual.stl
diff --git a/robots/lite_biped/meshes/visual/right_ankle_pitch_visual.stl b/lite_description/robots/lite_biped/meshes/visual/right_ankle_pitch_visual.stl
similarity index 100%
rename from robots/lite_biped/meshes/visual/right_ankle_pitch_visual.stl
rename to lite_description/robots/lite_biped/meshes/visual/right_ankle_pitch_visual.stl
diff --git a/robots/lite_biped/meshes/visual/right_ankle_yaw_visual.stl b/lite_description/robots/lite_biped/meshes/visual/right_ankle_yaw_visual.stl
similarity index 100%
rename from robots/lite_biped/meshes/visual/right_ankle_yaw_visual.stl
rename to lite_description/robots/lite_biped/meshes/visual/right_ankle_yaw_visual.stl
diff --git a/robots/lite_biped/meshes/visual/right_foot_visual.stl b/lite_description/robots/lite_biped/meshes/visual/right_foot_visual.stl
similarity index 100%
rename from robots/lite_biped/meshes/visual/right_foot_visual.stl
rename to lite_description/robots/lite_biped/meshes/visual/right_foot_visual.stl
diff --git a/robots/lite_biped/meshes/visual/right_hip_pitch_visual.stl b/lite_description/robots/lite_biped/meshes/visual/right_hip_pitch_visual.stl
similarity index 100%
rename from robots/lite_biped/meshes/visual/right_hip_pitch_visual.stl
rename to lite_description/robots/lite_biped/meshes/visual/right_hip_pitch_visual.stl
diff --git a/robots/lite_biped/meshes/visual/right_hip_roll_visual.stl b/lite_description/robots/lite_biped/meshes/visual/right_hip_roll_visual.stl
similarity index 100%
rename from robots/lite_biped/meshes/visual/right_hip_roll_visual.stl
rename to lite_description/robots/lite_biped/meshes/visual/right_hip_roll_visual.stl
diff --git a/robots/lite_biped/meshes/visual/right_hip_yaw_visual.stl b/lite_description/robots/lite_biped/meshes/visual/right_hip_yaw_visual.stl
similarity index 100%
rename from robots/lite_biped/meshes/visual/right_hip_yaw_visual.stl
rename to lite_description/robots/lite_biped/meshes/visual/right_hip_yaw_visual.stl
diff --git a/robots/lite_biped/meshes/visual/right_knee_pitch_visual.stl b/lite_description/robots/lite_biped/meshes/visual/right_knee_pitch_visual.stl
similarity index 100%
rename from robots/lite_biped/meshes/visual/right_knee_pitch_visual.stl
rename to lite_description/robots/lite_biped/meshes/visual/right_knee_pitch_visual.stl
diff --git a/robots/lite_biped/mjcf/lite_biped.xml b/lite_description/robots/lite_biped/mjcf/lite_biped.xml
similarity index 99%
rename from robots/lite_biped/mjcf/lite_biped.xml
rename to lite_description/robots/lite_biped/mjcf/lite_biped.xml
index 8fa0909..79b6a5e 100644
--- a/robots/lite_biped/mjcf/lite_biped.xml
+++ b/lite_description/robots/lite_biped/mjcf/lite_biped.xml
@@ -1,6 +1,6 @@
 <?xml version='1.0' encoding='utf-8'?>
 <mujoco model="lite_biped">
-  <!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_biped -->
+  <!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_biped -->
   <compiler angle="radian" meshdir="../meshes/visual/" />
   <option timestep="0.005" integrator="implicitfast" solver="Newton" cone="pyramidal" impratio="1" iterations="10" ls_iterations="20" />
   <asset>
diff --git a/robots/lite_biped/mjcf/lite_biped_scene.xml b/lite_description/robots/lite_biped/mjcf/lite_biped_scene.xml
similarity index 100%
rename from robots/lite_biped/mjcf/lite_biped_scene.xml
rename to lite_description/robots/lite_biped/mjcf/lite_biped_scene.xml
diff --git a/robots/lite_biped/urdf/lite_biped.urdf b/lite_description/robots/lite_biped/urdf/lite_biped.urdf
similarity index 99%
rename from robots/lite_biped/urdf/lite_biped.urdf
rename to lite_description/robots/lite_biped/urdf/lite_biped.urdf
index 9665de2..9b68b4d 100644
--- a/robots/lite_biped/urdf/lite_biped.urdf
+++ b/lite_description/robots/lite_biped/urdf/lite_biped.urdf
@@ -1,6 +1,6 @@
 <?xml version='1.0' encoding='utf-8'?>
 <robot name="lite_biped">
-  <!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_biped -->
+  <!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_biped -->
   <link name="pelvis">
     <inertial>
       <origin xyz="0.0137049 6.97587e-07 0.0692011" rpy="0 0 0" />
diff --git a/robots/lite_biped/xacro/lite_biped.description.xacro b/lite_description/robots/lite_biped/xacro/lite_biped.description.xacro
similarity index 98%
rename from robots/lite_biped/xacro/lite_biped.description.xacro
rename to lite_description/robots/lite_biped/xacro/lite_biped.description.xacro
index f18ee63..263a5d3 100644
--- a/robots/lite_biped/xacro/lite_biped.description.xacro
+++ b/lite_description/robots/lite_biped/xacro/lite_biped.description.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_biped -->
+<!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_biped -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:macro name="lite_biped_description" params="mesh_root:=package://lite_description/robots/lite_biped/meshes/visual">
     <link name="base_link" />
@@ -8,7 +8,7 @@
       <child link="pelvis" />
       <origin xyz="0 0 0" rpy="0 0 0" />
     </joint>
-    <!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_biped -->
+    <!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_biped -->
     <link name="pelvis">
       <inertial>
         <origin xyz="0.0137049 6.97587e-07 0.0692011" rpy="0 0 0" />
diff --git a/robots/lite_biped/xacro/lite_biped.ros2_control.xacro b/lite_description/robots/lite_biped/xacro/lite_biped.ros2_control.xacro
similarity index 98%
rename from robots/lite_biped/xacro/lite_biped.ros2_control.xacro
rename to lite_description/robots/lite_biped/xacro/lite_biped.ros2_control.xacro
index e693a32..b3a8afe 100644
--- a/robots/lite_biped/xacro/lite_biped.ros2_control.xacro
+++ b/lite_description/robots/lite_biped/xacro/lite_biped.ros2_control.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_biped -->
+<!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_biped -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <!-- One joint: 5 command + 3 state interfaces (MIT mode).
diff --git a/robots/lite_biped/xacro/lite_biped.urdf.xacro b/lite_description/robots/lite_biped/xacro/lite_biped.urdf.xacro
similarity index 88%
rename from robots/lite_biped/xacro/lite_biped.urdf.xacro
rename to lite_description/robots/lite_biped/xacro/lite_biped.urdf.xacro
index f119877..e98f6fb 100644
--- a/robots/lite_biped/xacro/lite_biped.urdf.xacro
+++ b/lite_description/robots/lite_biped/xacro/lite_biped.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_biped -->
+<!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_biped -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="lite_biped">
   <xacro:arg name="use_mock_hardware" default="true"/>
   <xacro:arg name="sim_mujoco" default="false"/>
diff --git a/robots/lite_biped_debug/cad/config.json b/lite_description/robots/lite_biped_debug/cad/config.json
similarity index 100%
rename from robots/lite_biped_debug/cad/config.json
rename to lite_description/robots/lite_biped_debug/cad/config.json
diff --git a/robots/lite_biped_debug/cad/joint_properties.json b/lite_description/robots/lite_biped_debug/cad/joint_properties.json
similarity index 100%
rename from robots/lite_biped_debug/cad/joint_properties.json
rename to lite_description/robots/lite_biped_debug/cad/joint_properties.json
diff --git a/robots/lite_biped_debug/cad/physics.json b/lite_description/robots/lite_biped_debug/cad/physics.json
similarity index 100%
rename from robots/lite_biped_debug/cad/physics.json
rename to lite_description/robots/lite_biped_debug/cad/physics.json
diff --git a/robots/lite_biped_debug/cad/ros2_control.json b/lite_description/robots/lite_biped_debug/cad/ros2_control.json
similarity index 100%
rename from robots/lite_biped_debug/cad/ros2_control.json
rename to lite_description/robots/lite_biped_debug/cad/ros2_control.json
diff --git a/robots/lite_biped_debug/cad/scad/left_foot_palm_debug.scad b/lite_description/robots/lite_biped_debug/cad/scad/left_foot_palm_debug.scad
similarity index 100%
rename from robots/lite_biped_debug/cad/scad/left_foot_palm_debug.scad
rename to lite_description/robots/lite_biped_debug/cad/scad/left_foot_palm_debug.scad
diff --git a/robots/lite_biped_debug/cad/scad/left_hip_roll.scad b/lite_description/robots/lite_biped_debug/cad/scad/left_hip_roll.scad
similarity index 100%
rename from robots/lite_biped_debug/cad/scad/left_hip_roll.scad
rename to lite_description/robots/lite_biped_debug/cad/scad/left_hip_roll.scad
diff --git a/robots/lite_biped_debug/cad/scad/left_knee_pitch.scad b/lite_description/robots/lite_biped_debug/cad/scad/left_knee_pitch.scad
similarity index 100%
rename from robots/lite_biped_debug/cad/scad/left_knee_pitch.scad
rename to lite_description/robots/lite_biped_debug/cad/scad/left_knee_pitch.scad
diff --git a/robots/lite_biped_debug/cad/scad/right_foot_palm_debug.scad b/lite_description/robots/lite_biped_debug/cad/scad/right_foot_palm_debug.scad
similarity index 100%
rename from robots/lite_biped_debug/cad/scad/right_foot_palm_debug.scad
rename to lite_description/robots/lite_biped_debug/cad/scad/right_foot_palm_debug.scad
diff --git a/robots/lite_biped_debug/cad/scad/right_hip_roll.scad b/lite_description/robots/lite_biped_debug/cad/scad/right_hip_roll.scad
similarity index 100%
rename from robots/lite_biped_debug/cad/scad/right_hip_roll.scad
rename to lite_description/robots/lite_biped_debug/cad/scad/right_hip_roll.scad
diff --git a/robots/lite_biped_debug/cad/scad/right_knee_pitch.scad b/lite_description/robots/lite_biped_debug/cad/scad/right_knee_pitch.scad
similarity index 100%
rename from robots/lite_biped_debug/cad/scad/right_knee_pitch.scad
rename to lite_description/robots/lite_biped_debug/cad/scad/right_knee_pitch.scad
diff --git a/robots/lite_biped_debug/meshes/visual/left_ankle_pitch_visual.stl b/lite_description/robots/lite_biped_debug/meshes/visual/left_ankle_pitch_visual.stl
similarity index 100%
rename from robots/lite_biped_debug/meshes/visual/left_ankle_pitch_visual.stl
rename to lite_description/robots/lite_biped_debug/meshes/visual/left_ankle_pitch_visual.stl
diff --git a/robots/lite_biped_debug/meshes/visual/left_ankle_yaw_visual.stl b/lite_description/robots/lite_biped_debug/meshes/visual/left_ankle_yaw_visual.stl
similarity index 100%
rename from robots/lite_biped_debug/meshes/visual/left_ankle_yaw_visual.stl
rename to lite_description/robots/lite_biped_debug/meshes/visual/left_ankle_yaw_visual.stl
diff --git a/robots/lite_biped_debug/meshes/visual/left_foot_visual.stl b/lite_description/robots/lite_biped_debug/meshes/visual/left_foot_visual.stl
similarity index 100%
rename from robots/lite_biped_debug/meshes/visual/left_foot_visual.stl
rename to lite_description/robots/lite_biped_debug/meshes/visual/left_foot_visual.stl
diff --git a/robots/lite_biped_debug/meshes/visual/left_hip_pitch_visual.stl b/lite_description/robots/lite_biped_debug/meshes/visual/left_hip_pitch_visual.stl
similarity index 100%
rename from robots/lite_biped_debug/meshes/visual/left_hip_pitch_visual.stl
rename to lite_description/robots/lite_biped_debug/meshes/visual/left_hip_pitch_visual.stl
diff --git a/robots/lite_biped_debug/meshes/visual/left_hip_roll_visual.stl b/lite_description/robots/lite_biped_debug/meshes/visual/left_hip_roll_visual.stl
similarity index 100%
rename from robots/lite_biped_debug/meshes/visual/left_hip_roll_visual.stl
rename to lite_description/robots/lite_biped_debug/meshes/visual/left_hip_roll_visual.stl
diff --git a/robots/lite_biped_debug/meshes/visual/left_hip_yaw_visual.stl b/lite_description/robots/lite_biped_debug/meshes/visual/left_hip_yaw_visual.stl
similarity index 100%
rename from robots/lite_biped_debug/meshes/visual/left_hip_yaw_visual.stl
rename to lite_description/robots/lite_biped_debug/meshes/visual/left_hip_yaw_visual.stl
diff --git a/robots/lite_biped_debug/meshes/visual/left_knee_pitch_visual.stl b/lite_description/robots/lite_biped_debug/meshes/visual/left_knee_pitch_visual.stl
similarity index 100%
rename from robots/lite_biped_debug/meshes/visual/left_knee_pitch_visual.stl
rename to lite_description/robots/lite_biped_debug/meshes/visual/left_knee_pitch_visual.stl
diff --git a/robots/lite_biped_debug/meshes/visual/pelvis_visual.stl b/lite_description/robots/lite_biped_debug/meshes/visual/pelvis_visual.stl
similarity index 100%
rename from robots/lite_biped_debug/meshes/visual/pelvis_visual.stl
rename to lite_description/robots/lite_biped_debug/meshes/visual/pelvis_visual.stl
diff --git a/robots/lite_biped_debug/meshes/visual/right_ankle_pitch_visual.stl b/lite_description/robots/lite_biped_debug/meshes/visual/right_ankle_pitch_visual.stl
similarity index 100%
rename from robots/lite_biped_debug/meshes/visual/right_ankle_pitch_visual.stl
rename to lite_description/robots/lite_biped_debug/meshes/visual/right_ankle_pitch_visual.stl
diff --git a/robots/lite_biped_debug/meshes/visual/right_ankle_yaw_visual.stl b/lite_description/robots/lite_biped_debug/meshes/visual/right_ankle_yaw_visual.stl
similarity index 100%
rename from robots/lite_biped_debug/meshes/visual/right_ankle_yaw_visual.stl
rename to lite_description/robots/lite_biped_debug/meshes/visual/right_ankle_yaw_visual.stl
diff --git a/robots/lite_biped_debug/meshes/visual/right_foot_visual.stl b/lite_description/robots/lite_biped_debug/meshes/visual/right_foot_visual.stl
similarity index 100%
rename from robots/lite_biped_debug/meshes/visual/right_foot_visual.stl
rename to lite_description/robots/lite_biped_debug/meshes/visual/right_foot_visual.stl
diff --git a/robots/lite_biped_debug/meshes/visual/right_hip_pitch_visual.stl b/lite_description/robots/lite_biped_debug/meshes/visual/right_hip_pitch_visual.stl
similarity index 100%
rename from robots/lite_biped_debug/meshes/visual/right_hip_pitch_visual.stl
rename to lite_description/robots/lite_biped_debug/meshes/visual/right_hip_pitch_visual.stl
diff --git a/robots/lite_biped_debug/meshes/visual/right_hip_roll_visual.stl b/lite_description/robots/lite_biped_debug/meshes/visual/right_hip_roll_visual.stl
similarity index 100%
rename from robots/lite_biped_debug/meshes/visual/right_hip_roll_visual.stl
rename to lite_description/robots/lite_biped_debug/meshes/visual/right_hip_roll_visual.stl
diff --git a/robots/lite_biped_debug/meshes/visual/right_hip_yaw_visual.stl b/lite_description/robots/lite_biped_debug/meshes/visual/right_hip_yaw_visual.stl
similarity index 100%
rename from robots/lite_biped_debug/meshes/visual/right_hip_yaw_visual.stl
rename to lite_description/robots/lite_biped_debug/meshes/visual/right_hip_yaw_visual.stl
diff --git a/robots/lite_biped_debug/meshes/visual/right_knee_pitch_visual.stl b/lite_description/robots/lite_biped_debug/meshes/visual/right_knee_pitch_visual.stl
similarity index 100%
rename from robots/lite_biped_debug/meshes/visual/right_knee_pitch_visual.stl
rename to lite_description/robots/lite_biped_debug/meshes/visual/right_knee_pitch_visual.stl
diff --git a/robots/lite_biped_debug/mjcf/lite_biped_debug.xml b/lite_description/robots/lite_biped_debug/mjcf/lite_biped_debug.xml
similarity index 98%
rename from robots/lite_biped_debug/mjcf/lite_biped_debug.xml
rename to lite_description/robots/lite_biped_debug/mjcf/lite_biped_debug.xml
index e34165f..2d027f8 100644
--- a/robots/lite_biped_debug/mjcf/lite_biped_debug.xml
+++ b/lite_description/robots/lite_biped_debug/mjcf/lite_biped_debug.xml
@@ -1,6 +1,6 @@
 <?xml version='1.0' encoding='utf-8'?>
 <mujoco model="lite_biped_debug">
-  <!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_biped_debug -->
+  <!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_biped_debug -->
   <compiler angle="radian" meshdir="../meshes/visual/" />
   <option timestep="0.005" integrator="implicitfast" solver="Newton" cone="pyramidal" impratio="1" iterations="10" ls_iterations="20" />
   <asset>
diff --git a/robots/lite_biped_debug/mjcf/lite_biped_debug_scene.xml b/lite_description/robots/lite_biped_debug/mjcf/lite_biped_debug_scene.xml
similarity index 100%
rename from robots/lite_biped_debug/mjcf/lite_biped_debug_scene.xml
rename to lite_description/robots/lite_biped_debug/mjcf/lite_biped_debug_scene.xml
diff --git a/robots/lite_biped_debug/urdf/lite_biped_debug.urdf b/lite_description/robots/lite_biped_debug/urdf/lite_biped_debug.urdf
similarity index 99%
rename from robots/lite_biped_debug/urdf/lite_biped_debug.urdf
rename to lite_description/robots/lite_biped_debug/urdf/lite_biped_debug.urdf
index 2347231..60fe486 100644
--- a/robots/lite_biped_debug/urdf/lite_biped_debug.urdf
+++ b/lite_description/robots/lite_biped_debug/urdf/lite_biped_debug.urdf
@@ -1,6 +1,6 @@
 <?xml version='1.0' encoding='utf-8'?>
 <robot name="lite_biped_debug">
-  <!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_biped_debug -->
+  <!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_biped_debug -->
   <link name="pelvis">
     <inertial>
       <origin xyz="0.0137049 6.97587e-07 0.0692011" rpy="0 0 0" />
diff --git a/robots/lite_biped_debug/xacro/lite_biped_debug.description.xacro b/lite_description/robots/lite_biped_debug/xacro/lite_biped_debug.description.xacro
similarity index 98%
rename from robots/lite_biped_debug/xacro/lite_biped_debug.description.xacro
rename to lite_description/robots/lite_biped_debug/xacro/lite_biped_debug.description.xacro
index f571424..54c0cc4 100644
--- a/robots/lite_biped_debug/xacro/lite_biped_debug.description.xacro
+++ b/lite_description/robots/lite_biped_debug/xacro/lite_biped_debug.description.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_biped_debug -->
+<!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_biped_debug -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:macro name="lite_biped_debug_description" params="mesh_root:=package://lite_description/robots/lite_biped_debug/meshes/visual">
     <link name="base_link" />
@@ -8,7 +8,7 @@
       <child link="pelvis" />
       <origin xyz="0 0 0" rpy="0 0 0" />
     </joint>
-    <!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_biped_debug -->
+    <!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_biped_debug -->
     <link name="pelvis">
       <inertial>
         <origin xyz="0.0137049 6.97587e-07 0.0692011" rpy="0 0 0" />
diff --git a/robots/lite_biped_debug/xacro/lite_biped_debug.ros2_control.xacro b/lite_description/robots/lite_biped_debug/xacro/lite_biped_debug.ros2_control.xacro
similarity index 98%
rename from robots/lite_biped_debug/xacro/lite_biped_debug.ros2_control.xacro
rename to lite_description/robots/lite_biped_debug/xacro/lite_biped_debug.ros2_control.xacro
index e49ecaf..cb1763a 100644
--- a/robots/lite_biped_debug/xacro/lite_biped_debug.ros2_control.xacro
+++ b/lite_description/robots/lite_biped_debug/xacro/lite_biped_debug.ros2_control.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_biped_debug -->
+<!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_biped_debug -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <!-- One joint: 5 command + 3 state interfaces (MIT mode).
diff --git a/robots/lite_biped_debug/xacro/lite_biped_debug.urdf.xacro b/lite_description/robots/lite_biped_debug/xacro/lite_biped_debug.urdf.xacro
similarity index 88%
rename from robots/lite_biped_debug/xacro/lite_biped_debug.urdf.xacro
rename to lite_description/robots/lite_biped_debug/xacro/lite_biped_debug.urdf.xacro
index 53f1628..3e05bf5 100644
--- a/robots/lite_biped_debug/xacro/lite_biped_debug.urdf.xacro
+++ b/lite_description/robots/lite_biped_debug/xacro/lite_biped_debug.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_biped_debug -->
+<!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_biped_debug -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="lite_biped_debug">
   <xacro:arg name="use_mock_hardware" default="true"/>
   <xacro:arg name="sim_mujoco" default="false"/>
diff --git a/robots/lite_dummy/cad/config.json b/lite_description/robots/lite_dummy/cad/config.json
similarity index 100%
rename from robots/lite_dummy/cad/config.json
rename to lite_description/robots/lite_dummy/cad/config.json
diff --git a/robots/lite_dummy/cad/joint_properties.json b/lite_description/robots/lite_dummy/cad/joint_properties.json
similarity index 100%
rename from robots/lite_dummy/cad/joint_properties.json
rename to lite_description/robots/lite_dummy/cad/joint_properties.json
diff --git a/robots/lite_dummy/cad/physics.json b/lite_description/robots/lite_dummy/cad/physics.json
similarity index 100%
rename from robots/lite_dummy/cad/physics.json
rename to lite_description/robots/lite_dummy/cad/physics.json
diff --git a/robots/lite_dummy/cad/ros2_control.json b/lite_description/robots/lite_dummy/cad/ros2_control.json
similarity index 100%
rename from robots/lite_dummy/cad/ros2_control.json
rename to lite_description/robots/lite_dummy/cad/ros2_control.json
diff --git a/robots/lite_dummy/cad/scad/chest.scad b/lite_description/robots/lite_dummy/cad/scad/chest.scad
similarity index 100%
rename from robots/lite_dummy/cad/scad/chest.scad
rename to lite_description/robots/lite_dummy/cad/scad/chest.scad
diff --git a/robots/lite_dummy/cad/scad/head.scad b/lite_description/robots/lite_dummy/cad/scad/head.scad
similarity index 100%
rename from robots/lite_dummy/cad/scad/head.scad
rename to lite_description/robots/lite_dummy/cad/scad/head.scad
diff --git a/robots/lite_dummy/cad/scad/left_fingertip.scad b/lite_description/robots/lite_dummy/cad/scad/left_fingertip.scad
similarity index 100%
rename from robots/lite_dummy/cad/scad/left_fingertip.scad
rename to lite_description/robots/lite_dummy/cad/scad/left_fingertip.scad
diff --git a/robots/lite_dummy/cad/scad/left_foot.scad b/lite_description/robots/lite_dummy/cad/scad/left_foot.scad
similarity index 100%
rename from robots/lite_dummy/cad/scad/left_foot.scad
rename to lite_description/robots/lite_dummy/cad/scad/left_foot.scad
diff --git a/robots/lite_dummy/cad/scad/left_hand.scad b/lite_description/robots/lite_dummy/cad/scad/left_hand.scad
similarity index 100%
rename from robots/lite_dummy/cad/scad/left_hand.scad
rename to lite_description/robots/lite_dummy/cad/scad/left_hand.scad
diff --git a/robots/lite_dummy/cad/scad/left_hip_roll.scad b/lite_description/robots/lite_dummy/cad/scad/left_hip_roll.scad
similarity index 100%
rename from robots/lite_dummy/cad/scad/left_hip_roll.scad
rename to lite_description/robots/lite_dummy/cad/scad/left_hip_roll.scad
diff --git a/robots/lite_dummy/cad/scad/left_knee_pitch.scad b/lite_description/robots/lite_dummy/cad/scad/left_knee_pitch.scad
similarity index 100%
rename from robots/lite_dummy/cad/scad/left_knee_pitch.scad
rename to lite_description/robots/lite_dummy/cad/scad/left_knee_pitch.scad
diff --git a/robots/lite_dummy/cad/scad/left_shoulder_yaw.scad b/lite_description/robots/lite_dummy/cad/scad/left_shoulder_yaw.scad
similarity index 100%
rename from robots/lite_dummy/cad/scad/left_shoulder_yaw.scad
rename to lite_description/robots/lite_dummy/cad/scad/left_shoulder_yaw.scad
diff --git a/robots/lite_dummy/cad/scad/left_wrist_yaw.scad b/lite_description/robots/lite_dummy/cad/scad/left_wrist_yaw.scad
similarity index 100%
rename from robots/lite_dummy/cad/scad/left_wrist_yaw.scad
rename to lite_description/robots/lite_dummy/cad/scad/left_wrist_yaw.scad
diff --git a/robots/lite_dummy/cad/scad/pelvis.scad b/lite_description/robots/lite_dummy/cad/scad/pelvis.scad
similarity index 100%
rename from robots/lite_dummy/cad/scad/pelvis.scad
rename to lite_description/robots/lite_dummy/cad/scad/pelvis.scad
diff --git a/robots/lite_dummy/cad/scad/right_fingertip.scad b/lite_description/robots/lite_dummy/cad/scad/right_fingertip.scad
similarity index 100%
rename from robots/lite_dummy/cad/scad/right_fingertip.scad
rename to lite_description/robots/lite_dummy/cad/scad/right_fingertip.scad
diff --git a/robots/lite_dummy/cad/scad/right_foot.scad b/lite_description/robots/lite_dummy/cad/scad/right_foot.scad
similarity index 100%
rename from robots/lite_dummy/cad/scad/right_foot.scad
rename to lite_description/robots/lite_dummy/cad/scad/right_foot.scad
diff --git a/robots/lite_dummy/cad/scad/right_hand.scad b/lite_description/robots/lite_dummy/cad/scad/right_hand.scad
similarity index 100%
rename from robots/lite_dummy/cad/scad/right_hand.scad
rename to lite_description/robots/lite_dummy/cad/scad/right_hand.scad
diff --git a/robots/lite_dummy/cad/scad/right_hip_roll.scad b/lite_description/robots/lite_dummy/cad/scad/right_hip_roll.scad
similarity index 100%
rename from robots/lite_dummy/cad/scad/right_hip_roll.scad
rename to lite_description/robots/lite_dummy/cad/scad/right_hip_roll.scad
diff --git a/robots/lite_dummy/cad/scad/right_knee_pitch.scad b/lite_description/robots/lite_dummy/cad/scad/right_knee_pitch.scad
similarity index 100%
rename from robots/lite_dummy/cad/scad/right_knee_pitch.scad
rename to lite_description/robots/lite_dummy/cad/scad/right_knee_pitch.scad
diff --git a/robots/lite_dummy/cad/scad/right_shoulder_yaw.scad b/lite_description/robots/lite_dummy/cad/scad/right_shoulder_yaw.scad
similarity index 100%
rename from robots/lite_dummy/cad/scad/right_shoulder_yaw.scad
rename to lite_description/robots/lite_dummy/cad/scad/right_shoulder_yaw.scad
diff --git a/robots/lite_dummy/cad/scad/right_wrist_yaw.scad b/lite_description/robots/lite_dummy/cad/scad/right_wrist_yaw.scad
similarity index 100%
rename from robots/lite_dummy/cad/scad/right_wrist_yaw.scad
rename to lite_description/robots/lite_dummy/cad/scad/right_wrist_yaw.scad
diff --git a/robots/lite_dummy/cad/scad/torso.scad b/lite_description/robots/lite_dummy/cad/scad/torso.scad
similarity index 100%
rename from robots/lite_dummy/cad/scad/torso.scad
rename to lite_description/robots/lite_dummy/cad/scad/torso.scad
diff --git a/robots/lite_dummy/meshes/visual/chest_visual.stl b/lite_description/robots/lite_dummy/meshes/visual/chest_visual.stl
similarity index 100%
rename from robots/lite_dummy/meshes/visual/chest_visual.stl
rename to lite_description/robots/lite_dummy/meshes/visual/chest_visual.stl
diff --git a/robots/lite_dummy/meshes/visual/head_visual.stl b/lite_description/robots/lite_dummy/meshes/visual/head_visual.stl
similarity index 100%
rename from robots/lite_dummy/meshes/visual/head_visual.stl
rename to lite_description/robots/lite_dummy/meshes/visual/head_visual.stl
diff --git a/robots/lite_dummy/meshes/visual/left_elbow_pitch_visual.stl b/lite_description/robots/lite_dummy/meshes/visual/left_elbow_pitch_visual.stl
similarity index 100%
rename from robots/lite_dummy/meshes/visual/left_elbow_pitch_visual.stl
rename to lite_description/robots/lite_dummy/meshes/visual/left_elbow_pitch_visual.stl
diff --git a/robots/lite_dummy/meshes/visual/left_hand_visual.stl b/lite_description/robots/lite_dummy/meshes/visual/left_hand_visual.stl
similarity index 100%
rename from robots/lite_dummy/meshes/visual/left_hand_visual.stl
rename to lite_description/robots/lite_dummy/meshes/visual/left_hand_visual.stl
diff --git a/robots/lite_dummy/meshes/visual/left_shoulder_pitch_visual.stl b/lite_description/robots/lite_dummy/meshes/visual/left_shoulder_pitch_visual.stl
similarity index 100%
rename from robots/lite_dummy/meshes/visual/left_shoulder_pitch_visual.stl
rename to lite_description/robots/lite_dummy/meshes/visual/left_shoulder_pitch_visual.stl
diff --git a/robots/lite_dummy/meshes/visual/left_shoulder_roll_visual.stl b/lite_description/robots/lite_dummy/meshes/visual/left_shoulder_roll_visual.stl
similarity index 100%
rename from robots/lite_dummy/meshes/visual/left_shoulder_roll_visual.stl
rename to lite_description/robots/lite_dummy/meshes/visual/left_shoulder_roll_visual.stl
diff --git a/robots/lite_dummy/meshes/visual/left_shoulder_yaw_visual.stl b/lite_description/robots/lite_dummy/meshes/visual/left_shoulder_yaw_visual.stl
similarity index 100%
rename from robots/lite_dummy/meshes/visual/left_shoulder_yaw_visual.stl
rename to lite_description/robots/lite_dummy/meshes/visual/left_shoulder_yaw_visual.stl
diff --git a/robots/lite_dummy/meshes/visual/left_wrist_roll_visual.stl b/lite_description/robots/lite_dummy/meshes/visual/left_wrist_roll_visual.stl
similarity index 100%
rename from robots/lite_dummy/meshes/visual/left_wrist_roll_visual.stl
rename to lite_description/robots/lite_dummy/meshes/visual/left_wrist_roll_visual.stl
diff --git a/robots/lite_dummy/meshes/visual/left_wrist_yaw_visual.stl b/lite_description/robots/lite_dummy/meshes/visual/left_wrist_yaw_visual.stl
similarity index 100%
rename from robots/lite_dummy/meshes/visual/left_wrist_yaw_visual.stl
rename to lite_description/robots/lite_dummy/meshes/visual/left_wrist_yaw_visual.stl
diff --git a/robots/lite_dummy/meshes/visual/neck_roll_visual.stl b/lite_description/robots/lite_dummy/meshes/visual/neck_roll_visual.stl
similarity index 100%
rename from robots/lite_dummy/meshes/visual/neck_roll_visual.stl
rename to lite_description/robots/lite_dummy/meshes/visual/neck_roll_visual.stl
diff --git a/robots/lite_dummy/meshes/visual/neck_yaw_visual.stl b/lite_description/robots/lite_dummy/meshes/visual/neck_yaw_visual.stl
similarity index 100%
rename from robots/lite_dummy/meshes/visual/neck_yaw_visual.stl
rename to lite_description/robots/lite_dummy/meshes/visual/neck_yaw_visual.stl
diff --git a/robots/lite_dummy/meshes/visual/right_elbow_pitch_visual.stl b/lite_description/robots/lite_dummy/meshes/visual/right_elbow_pitch_visual.stl
similarity index 100%
rename from robots/lite_dummy/meshes/visual/right_elbow_pitch_visual.stl
rename to lite_description/robots/lite_dummy/meshes/visual/right_elbow_pitch_visual.stl
diff --git a/robots/lite_dummy/meshes/visual/right_hand_visual.stl b/lite_description/robots/lite_dummy/meshes/visual/right_hand_visual.stl
similarity index 100%
rename from robots/lite_dummy/meshes/visual/right_hand_visual.stl
rename to lite_description/robots/lite_dummy/meshes/visual/right_hand_visual.stl
diff --git a/robots/lite_dummy/meshes/visual/right_shoulder_pitch_visual.stl b/lite_description/robots/lite_dummy/meshes/visual/right_shoulder_pitch_visual.stl
similarity index 100%
rename from robots/lite_dummy/meshes/visual/right_shoulder_pitch_visual.stl
rename to lite_description/robots/lite_dummy/meshes/visual/right_shoulder_pitch_visual.stl
diff --git a/robots/lite_dummy/meshes/visual/right_shoulder_roll_visual.stl b/lite_description/robots/lite_dummy/meshes/visual/right_shoulder_roll_visual.stl
similarity index 100%
rename from robots/lite_dummy/meshes/visual/right_shoulder_roll_visual.stl
rename to lite_description/robots/lite_dummy/meshes/visual/right_shoulder_roll_visual.stl
diff --git a/robots/lite_dummy/meshes/visual/right_shoulder_yaw_visual.stl b/lite_description/robots/lite_dummy/meshes/visual/right_shoulder_yaw_visual.stl
similarity index 100%
rename from robots/lite_dummy/meshes/visual/right_shoulder_yaw_visual.stl
rename to lite_description/robots/lite_dummy/meshes/visual/right_shoulder_yaw_visual.stl
diff --git a/robots/lite_dummy/meshes/visual/right_wrist_roll_visual.stl b/lite_description/robots/lite_dummy/meshes/visual/right_wrist_roll_visual.stl
similarity index 100%
rename from robots/lite_dummy/meshes/visual/right_wrist_roll_visual.stl
rename to lite_description/robots/lite_dummy/meshes/visual/right_wrist_roll_visual.stl
diff --git a/robots/lite_dummy/meshes/visual/right_wrist_yaw_visual.stl b/lite_description/robots/lite_dummy/meshes/visual/right_wrist_yaw_visual.stl
similarity index 100%
rename from robots/lite_dummy/meshes/visual/right_wrist_yaw_visual.stl
rename to lite_description/robots/lite_dummy/meshes/visual/right_wrist_yaw_visual.stl
diff --git a/robots/lite_dummy/mjcf/lite_dummy.xml b/lite_description/robots/lite_dummy/mjcf/lite_dummy.xml
similarity index 99%
rename from robots/lite_dummy/mjcf/lite_dummy.xml
rename to lite_description/robots/lite_dummy/mjcf/lite_dummy.xml
index 1a87ef3..a1b2b3d 100644
--- a/robots/lite_dummy/mjcf/lite_dummy.xml
+++ b/lite_description/robots/lite_dummy/mjcf/lite_dummy.xml
@@ -1,6 +1,6 @@
 <?xml version='1.0' encoding='utf-8'?>
 <mujoco model="lite">
-  <!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_dummy -->
+  <!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_dummy -->
   <compiler angle="radian" meshdir="../meshes/visual/" />
   <option timestep="0.001" integrator="implicitfast" solver="Newton" cone="elliptic" impratio="10" />
   <asset>
diff --git a/robots/lite_dummy/urdf/lite_dummy.urdf b/lite_description/robots/lite_dummy/urdf/lite_dummy.urdf
similarity index 99%
rename from robots/lite_dummy/urdf/lite_dummy.urdf
rename to lite_description/robots/lite_dummy/urdf/lite_dummy.urdf
index 3cf4eea..9325ead 100644
--- a/robots/lite_dummy/urdf/lite_dummy.urdf
+++ b/lite_description/robots/lite_dummy/urdf/lite_dummy.urdf
@@ -1,6 +1,6 @@
 <?xml version='1.0' encoding='utf-8'?>
 <robot name="lite">
-  <!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_dummy -->
+  <!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_dummy -->
   <link name="chest">
     <inertial>
       <origin xyz="0.0229755 1.89075e-06 0.301247" rpy="0 0 0" />
diff --git a/robots/lite_dummy/xacro/lite_dummy.description.xacro b/lite_description/robots/lite_dummy/xacro/lite_dummy.description.xacro
similarity index 98%
rename from robots/lite_dummy/xacro/lite_dummy.description.xacro
rename to lite_description/robots/lite_dummy/xacro/lite_dummy.description.xacro
index 1135f4c..31a104b 100644
--- a/robots/lite_dummy/xacro/lite_dummy.description.xacro
+++ b/lite_description/robots/lite_dummy/xacro/lite_dummy.description.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_dummy -->
+<!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_dummy -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:macro name="lite_dummy_description" params="mesh_root:=package://lite_description/robots/lite_dummy/meshes/visual">
     <link name="base_link" />
@@ -8,7 +8,7 @@
       <child link="chest" />
       <origin xyz="0 0 0" rpy="0 0 0" />
     </joint>
-    <!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_dummy -->
+    <!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_dummy -->
     <link name="chest">
       <inertial>
         <origin xyz="0.0229755 1.89075e-06 0.301247" rpy="0 0 0" />
diff --git a/robots/lite_dummy/xacro/lite_dummy.ros2_control.xacro b/lite_description/robots/lite_dummy/xacro/lite_dummy.ros2_control.xacro
similarity index 98%
rename from robots/lite_dummy/xacro/lite_dummy.ros2_control.xacro
rename to lite_description/robots/lite_dummy/xacro/lite_dummy.ros2_control.xacro
index d1acf49..6e9c733 100644
--- a/robots/lite_dummy/xacro/lite_dummy.ros2_control.xacro
+++ b/lite_description/robots/lite_dummy/xacro/lite_dummy.ros2_control.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_dummy -->
+<!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_dummy -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <!-- One joint: 5 command + 3 state interfaces (MIT mode).
diff --git a/robots/lite_dummy/xacro/lite_dummy.urdf.xacro b/lite_description/robots/lite_dummy/xacro/lite_dummy.urdf.xacro
similarity index 86%
rename from robots/lite_dummy/xacro/lite_dummy.urdf.xacro
rename to lite_description/robots/lite_dummy/xacro/lite_dummy.urdf.xacro
index 64e9a99..2745582 100644
--- a/robots/lite_dummy/xacro/lite_dummy.urdf.xacro
+++ b/lite_description/robots/lite_dummy/xacro/lite_dummy.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_dummy -->
+<!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_dummy -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="lite_dummy">
   <xacro:arg name="use_mock_hardware" default="true"/>
   <xacro:arg name="sim_mujoco" default="false"/>
diff --git a/robots/lite_pro/cad/config.json b/lite_description/robots/lite_pro/cad/config.json
similarity index 100%
rename from robots/lite_pro/cad/config.json
rename to lite_description/robots/lite_pro/cad/config.json
diff --git a/robots/lite_pro/cad/joint_properties.json b/lite_description/robots/lite_pro/cad/joint_properties.json
similarity index 100%
rename from robots/lite_pro/cad/joint_properties.json
rename to lite_description/robots/lite_pro/cad/joint_properties.json
diff --git a/robots/lite_pro/cad/scad/chest.scad b/lite_description/robots/lite_pro/cad/scad/chest.scad
similarity index 100%
rename from robots/lite_pro/cad/scad/chest.scad
rename to lite_description/robots/lite_pro/cad/scad/chest.scad
diff --git a/robots/lite_pro/cad/scad/head.scad b/lite_description/robots/lite_pro/cad/scad/head.scad
similarity index 100%
rename from robots/lite_pro/cad/scad/head.scad
rename to lite_description/robots/lite_pro/cad/scad/head.scad
diff --git a/robots/lite_pro/cad/scad/left_fingertip.scad b/lite_description/robots/lite_pro/cad/scad/left_fingertip.scad
similarity index 100%
rename from robots/lite_pro/cad/scad/left_fingertip.scad
rename to lite_description/robots/lite_pro/cad/scad/left_fingertip.scad
diff --git a/robots/lite_pro/cad/scad/left_foot.scad b/lite_description/robots/lite_pro/cad/scad/left_foot.scad
similarity index 100%
rename from robots/lite_pro/cad/scad/left_foot.scad
rename to lite_description/robots/lite_pro/cad/scad/left_foot.scad
diff --git a/robots/lite_pro/cad/scad/left_hand.scad b/lite_description/robots/lite_pro/cad/scad/left_hand.scad
similarity index 100%
rename from robots/lite_pro/cad/scad/left_hand.scad
rename to lite_description/robots/lite_pro/cad/scad/left_hand.scad
diff --git a/robots/lite_pro/cad/scad/left_hip_roll.scad b/lite_description/robots/lite_pro/cad/scad/left_hip_roll.scad
similarity index 100%
rename from robots/lite_pro/cad/scad/left_hip_roll.scad
rename to lite_description/robots/lite_pro/cad/scad/left_hip_roll.scad
diff --git a/robots/lite_pro/cad/scad/left_knee_pitch.scad b/lite_description/robots/lite_pro/cad/scad/left_knee_pitch.scad
similarity index 100%
rename from robots/lite_pro/cad/scad/left_knee_pitch.scad
rename to lite_description/robots/lite_pro/cad/scad/left_knee_pitch.scad
diff --git a/robots/lite_pro/cad/scad/left_shoulder_yaw.scad b/lite_description/robots/lite_pro/cad/scad/left_shoulder_yaw.scad
similarity index 100%
rename from robots/lite_pro/cad/scad/left_shoulder_yaw.scad
rename to lite_description/robots/lite_pro/cad/scad/left_shoulder_yaw.scad
diff --git a/robots/lite_pro/cad/scad/left_wrist_yaw.scad b/lite_description/robots/lite_pro/cad/scad/left_wrist_yaw.scad
similarity index 100%
rename from robots/lite_pro/cad/scad/left_wrist_yaw.scad
rename to lite_description/robots/lite_pro/cad/scad/left_wrist_yaw.scad
diff --git a/robots/lite_pro/cad/scad/right_fingertip.scad b/lite_description/robots/lite_pro/cad/scad/right_fingertip.scad
similarity index 100%
rename from robots/lite_pro/cad/scad/right_fingertip.scad
rename to lite_description/robots/lite_pro/cad/scad/right_fingertip.scad
diff --git a/robots/lite_pro/cad/scad/right_foot.scad b/lite_description/robots/lite_pro/cad/scad/right_foot.scad
similarity index 100%
rename from robots/lite_pro/cad/scad/right_foot.scad
rename to lite_description/robots/lite_pro/cad/scad/right_foot.scad
diff --git a/robots/lite_pro/cad/scad/right_hand.scad b/lite_description/robots/lite_pro/cad/scad/right_hand.scad
similarity index 100%
rename from robots/lite_pro/cad/scad/right_hand.scad
rename to lite_description/robots/lite_pro/cad/scad/right_hand.scad
diff --git a/robots/lite_pro/cad/scad/right_hip_roll.scad b/lite_description/robots/lite_pro/cad/scad/right_hip_roll.scad
similarity index 100%
rename from robots/lite_pro/cad/scad/right_hip_roll.scad
rename to lite_description/robots/lite_pro/cad/scad/right_hip_roll.scad
diff --git a/robots/lite_pro/cad/scad/right_knee_pitch.scad b/lite_description/robots/lite_pro/cad/scad/right_knee_pitch.scad
similarity index 100%
rename from robots/lite_pro/cad/scad/right_knee_pitch.scad
rename to lite_description/robots/lite_pro/cad/scad/right_knee_pitch.scad
diff --git a/robots/lite_pro/cad/scad/right_shoulder_yaw.scad b/lite_description/robots/lite_pro/cad/scad/right_shoulder_yaw.scad
similarity index 100%
rename from robots/lite_pro/cad/scad/right_shoulder_yaw.scad
rename to lite_description/robots/lite_pro/cad/scad/right_shoulder_yaw.scad
diff --git a/robots/lite_pro/cad/scad/right_wrist_yaw.scad b/lite_description/robots/lite_pro/cad/scad/right_wrist_yaw.scad
similarity index 100%
rename from robots/lite_pro/cad/scad/right_wrist_yaw.scad
rename to lite_description/robots/lite_pro/cad/scad/right_wrist_yaw.scad
diff --git a/robots/lite_pro/cad/scad/torso.scad b/lite_description/robots/lite_pro/cad/scad/torso.scad
similarity index 100%
rename from robots/lite_pro/cad/scad/torso.scad
rename to lite_description/robots/lite_pro/cad/scad/torso.scad
diff --git a/robots/lite_pro/cad/scad/waist.scad b/lite_description/robots/lite_pro/cad/scad/waist.scad
similarity index 100%
rename from robots/lite_pro/cad/scad/waist.scad
rename to lite_description/robots/lite_pro/cad/scad/waist.scad
diff --git a/robots/lite_pro/meshes/visual/chest_visual.stl b/lite_description/robots/lite_pro/meshes/visual/chest_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/chest_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/chest_visual.stl
diff --git a/robots/lite_pro/meshes/visual/head_visual.stl b/lite_description/robots/lite_pro/meshes/visual/head_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/head_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/head_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_ankle_pitch_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_ankle_pitch_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_ankle_pitch_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_ankle_pitch_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_ankle_yaw_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_ankle_yaw_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_ankle_yaw_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_ankle_yaw_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_elbow_pitch_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_elbow_pitch_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_elbow_pitch_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_elbow_pitch_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_finger1_j1_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_finger1_j1_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_finger1_j1_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_finger1_j1_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_finger1_j2_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_finger1_j2_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_finger1_j2_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_finger1_j2_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_finger1_j3_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_finger1_j3_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_finger1_j3_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_finger1_j3_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_finger1_j4_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_finger1_j4_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_finger1_j4_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_finger1_j4_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_finger2_j1_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_finger2_j1_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_finger2_j1_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_finger2_j1_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_finger2_j2_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_finger2_j2_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_finger2_j2_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_finger2_j2_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_finger2_j3_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_finger2_j3_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_finger2_j3_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_finger2_j3_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_finger2_j4_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_finger2_j4_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_finger2_j4_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_finger2_j4_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_finger3_j1_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_finger3_j1_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_finger3_j1_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_finger3_j1_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_finger3_j2_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_finger3_j2_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_finger3_j2_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_finger3_j2_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_finger3_j3_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_finger3_j3_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_finger3_j3_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_finger3_j3_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_finger3_j4_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_finger3_j4_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_finger3_j4_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_finger3_j4_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_finger4_j1_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_finger4_j1_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_finger4_j1_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_finger4_j1_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_finger4_j2_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_finger4_j2_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_finger4_j2_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_finger4_j2_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_finger4_j3_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_finger4_j3_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_finger4_j3_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_finger4_j3_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_finger4_j4_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_finger4_j4_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_finger4_j4_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_finger4_j4_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_finger5_j1_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_finger5_j1_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_finger5_j1_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_finger5_j1_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_finger5_j2_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_finger5_j2_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_finger5_j2_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_finger5_j2_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_finger5_j3_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_finger5_j3_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_finger5_j3_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_finger5_j3_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_finger5_j4_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_finger5_j4_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_finger5_j4_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_finger5_j4_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_foot_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_foot_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_foot_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_foot_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_hand_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_hand_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_hand_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_hand_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_hip_pitch_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_hip_pitch_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_hip_pitch_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_hip_pitch_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_hip_roll_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_hip_roll_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_hip_roll_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_hip_roll_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_hip_yaw_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_hip_yaw_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_hip_yaw_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_hip_yaw_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_knee_pitch_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_knee_pitch_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_knee_pitch_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_knee_pitch_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_shoulder_pitch_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_shoulder_pitch_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_shoulder_pitch_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_shoulder_pitch_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_shoulder_roll_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_shoulder_roll_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_shoulder_roll_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_shoulder_roll_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_shoulder_yaw_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_shoulder_yaw_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_shoulder_yaw_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_shoulder_yaw_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_wrist_roll_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_wrist_roll_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_wrist_roll_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_wrist_roll_visual.stl
diff --git a/robots/lite_pro/meshes/visual/left_wrist_yaw_visual.stl b/lite_description/robots/lite_pro/meshes/visual/left_wrist_yaw_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/left_wrist_yaw_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/left_wrist_yaw_visual.stl
diff --git a/robots/lite_pro/meshes/visual/neck_roll_visual.stl b/lite_description/robots/lite_pro/meshes/visual/neck_roll_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/neck_roll_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/neck_roll_visual.stl
diff --git a/robots/lite_pro/meshes/visual/neck_yaw_visual.stl b/lite_description/robots/lite_pro/meshes/visual/neck_yaw_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/neck_yaw_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/neck_yaw_visual.stl
diff --git a/robots/lite_pro/meshes/visual/pelvis_visual.stl b/lite_description/robots/lite_pro/meshes/visual/pelvis_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/pelvis_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/pelvis_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_ankle_pitch_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_ankle_pitch_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_ankle_pitch_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_ankle_pitch_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_ankle_yaw_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_ankle_yaw_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_ankle_yaw_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_ankle_yaw_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_elbow_pitch_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_elbow_pitch_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_elbow_pitch_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_elbow_pitch_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_finger1_j1_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_finger1_j1_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_finger1_j1_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_finger1_j1_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_finger1_j2_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_finger1_j2_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_finger1_j2_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_finger1_j2_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_finger1_j3_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_finger1_j3_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_finger1_j3_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_finger1_j3_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_finger1_j4_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_finger1_j4_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_finger1_j4_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_finger1_j4_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_finger2_j1_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_finger2_j1_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_finger2_j1_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_finger2_j1_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_finger2_j2_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_finger2_j2_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_finger2_j2_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_finger2_j2_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_finger2_j3_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_finger2_j3_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_finger2_j3_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_finger2_j3_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_finger2_j4_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_finger2_j4_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_finger2_j4_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_finger2_j4_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_finger3_j1_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_finger3_j1_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_finger3_j1_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_finger3_j1_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_finger3_j2_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_finger3_j2_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_finger3_j2_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_finger3_j2_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_finger3_j3_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_finger3_j3_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_finger3_j3_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_finger3_j3_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_finger3_j4_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_finger3_j4_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_finger3_j4_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_finger3_j4_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_finger4_j1_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_finger4_j1_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_finger4_j1_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_finger4_j1_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_finger4_j2_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_finger4_j2_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_finger4_j2_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_finger4_j2_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_finger4_j3_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_finger4_j3_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_finger4_j3_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_finger4_j3_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_finger4_j4_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_finger4_j4_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_finger4_j4_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_finger4_j4_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_finger5_j1_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_finger5_j1_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_finger5_j1_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_finger5_j1_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_finger5_j2_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_finger5_j2_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_finger5_j2_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_finger5_j2_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_finger5_j3_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_finger5_j3_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_finger5_j3_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_finger5_j3_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_finger5_j4_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_finger5_j4_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_finger5_j4_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_finger5_j4_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_foot_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_foot_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_foot_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_foot_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_hand_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_hand_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_hand_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_hand_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_hip_pitch_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_hip_pitch_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_hip_pitch_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_hip_pitch_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_hip_roll_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_hip_roll_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_hip_roll_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_hip_roll_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_hip_yaw_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_hip_yaw_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_hip_yaw_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_hip_yaw_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_knee_pitch_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_knee_pitch_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_knee_pitch_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_knee_pitch_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_shoulder_pitch_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_shoulder_pitch_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_shoulder_pitch_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_shoulder_pitch_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_shoulder_roll_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_shoulder_roll_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_shoulder_roll_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_shoulder_roll_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_shoulder_yaw_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_shoulder_yaw_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_shoulder_yaw_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_shoulder_yaw_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_wrist_roll_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_wrist_roll_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_wrist_roll_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_wrist_roll_visual.stl
diff --git a/robots/lite_pro/meshes/visual/right_wrist_yaw_visual.stl b/lite_description/robots/lite_pro/meshes/visual/right_wrist_yaw_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/right_wrist_yaw_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/right_wrist_yaw_visual.stl
diff --git a/robots/lite_pro/meshes/visual/waist_roll_visual.stl b/lite_description/robots/lite_pro/meshes/visual/waist_roll_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/waist_roll_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/waist_roll_visual.stl
diff --git a/robots/lite_pro/meshes/visual/waist_yaw_visual.stl b/lite_description/robots/lite_pro/meshes/visual/waist_yaw_visual.stl
similarity index 100%
rename from robots/lite_pro/meshes/visual/waist_yaw_visual.stl
rename to lite_description/robots/lite_pro/meshes/visual/waist_yaw_visual.stl
diff --git a/robots/lite_pro/mjcf/lite_pro.xml b/lite_description/robots/lite_pro/mjcf/lite_pro.xml
similarity index 99%
rename from robots/lite_pro/mjcf/lite_pro.xml
rename to lite_description/robots/lite_pro/mjcf/lite_pro.xml
index 29ee3fd..a7ba5d7 100644
--- a/robots/lite_pro/mjcf/lite_pro.xml
+++ b/lite_description/robots/lite_pro/mjcf/lite_pro.xml
@@ -1,6 +1,6 @@
 <?xml version='1.0' encoding='utf-8'?>
 <mujoco model="lite_pro">
-  <!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_pro -->
+  <!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_pro -->
   <compiler angle="radian" meshdir="../meshes/visual/" />
   <asset>
     <mesh name="pelvis_visual" content_type="model/stl" file="pelvis_visual.stl" />
diff --git a/robots/lite_pro/urdf/lite_pro.urdf b/lite_description/robots/lite_pro/urdf/lite_pro.urdf
similarity index 99%
rename from robots/lite_pro/urdf/lite_pro.urdf
rename to lite_description/robots/lite_pro/urdf/lite_pro.urdf
index e2c84b7..0c57249 100644
--- a/robots/lite_pro/urdf/lite_pro.urdf
+++ b/lite_description/robots/lite_pro/urdf/lite_pro.urdf
@@ -1,6 +1,6 @@
 <?xml version='1.0' encoding='utf-8'?>
 <robot name="lite_pro">
-  <!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_pro -->
+  <!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_pro -->
   <link name="pelvis">
     <inertial>
       <origin xyz="0.0135183 5.78646e-07 0.0691358" rpy="0 0 0" />
diff --git a/robots/lite_pro/xacro/lite_pro.description.xacro b/lite_description/robots/lite_pro/xacro/lite_pro.description.xacro
similarity index 99%
rename from robots/lite_pro/xacro/lite_pro.description.xacro
rename to lite_description/robots/lite_pro/xacro/lite_pro.description.xacro
index e446ecd..79c1cfc 100644
--- a/robots/lite_pro/xacro/lite_pro.description.xacro
+++ b/lite_description/robots/lite_pro/xacro/lite_pro.description.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_pro -->
+<!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_pro -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:macro name="lite_pro_description" params="mesh_root:=package://lite_description/robots/lite_pro/meshes/visual">
     <link name="base_link" />
@@ -8,7 +8,7 @@
       <child link="pelvis" />
       <origin xyz="0 0 0" rpy="0 0 0" />
     </joint>
-    <!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_pro -->
+    <!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_pro -->
     <link name="pelvis">
       <inertial>
         <origin xyz="0.0135183 5.78646e-07 0.0691358" rpy="0 0 0" />
diff --git a/robots/lite_pro/xacro/lite_pro.urdf.xacro b/lite_description/robots/lite_pro/xacro/lite_pro.urdf.xacro
similarity index 63%
rename from robots/lite_pro/xacro/lite_pro.urdf.xacro
rename to lite_description/robots/lite_pro/xacro/lite_pro.urdf.xacro
index ab187ad..3f9a869 100644
--- a/robots/lite_pro/xacro/lite_pro.urdf.xacro
+++ b/lite_description/robots/lite_pro/xacro/lite_pro.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<!-- GENERATED by robot_assets from Onshape CAD. Do not edit by hand. Regenerate: robot-assets-generate lite_pro -->
+<!-- GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. Regenerate: lite-description-generate lite_pro -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="lite_pro">
 
   <xacro:include filename="$(find lite_description)/robots/lite_pro/xacro/lite_pro.description.xacro"/>
diff --git a/robot_assets/workflow/__init__.py b/lite_description/workflow/__init__.py
similarity index 100%
rename from robot_assets/workflow/__init__.py
rename to lite_description/workflow/__init__.py
diff --git a/robot_assets/workflow/finalize_urdf.py b/lite_description/workflow/finalize_urdf.py
similarity index 95%
rename from robot_assets/workflow/finalize_urdf.py
rename to lite_description/workflow/finalize_urdf.py
index 74dc557..e9a7875 100644
--- a/robot_assets/workflow/finalize_urdf.py
+++ b/lite_description/workflow/finalize_urdf.py
@@ -48,7 +48,7 @@ def generate(robot_dir: Path) -> list[Path]:
 
 def main(argv: list[str] | None = None) -> None:
     parser = argparse.ArgumentParser(description="Finalize a robot's flat URDF hub in place.")
-    parser.add_argument("robot", help="Robot name (under ./robots/) or a path to a robot dir.")
+    parser.add_argument("robot", help="Variant name (under lite_description/robots/) or a path to a robot dir.")
     args = parser.parse_args(argv)
     for path in generate(robot_model.resolve_robot_dir(args.robot)):
         print(f"Finalized {path}")
diff --git a/robot_assets/workflow/generate.py b/lite_description/workflow/generate.py
similarity index 91%
rename from robot_assets/workflow/generate.py
rename to lite_description/workflow/generate.py
index 8058a95..11bd72b 100644
--- a/robot_assets/workflow/generate.py
+++ b/lite_description/workflow/generate.py
@@ -18,9 +18,9 @@
 URDF hub is already committed. Pass ``--force`` to re-export anyway.
 
 Usage:
-  robot-assets-generate lite_dummy
-  robot-assets-generate lite_dummy --only mjcf,xacro
-  robot-assets-generate ./robots/lite_dummy --force
+  lite-description-generate lite_dummy
+  lite-description-generate lite_dummy --only mjcf,xacro
+  lite-description-generate ./lite_description/robots/lite_dummy --force
 """
 
 import argparse
@@ -40,7 +40,7 @@ def _report(stage: str, written: list[Path]) -> None:
 def register_in_cmake(robot_dir: Path) -> None:
     """Add the robot to the repo-root CMakeLists ROBOTS list, if it is not there."""
     robot = robot_dir.name
-    cmake = robot_dir.parent.parent / "CMakeLists.txt"  # robots/<robot>/ -> repo root
+    cmake = robot_dir.resolve().parents[2] / "CMakeLists.txt"  # <repo>/lite_description/robots/<robot>/
     if not cmake.exists():
         print(f"[package] no CMakeLists at {cmake}; skipping")
         return
@@ -95,7 +95,7 @@ def generate(
 
 def main(argv: list[str] | None = None) -> None:
     parser = argparse.ArgumentParser(description="Generate URDF + MJCF + xacro for a robot from CAD.")
-    parser.add_argument("robot", help="Robot name (under ./robots/) or a path to a robot dir.")
+    parser.add_argument("robot", help="Variant name (under lite_description/robots/) or a path to a robot dir.")
     parser.add_argument("--force", action="store_true",
                         help="Re-run the Onshape export even if the URDF hub is committed.")
     parser.add_argument("--only", help="Comma-separated subset of stages, e.g. 'mjcf,xacro'.")
diff --git a/robot_assets/workflow/onshape_to_urdf.py b/lite_description/workflow/onshape_to_urdf.py
similarity index 96%
rename from robot_assets/workflow/onshape_to_urdf.py
rename to lite_description/workflow/onshape_to_urdf.py
index 0213234..24f8f43 100644
--- a/robot_assets/workflow/onshape_to_urdf.py
+++ b/lite_description/workflow/onshape_to_urdf.py
@@ -56,7 +56,7 @@ def export(robot_dir: Path, keep_assets: bool = False, convert: bool = False) ->
     if not Path(binary).exists():
         raise FileNotFoundError(
             "The onshape-to-robot CLI was not found. It ships with the CAD toolchain rather than "
-            "the base install; install it with `pip install robot-assets[cad]`."
+            "the base install; install it with `uv sync --extra cad`."
         )
     arguments = [binary, str(cad_dir)]
     if convert:
@@ -100,7 +100,7 @@ def export(robot_dir: Path, keep_assets: bool = False, convert: bool = False) ->
 
 def main(argv: list[str] | None = None) -> None:
     parser = argparse.ArgumentParser(description="Export a raw URDF from Onshape CAD.")
-    parser.add_argument("robot", help="Robot name (under ./robots/) or a path to a robot dir.")
+    parser.add_argument("robot", help="Variant name (under lite_description/robots/) or a path to a robot dir.")
     parser.add_argument("--keep-assets", action="store_true", help="Keep the assets dir and robot.pkl.")
     parser.add_argument("--convert", action="store_true", help="Convert from a local robot.pkl.")
     args = parser.parse_args(argv)
diff --git a/robot_assets/workflow/robot_model.py b/lite_description/workflow/robot_model.py
similarity index 89%
rename from robot_assets/workflow/robot_model.py
rename to lite_description/workflow/robot_model.py
index 53d5c59..9f7f328 100644
--- a/robot_assets/workflow/robot_model.py
+++ b/lite_description/workflow/robot_model.py
@@ -19,10 +19,10 @@
 import re
 import xml.etree.ElementTree as ET
 
+from lite_description import ROBOTS_DIR
+
 XACRO_NS = "http://www.ros.org/wiki/xacro"
 
-# Per-robot assets live under ./<ROBOTS_DIR>/<robot>/, the franka_description layout.
-ROBOTS_DIR = "robots"
 # Owning ament package name, used in package:// URLs and $(find ...).
 DEFAULT_PACKAGE = "lite_description"
 
@@ -146,20 +146,21 @@ def autogen_comment(robot: str) -> str:
     """
     # NB: an XML comment may not contain '--', so keep the text dash-free.
     return (
-        f" GENERATED by robot_assets from Onshape CAD. Do not edit by hand. "
-        f"Regenerate: robot-assets-generate {robot} "
+        f" GENERATED by lite_description.workflow from Onshape CAD. Do not edit by hand. "
+        f"Regenerate: lite-description-generate {robot} "
     )
 
 
 def resolve_robot_dir(robot: str) -> Path:
-    """Accept a path to a robot dir, or a robot name under ./<ROBOTS_DIR>/<name>."""
-    path = Path(robot)
-    if path.is_dir() and (path / "cad").is_dir():
-        return path
-    candidate = Path(ROBOTS_DIR) / robot
-    if candidate.is_dir():
-        return candidate
+    """Return the robot dir that ``robot`` names, as a path or as a variant under ``ROBOTS_DIR``.
+
+    The dir must hold the ``cad/`` inputs. The installed package leaves ``cad/`` out, so the
+    generator runs from a checkout only.
+    """
+    for path in (Path(robot), ROBOTS_DIR / robot):
+        if (path / "cad").is_dir():
+            return path
     raise FileNotFoundError(
-        f"Could not resolve robot '{robot}'. Expected a robot dir with a cad/ subdir, "
-        f"or a name under ./{ROBOTS_DIR}/.",
+        f"No robot dir with a cad/ subdir at '{robot}' or {ROBOTS_DIR / robot}. "
+        "The installed package does not carry cad/, so run the generator from a checkout.",
     )
diff --git a/robot_assets/workflow/urdf_to_mjcf.py b/lite_description/workflow/urdf_to_mjcf.py
similarity index 98%
rename from robot_assets/workflow/urdf_to_mjcf.py
rename to lite_description/workflow/urdf_to_mjcf.py
index 5a16d8c..2292c94 100644
--- a/robot_assets/workflow/urdf_to_mjcf.py
+++ b/lite_description/workflow/urdf_to_mjcf.py
@@ -26,7 +26,7 @@
 except ModuleNotFoundError as error:
     raise ModuleNotFoundError(
         "MuJoCo is needed to compile MJCF, and ships with the CAD toolchain rather than the "
-        "base install. Install it with `pip install robot-assets[cad]`."
+        "base install. Install it with `uv sync --extra cad`."
     ) from error
 
 from . import robot_model
@@ -339,7 +339,7 @@ def generate(robot_dir: Path) -> list[Path]:
     imu = options.pop("imu", None)
     contact = options.pop("contact", None)
 
-    with tempfile.TemporaryDirectory(prefix="robot_assets_mjcf_") as tmp:
+    with tempfile.TemporaryDirectory(prefix="lite_description_mjcf_") as tmp:
         root = compile_mjcf(
             robot_dir / "urdf" / f"{robot}.urdf",
             robot_dir / "meshes" / "visual",
@@ -372,7 +372,7 @@ def generate(robot_dir: Path) -> list[Path]:
 
 def main(argv: list[str] | None = None) -> None:
     parser = argparse.ArgumentParser(description="Generate mjcf/<robot>.xml for a robot.")
-    parser.add_argument("robot", help="Robot name (under ./robots/) or a path to a robot dir.")
+    parser.add_argument("robot", help="Variant name (under lite_description/robots/) or a path to a robot dir.")
     args = parser.parse_args(argv)
     for path in generate(robot_model.resolve_robot_dir(args.robot)):
         print(f"Wrote {path}")
diff --git a/robot_assets/workflow/urdf_to_xacro.py b/lite_description/workflow/urdf_to_xacro.py
similarity index 99%
rename from robot_assets/workflow/urdf_to_xacro.py
rename to lite_description/workflow/urdf_to_xacro.py
index 432d471..dd6aae9 100644
--- a/robot_assets/workflow/urdf_to_xacro.py
+++ b/lite_description/workflow/urdf_to_xacro.py
@@ -450,7 +450,7 @@ def generate(robot_dir: Path, package: str = DEFAULT_PACKAGE) -> list[Path]:
 
 def main(argv: list[str] | None = None) -> None:
     parser = argparse.ArgumentParser(description="Generate ROS 2 xacro files for a robot.")
-    parser.add_argument("robot", help="Robot name (under ./robots/) or a path to a robot dir.")
+    parser.add_argument("robot", help="Variant name (under lite_description/robots/) or a path to a robot dir.")
     parser.add_argument("--package", default=DEFAULT_PACKAGE, help="Owning ament package name.")
     args = parser.parse_args(argv)
     for path in generate(robot_model.resolve_robot_dir(args.robot), package=args.package):
diff --git a/package.xml b/package.xml
index b8d1444..41bbf9b 100644
--- a/package.xml
+++ b/package.xml
@@ -5,11 +5,12 @@
   <version>0.0.2</version>
   <description>
     Description package for the Berkeley-Humanoids Lite humanoid. Each variant under
-    robots/ (full-body `lite` and `lite_pro`, bimanual `lite_dummy` and `lite_bimanual`,
-    biped `lite_biped` and `lite_biped_debug`) ships xacro as the ROS entry point,
-    including a generated &lt;ros2_control&gt; block, plus a flattened URDF, an MJCF for
-    the training and deployment sim, and meshes. The `robot_assets` Python tool generates
-    every artifact from Onshape CAD, so do not hand-edit them.
+    lite_description/robots/ (full-body `lite` and `lite_pro`, bimanual `lite_dummy` and
+    `lite_bimanual`, biped `lite_biped` and `lite_biped_debug`) ships xacro as the ROS
+    entry point, including a generated &lt;ros2_control&gt; block, plus a flattened URDF,
+    an MJCF for the training and deployment sim, and meshes. The generator in the
+    `lite_description.workflow` Python package makes every artifact from Onshape CAD, so
+    do not hand-edit them.
 
     The ros2_control hardware plugins (mock_components, mujoco_ros2_control,
     humanoid_devices_robstride) are referenced by pluginlib string only. They are not
diff --git a/pyproject.toml b/pyproject.toml
index 01f905a..6eb079b 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -3,9 +3,9 @@ requires = ["hatchling"]
 build-backend = "hatchling.build"
 
 [project]
-name = "robot-assets"
-version = "0.4.0"
-description = "Robot asset tool: generate URDF / MJCF / xacro from Onshape CAD, and load robot descriptions"
+name = "lite-description"
+version = "0.5.0"
+description = "URDF, MJCF and meshes for the Berkeley Humanoid Lite, and the generator that builds them from Onshape CAD"
 readme = "README.md"
 requires-python = ">=3.10"
 dependencies = []
@@ -19,28 +19,30 @@ cad = [
 
 [project.scripts]
 # One converter, all three formats (CAD -> URDF + MJCF + xacro).
-robot-assets-generate = "robot_assets.workflow.generate:main"
+lite-description-generate = "lite_description.workflow.generate:main"
 # Individual stages (useful for partial regen without re-hitting the Onshape API).
-robot-assets-onshape-to-urdf = "robot_assets.workflow.onshape_to_urdf:main"
-robot-assets-finalize-urdf = "robot_assets.workflow.finalize_urdf:main"
-robot-assets-urdf-to-mjcf = "robot_assets.workflow.urdf_to_mjcf:main"
-robot-assets-urdf-to-xacro = "robot_assets.workflow.urdf_to_xacro:main"
+lite-description-onshape-to-urdf = "lite_description.workflow.onshape_to_urdf:main"
+lite-description-finalize-urdf = "lite_description.workflow.finalize_urdf:main"
+lite-description-urdf-to-mjcf = "lite_description.workflow.urdf_to_mjcf:main"
+lite-description-urdf-to-xacro = "lite_description.workflow.urdf_to_xacro:main"
 
 [dependency-groups]
 test = [
     "pytest>=8.0",
-    "robot-assets[cad]",
+    "lite-description[cad]",
 ]
 
 [tool.pytest.ini_options]
 testpaths = ["tests"]
 
 [tool.hatch.build.targets.wheel]
-packages = ["robot_assets"]
+packages = ["lite_description"]
+# cad/ holds the generation inputs, which only the generator reads from a checkout.
+exclude = ["**/cad"]
 
 [tool.hatch.build.targets.sdist]
 include = [
-    "/robot_assets",
+    "/lite_description",
     "/README.md",
     "/pyproject.toml",
 ]
diff --git a/robot_assets/__init__.py b/robot_assets/__init__.py
deleted file mode 100644
index 326a2b0..0000000
--- a/robot_assets/__init__.py
+++ /dev/null
@@ -1,3 +0,0 @@
-from .loader import load
-
-__all__ = ["load"]
diff --git a/robot_assets/loader.py b/robot_assets/loader.py
deleted file mode 100644
index 487ed21..0000000
--- a/robot_assets/loader.py
+++ /dev/null
@@ -1,163 +0,0 @@
-"""Fetch and cache robot description assets from an upstream GitHub repository."""
-
-from pathlib import Path
-import shutil
-import tempfile
-import threading
-from urllib.error import HTTPError, URLError
-from urllib.parse import urlparse
-from urllib.request import Request, urlopen
-import zipfile
-
-# Robots live under robots/<robot>/, the franka_description layout the lite_description
-# ament package also uses.
-ROOT_DIR = "robots"
-
-_FETCH_LOCK = threading.Lock()
-
-
-def load(
-    path: str | Path,
-    repo_url: str = "https://github.com/Berkeley-Humanoids/Lite-Description",
-    cache_dir: str | Path = "data/",
-    timeout: float = 20.0,
-) -> Path:
-    """Load a robot description file from GitHub, or return it from the local cache.
-
-    Returns ``cache_dir / path`` when it exists. Otherwise downloads the repository ZIP,
-    extracts the ``robots/<robot>/`` subtree into ``cache_dir`` and returns the path.
-
-    Args:
-        path: Relative path inside the repo, such as ``"robots/lite/urdf/lite.urdf"``.
-            It must start with ``robots/<robot>/`` and must not be absolute.
-        repo_url: A standard ``https://github.com/owner/repo`` URL. Only github.com works.
-        cache_dir: Root directory for the cached ``robots/...`` tree.
-        timeout: HTTP timeout in seconds for the archive download.
-
-    Returns:
-        Absolute path to the cached file.
-    """
-    robot_name, relative_path = parse_upstream_asset_path(path)
-    resolved_path = (Path(cache_dir) / relative_path).resolve()
-    if resolved_path.exists():
-        return resolved_path
-
-    # One fetch at a time, and re-check inside the lock: a concurrent caller may have
-    # populated the cache while this one waited.
-    with _FETCH_LOCK:
-        if not resolved_path.exists():
-            fetch_robot_description(robot_name, repo_url, Path(cache_dir), timeout)
-
-    if not resolved_path.exists():
-        raise FileNotFoundError(
-            f"Robot description asset is still missing after fetching "
-            f"'{robot_name}': {resolved_path}"
-        )
-    return resolved_path
-
-
-def parse_upstream_asset_path(path: str | Path) -> tuple[str, Path]:
-    """Split an upstream asset path into its robot name and the path itself."""
-    asset_path = Path(path).expanduser()
-    if asset_path.is_absolute():
-        raise ValueError(
-            "Robot description asset paths must be relative upstream paths like "
-            f"'robots/lite/urdf/lite.urdf', got {asset_path}"
-        )
-    parts = asset_path.parts
-    if len(parts) < 3 or parts[0] != ROOT_DIR:
-        raise ValueError(
-            "Robot description asset paths must be of the form "
-            f"'{ROOT_DIR}/<robot>/...', got {asset_path}"
-        )
-    return parts[1], asset_path
-
-
-def fetch_robot_description(
-    robot_name: str,
-    repo_url: str,
-    cache_dir: Path,
-    timeout: float,
-) -> None:
-    """Download the repository archive and copy one robot's subtree into the cache."""
-    cache_dir.mkdir(parents=True, exist_ok=True)
-    with tempfile.TemporaryDirectory(prefix=f"robot_assets_{robot_name}_") as tmp:
-        archive_path = Path(tmp) / "repo.zip"
-        extracted_dir = Path(tmp) / robot_name
-        download_archive(archive_path, repo_url, timeout)
-        extract_robot_directory(archive_path, robot_name, extracted_dir, repo_url)
-        shutil.copytree(extracted_dir, cache_dir / ROOT_DIR / robot_name, dirs_exist_ok=True)
-
-
-def download_archive(destination: Path, repo_url: str, timeout: float) -> None:
-    """Download the repository ZIP from the GitHub API to ``destination``."""
-    request = Request(
-        build_archive_url(repo_url),
-        headers={
-            "Accept": "application/vnd.github+json",
-            "User-Agent": "robot-description-cache",
-        },
-    )
-    try:
-        with (
-            urlopen(request, timeout=timeout) as response,
-            destination.open("wb") as archive_file,
-        ):
-            shutil.copyfileobj(response, archive_file)
-    except HTTPError as exc:
-        raise RuntimeError(
-            "Failed to download robot descriptions archive from GitHub. "
-            f"HTTP {exc.code}: {exc.reason}"
-        ) from exc
-    except URLError as exc:
-        raise RuntimeError(
-            "Failed to download robot descriptions archive from GitHub. "
-            f"Reason: {exc.reason}"
-        ) from exc
-
-
-def extract_robot_directory(
-    archive_path: Path,
-    robot_name: str,
-    destination: Path,
-    repo_url: str,
-) -> None:
-    """Extract one ``robots/<robot_name>/`` subtree from the archive into ``destination``.
-
-    GitHub's zipball wraps everything in a commit-named top directory, so the ``robots``
-    component is located by name rather than by a fixed depth.
-    """
-    found_robot = False
-    with zipfile.ZipFile(archive_path) as archive:
-        for info in archive.infolist():
-            parts = Path(info.filename).parts
-            if ROOT_DIR not in parts:
-                continue
-            index = parts.index(ROOT_DIR)
-            if len(parts) <= index + 1 or parts[index + 1] != robot_name:
-                continue
-
-            found_robot = True
-            output_path = destination / Path(*parts[index + 2:])
-            if info.is_dir():
-                output_path.mkdir(parents=True, exist_ok=True)
-                continue
-            output_path.parent.mkdir(parents=True, exist_ok=True)
-            with archive.open(info) as source, output_path.open("wb") as target:
-                shutil.copyfileobj(source, target)
-
-    if not found_robot:
-        raise FileNotFoundError(f"Robot '{robot_name}' was not found in {repo_url}.")
-
-
-def build_archive_url(repo_url: str) -> str:
-    """Derive the GitHub zipball API URL from a repository URL."""
-    parsed_url = urlparse(repo_url.removesuffix(".git"))
-    path_parts = [part for part in parsed_url.path.split("/") if part]
-    if parsed_url.netloc != "github.com" or len(path_parts) != 2:
-        raise ValueError(
-            "Only standard GitHub repository URLs are supported. "
-            f"Could not derive archive URL from {repo_url!r}."
-        )
-    owner, repo = path_parts
-    return f"https://api.github.com/repos/{owner}/{repo}/zipball"
diff --git a/tests/conftest.py b/tests/conftest.py
index be65177..1e94d90 100644
--- a/tests/conftest.py
+++ b/tests/conftest.py
@@ -12,11 +12,7 @@
 import mujoco
 import numpy as np
 
-REPO_ROOT = Path(__file__).resolve().parents[1]
-# Robots live under robots/<robot>/ (urdf, mjcf, meshes/visual), inside the
-# lite_description ament package whose package.xml is at the repo root
-# (franka_description layout). Generated by the converter from each robot's cad/.
-ROBOTS_DIR = REPO_ROOT / "robots"
+from lite_description import ROBOTS_DIR
 
 LEFT_PREFIX = "left_"
 RIGHT_PREFIX = "right_"
diff --git a/tests/test_package.py b/tests/test_package.py
new file mode 100644
index 0000000..8f0eff4
--- /dev/null
+++ b/tests/test_package.py
@@ -0,0 +1,27 @@
+"""Tests for the path API that consumers import from ``lite_description``."""
+import re
+from pathlib import Path
+
+import pytest
+
+from lite_description import VARIANTS, get_mjcf_path, get_urdf_path
+
+CMAKE_LISTS = Path(__file__).resolve().parents[1] / "CMakeLists.txt"
+
+
+@pytest.mark.parametrize("variant", VARIANTS)
+def test_paths_name_committed_files(variant):
+    assert get_urdf_path(variant).is_file()
+    assert get_mjcf_path(variant).is_file()
+
+
+def test_unknown_variant_raises():
+    with pytest.raises(ValueError, match="Unknown variant"):
+        get_mjcf_path("lite_unknown")
+
+
+def test_ament_installs_every_variant():
+    # The wheel ships every variant directory and the ament package installs the CMake list,
+    # so the two must name the same variants.
+    body = re.search(r"set\(ROBOTS(?P<body>.*?)\)", CMAKE_LISTS.read_text(), re.DOTALL)["body"]
+    assert tuple(sorted(body.split())) == VARIANTS
diff --git a/tests/test_ros2_artifacts.py b/tests/test_ros2_artifacts.py
index 5876583..f914b4f 100644
--- a/tests/test_ros2_artifacts.py
+++ b/tests/test_ros2_artifacts.py
@@ -1,4 +1,4 @@
-"""Tests for the generated ROS 2 xacro artifacts under robots/<robot>/xacro/.
+"""Tests for the generated ROS 2 xacro artifacts under lite_description/robots/<robot>/xacro/.
 
 Covers three things:
   1. every generated xacro is well-formed XML;
@@ -19,18 +19,16 @@
 
 import pytest
 
-from robot_assets.workflow import robot_model, urdf_to_xacro
-
-REPO_ROOT = Path(__file__).resolve().parents[1]
-DESCRIPTIONS = REPO_ROOT / "robots"
+from lite_description import ROBOTS_DIR
+from lite_description.workflow import robot_model, urdf_to_xacro
 
 
 def _robots_with_xacro() -> list[Path]:
-    return sorted(p.parent.parent for p in DESCRIPTIONS.glob("*/xacro/*.description.xacro"))
+    return sorted(p.parent.parent for p in ROBOTS_DIR.glob("*/xacro/*.description.xacro"))
 
 
 def _robots_with_ros2_control() -> list[Path]:
-    return sorted(p.parent.parent for p in DESCRIPTIONS.glob("*/cad/ros2_control.json"))
+    return sorted(p.parent.parent for p in ROBOTS_DIR.glob("*/cad/ros2_control.json"))
 
 
 ROBOT_DIRS = _robots_with_xacro()
@@ -90,19 +88,19 @@ def test_committed_xacro_matches_generator(robot_dir):
     for filename, content in expected.items():
         committed = (robot_dir / "xacro" / filename).read_text()
         assert committed == content, (
-            f"{robot}/{filename} is stale -- rerun `robot-assets-generate {robot}`"
+            f"{robot}/{filename} is stale -- rerun `lite-description-generate {robot}`"
         )
 
 
 def _biped_config():
     """Return (config, limits) for lite_biped, the variant with an IMU and a four-bar."""
-    robot_dir = DESCRIPTIONS / "lite_biped"
+    robot_dir = ROBOTS_DIR / "lite_biped"
     cfg = json.loads((robot_dir / "cad" / "ros2_control.json").read_text())
     root = robot_model.parse(robot_dir / "urdf" / "lite_biped.urdf").getroot()
     return cfg, robot_model.joint_limits(root)
 
 
-@pytest.mark.skipif(not (DESCRIPTIONS / "lite_biped").is_dir(), reason="no lite_biped")
+@pytest.mark.skipif(not (ROBOTS_DIR / "lite_biped").is_dir(), reason="no lite_biped")
 def test_group_without_joints_is_rejected():
     """A group with no joints would emit a bus block calling an undefined macro."""
     cfg, limits = _biped_config()
@@ -112,7 +110,7 @@ def test_group_without_joints_is_rejected():
         urdf_to_xacro.build_ros2_control_xacro("lite_biped", cfg, limits)
 
 
-@pytest.mark.skipif(not (DESCRIPTIONS / "lite_biped").is_dir(), reason="no lite_biped")
+@pytest.mark.skipif(not (ROBOTS_DIR / "lite_biped").is_dir(), reason="no lite_biped")
 def test_linkage_without_use_linkage_arg_is_rejected():
     """The four-bar macros reference ${use_linkage}, so the arg must be declared."""
     cfg, limits = _biped_config()
@@ -121,7 +119,7 @@ def test_linkage_without_use_linkage_arg_is_rejected():
         urdf_to_xacro.build_ros2_control_xacro("lite_biped", cfg, limits)
 
 
-@pytest.mark.skipif(not (DESCRIPTIONS / "lite_biped").is_dir(), reason="no lite_biped")
+@pytest.mark.skipif(not (ROBOTS_DIR / "lite_biped").is_dir(), reason="no lite_biped")
 def test_partial_linkage_is_rejected():
     """humanoid_devices_robstride aborts on some-but-not-all of the four bar lengths."""
     cfg, limits = _biped_config()
@@ -132,7 +130,7 @@ def test_partial_linkage_is_rejected():
         urdf_to_xacro.build_ros2_control_xacro("lite_biped", cfg, limits)
 
 
-@pytest.mark.skipif(not (DESCRIPTIONS / "lite_biped").is_dir(), reason="no lite_biped")
+@pytest.mark.skipif(not (ROBOTS_DIR / "lite_biped").is_dir(), reason="no lite_biped")
 def test_imu_without_real_plugin_emits_no_sensor_component():
     """A sim-only IMU is backed by MujocoSystem, so real hardware gets no sensor block."""
     cfg, limits = _biped_config()
diff --git a/tests/test_urdf_to_mjcf.py b/tests/test_urdf_to_mjcf.py
index b63dcf3..71605d9 100644
--- a/tests/test_urdf_to_mjcf.py
+++ b/tests/test_urdf_to_mjcf.py
@@ -1,14 +1,13 @@
 """Tests for the MJCF post-processing steps and the committed MJCF assets."""
 import xml.etree.ElementTree as ET
-from pathlib import Path
 
 import mujoco
 import pytest
 
-from robot_assets.workflow.urdf_to_mjcf import add_actuators, replace_cylinders_with_capsules
+from lite_description import ROBOTS_DIR
+from lite_description.workflow.urdf_to_mjcf import add_actuators, replace_cylinders_with_capsules
 
-REPO_ROOT = Path(__file__).resolve().parents[1]
-MJCF_FILES = sorted((REPO_ROOT / "robots").glob("*/mjcf/*.xml"))
+MJCF_FILES = sorted(ROBOTS_DIR.glob("*/mjcf/*.xml"))
 MJCF_IDS = [p.parent.parent.name for p in MJCF_FILES]
 
 
diff --git a/uv.lock b/uv.lock
index 1276ea2..e89fe28 100644
--- a/uv.lock
+++ b/uv.lock
@@ -161,10 +161,10 @@ wheels = [
 
 [package.optional-dependencies]
 epath = [
-    { name = "fsspec", marker = "python_full_version < '3.11'" },
-    { name = "importlib-resources", marker = "python_full_version < '3.11'" },
-    { name = "typing-extensions", marker = "python_full_version < '3.11'" },
-    { name = "zipp", marker = "python_full_version < '3.11'" },
+    { name = "fsspec" },
+    { name = "importlib-resources" },
+    { name = "typing-extensions" },
+    { name = "zipp" },
 ]
 
 [[package]]
@@ -181,9 +181,9 @@ wheels = [
 
 [package.optional-dependencies]
 epath = [
-    { name = "fsspec", marker = "python_full_version >= '3.11'" },
-    { name = "typing-extensions", marker = "python_full_version >= '3.11'" },
-    { name = "zipp", marker = "python_full_version >= '3.11'" },
+    { name = "fsspec" },
+    { name = "typing-extensions" },
+    { name = "zipp" },
 ]
 
 [[package]]
@@ -191,7 +191,7 @@ name = "exceptiongroup"
 version = "1.3.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "typing-extensions", marker = "python_full_version < '3.11'" },
+    { name = "typing-extensions" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/50/79/66800aadf48771f6b62f7eb014e352e5d06856655206165d775e675a02c9/exceptiongroup-1.3.1.tar.gz", hash = "sha256:8b412432c6055b0b7d14c310000ae93352ed6754f70fa8f7c34141f91c4e3219", size = 30371, upload-time = "2025-11-21T23:01:54.787Z" }
 wheels = [
@@ -272,6 +272,38 @@ version = "0.7.8"
 source = { registry = "https://pypi.org/simple" }
 sdist = { url = "https://files.pythonhosted.org/packages/34/b8/aa7d6cf2d5efdd2fcd85cf39b33584fe12a0f7086ed451176ceb7fb510eb/lark-parser-0.7.8.tar.gz", hash = "sha256:26215ebb157e6fb2ee74319aa4445b9f3b7e456e26be215ce19fdaaa901c20a4", size = 276204, upload-time = "2019-11-01T12:45:26.558Z" }
 
+[[package]]
+name = "lite-description"
+version = "0.5.0"
+source = { editable = "." }
+
+[package.optional-dependencies]
+cad = [
+    { name = "mujoco" },
+    { name = "onshape-to-robot" },
+    { name = "pymeshlab" },
+]
+
+[package.dev-dependencies]
+test = [
+    { name = "lite-description", extra = ["cad"] },
+    { name = "pytest" },
+]
+
+[package.metadata]
+requires-dist = [
+    { name = "mujoco", marker = "extra == 'cad'", specifier = ">=3.4.0" },
+    { name = "onshape-to-robot", marker = "extra == 'cad'", specifier = ">=1.8.0" },
+    { name = "pymeshlab", marker = "extra == 'cad'", specifier = ">=2025.7.post1" },
+]
+provides-extras = ["cad"]
+
+[package.metadata.requires-dev]
+test = [
+    { name = "lite-description", extras = ["cad"] },
+    { name = "pytest", specifier = ">=8.0" },
+]
+
 [[package]]
 name = "mujoco"
 version = "3.6.0"
@@ -612,38 +644,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/d7/8e/7540e8a2036f79a125c1d2ebadf69ed7901608859186c856fa0388ef4197/requests-2.33.1-py3-none-any.whl", hash = "sha256:4e6d1ef462f3626a1f0a0a9c42dd93c63bad33f9f1c1937509b8c5c8718ab56a", size = 64947, upload-time = "2026-03-30T16:09:13.83Z" },
 ]
 
-[[package]]
-name = "robot-assets"
-version = "0.4.0"
-source = { editable = "." }
-
-[package.optional-dependencies]
-cad = [
-    { name = "mujoco" },
-    { name = "onshape-to-robot" },
-    { name = "pymeshlab" },
-]
-
-[package.dev-dependencies]
-test = [
-    { name = "pytest" },
-    { name = "robot-assets", extra = ["cad"] },
-]
-
-[package.metadata]
-requires-dist = [
-    { name = "mujoco", marker = "extra == 'cad'", specifier = ">=3.4.0" },
-    { name = "onshape-to-robot", marker = "extra == 'cad'", specifier = ">=1.8.0" },
-    { name = "pymeshlab", marker = "extra == 'cad'", specifier = ">=2025.7.post1" },
-]
-provides-extras = ["cad"]
-
-[package.metadata.requires-dev]
-test = [
-    { name = "pytest", specifier = ">=8.0" },
-    { name = "robot-assets", extras = ["cad"] },
-]
-
 [[package]]
 name = "tomli"
 version = "2.4.1"