From 5650787ac0c234a08fb6ced5ed2f098ac8bd3fa7 Mon Sep 17 00:00:00 2001
From: "-T.K.-" <tk233.xyz@gmail.com>
Date: Tue, 29 Sep 2026 16:20:24 -0700
Subject: [PATCH] Ship the assets in the lite_description package, so a
 consumer installs them

A consumer reached the assets through robot_assets.load(), which downloaded
the default branch of this repository into a data/ directory relative to the
working directory and never refreshed it. The uv.lock of the consumer pinned
only the loader code, so two machines on the same commit could train on
different robot models. The lite_biped feet are one example: they went from
two box soles to eleven contact spheres, and a machine with an older cache
kept the boxes.

The assets now sit inside the Python package, at lite_description/robots/,
so the wheel carries them and the lock of the consumer pins them. This is
the layout of mjlab and specialist_description. The package returns paths
rather than loaded models:

    from lite_description import get_mjcf_path, get_urdf_path
    mujoco.MjModel.from_xml_path(str(get_mjcf_path("lite_biped")))

The functions carry a get_ prefix, because mjcf_path and urdf_path are the
names that callers, and this repository, give to the paths they return.
ROBOTS_DIR names that robots/ directory, and VARIANTS comes from it, so no
second list can drift. The wheel leaves cad/ out, and the ament install
leaves it out as before.

The generator stays in the package as lite_description.workflow, because
this repository owns the conversion logic. The CAD toolchain stays behind
the cad extra, so the base install has no dependencies. The commands are
renamed to lite-description-*, and the generator now resolves a variant
through the package. An installed package carries no cad/, so the
generator stops with an error there instead of writing into site-packages.

lite_description.actuators.func becomes lite_description.actuators.modeling.
Its functions take the armature and the effort limit as floats instead of a
whole spec table, so each signature names what the function reads. The
results do not change for any table in the package.

The distribution is renamed from robot-assets to lite-description, to match
the import name and the ament package. The version goes to 0.5.0, because
load() is removed and the actuators API changes.

The ament install destination does not change, so $(find lite_description)
and package://lite_description/robots/... resolve as before. Only the
banner line of each generated file changed, to name the new command. A
regeneration of all six variants with --only urdf,mjcf,xacro changes no
other line.

Co-Authored-By: Claude Opus 5.5 (1M context) <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_016v8yyJmNp67C8M5rMxHnKF
---
 .github/workflows/test.yml                    |   2 +-
 .gitignore                                    |   7 +-
 CMakeLists.txt                                |  18 +-
 README.md                                     |  83 +++++----
 lite_description/__init__.py                  |  28 +++
 .../actuators/__init__.py                     |   0
 .../actuators/damiao.py                       |   0
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 .../meshes/visual/right_finger3_j2_visual.stl | Bin
 .../meshes/visual/right_finger3_j3_visual.stl | Bin
 .../meshes/visual/right_finger3_j4_visual.stl | Bin
 .../meshes/visual/right_finger4_j1_visual.stl | Bin
 .../meshes/visual/right_finger4_j2_visual.stl | Bin
 .../meshes/visual/right_finger4_j3_visual.stl | Bin
 .../meshes/visual/right_finger4_j4_visual.stl | Bin
 .../meshes/visual/right_finger5_j1_visual.stl | Bin
 .../meshes/visual/right_finger5_j2_visual.stl | Bin
 .../meshes/visual/right_finger5_j3_visual.stl | Bin
 .../meshes/visual/right_finger5_j4_visual.stl | Bin
 .../meshes/visual/right_foot_visual.stl       | Bin
 .../meshes/visual/right_hand_visual.stl       | Bin
 .../meshes/visual/right_hip_pitch_visual.stl  | Bin
 .../meshes/visual/right_hip_roll_visual.stl   | Bin
 .../meshes/visual/right_hip_yaw_visual.stl    | Bin
 .../meshes/visual/right_knee_pitch_visual.stl | Bin
 .../visual/right_shoulder_pitch_visual.stl    | Bin
 .../visual/right_shoulder_roll_visual.stl     | Bin
 .../visual/right_shoulder_yaw_visual.stl      | Bin
 .../meshes/visual/right_wrist_roll_visual.stl | Bin
 .../meshes/visual/right_wrist_yaw_visual.stl  | Bin
 .../meshes/visual/waist_roll_visual.stl       | Bin
 .../meshes/visual/waist_yaw_visual.stl        | Bin
 .../robots}/lite_pro/mjcf/lite_pro.xml        |   2 +-
 .../robots}/lite_pro/urdf/lite_pro.urdf       |   2 +-
 .../lite_pro/xacro/lite_pro.description.xacro |   4 +-
 .../lite_pro/xacro/lite_pro.urdf.xacro        |   2 +-
 .../workflow/__init__.py                      |   0
 .../workflow/finalize_urdf.py                 |   2 +-
 .../workflow/generate.py                      |  10 +-
 .../workflow/onshape_to_urdf.py               |   4 +-
 .../workflow/robot_model.py                   |  27 +--
 .../workflow/urdf_to_mjcf.py                  |   6 +-
 .../workflow/urdf_to_xacro.py                 |   2 +-
 package.xml                                   |  11 +-
 pyproject.toml                                |  24 +--
 robot_assets/__init__.py                      |   3 -
 robot_assets/loader.py                        | 163 ------------------
 tests/conftest.py                             |   6 +-
 tests/test_package.py                         |  27 +++
 tests/test_ros2_artifacts.py                  |  24 ++-
 tests/test_urdf_to_mjcf.py                    |   7 +-
 uv.lock                                       |  80 ++++-----
 365 files changed, 266 insertions(+), 364 deletions(-)
 create mode 100644 lite_description/__init__.py
 rename {robot_assets => lite_description}/actuators/__init__.py (100%)
 rename {robot_assets => lite_description}/actuators/damiao.py (100%)
 rename {robot_assets => lite_description}/actuators/ideal.py (100%)
 rename robot_assets/actuators/func.py => lite_description/actuators/modeling.py (58%)
 rename {robot_assets => lite_description}/actuators/robstride.py (100%)
 rename {robot_assets => lite_description}/actuators/sito.py (100%)
 rename {robots => lite_description/robots}/lite/cad/config.json (100%)
 rename {robots => lite_description/robots}/lite/cad/joint_properties.json (100%)
 rename {robots => lite_description/robots}/lite/cad/scad/chest.scad (100%)
 rename {robots => lite_description/robots}/lite/cad/scad/head.scad (100%)
 rename {robots => lite_description/robots}/lite/cad/scad/left_fingertip.scad (100%)
 rename {robots => lite_description/robots}/lite/cad/scad/left_foot.scad (100%)
 rename {robots => lite_description/robots}/lite/cad/scad/left_hand.scad (100%)
 rename {robots => lite_description/robots}/lite/cad/scad/left_hip_roll.scad (100%)
 rename {robots => lite_description/robots}/lite/cad/scad/left_knee_pitch.scad (100%)
 rename {robots => lite_description/robots}/lite/cad/scad/left_shoulder_yaw.scad (100%)
 rename {robots => lite_description/robots}/lite/cad/scad/left_wrist_yaw.scad (100%)
 rename {robots => lite_description/robots}/lite/cad/scad/right_fingertip.scad (100%)
 rename {robots => lite_description/robots}/lite/cad/scad/right_foot.scad (100%)
 rename {robots => lite_description/robots}/lite/cad/scad/right_hand.scad (100%)
 rename {robots => lite_description/robots}/lite/cad/scad/right_hip_roll.scad (100%)
 rename {robots => lite_description/robots}/lite/cad/scad/right_knee_pitch.scad (100%)
 rename {robots => lite_description/robots}/lite/cad/scad/right_shoulder_yaw.scad (100%)
 rename {robots => lite_description/robots}/lite/cad/scad/right_wrist_yaw.scad (100%)
 rename {robots => lite_description/robots}/lite/cad/scad/torso.scad (100%)
 rename {robots => lite_description/robots}/lite/cad/scad/waist.scad (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/chest_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/head_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_ankle_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_ankle_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_elbow_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_finger1_j1_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_finger1_j2_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_finger1_j3_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_finger1_j4_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_finger2_j1_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_finger2_j2_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_finger2_j3_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_finger2_j4_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_finger3_j1_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_finger3_j2_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_finger3_j3_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_finger3_j4_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_finger4_j1_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_finger4_j2_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_finger4_j3_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_finger4_j4_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_finger5_j1_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_finger5_j2_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_finger5_j3_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_finger5_j4_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_foot_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_hand_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_hip_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_hip_roll_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_hip_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_knee_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_shoulder_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_shoulder_roll_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_shoulder_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_wrist_roll_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/left_wrist_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/neck_roll_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/neck_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/pelvis_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_ankle_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_ankle_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_elbow_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_finger1_j1_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_finger1_j2_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_finger1_j3_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_finger1_j4_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_finger2_j1_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_finger2_j2_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_finger2_j3_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_finger2_j4_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_finger3_j1_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_finger3_j2_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_finger3_j3_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_finger3_j4_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_finger4_j1_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_finger4_j2_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_finger4_j3_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_finger4_j4_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_finger5_j1_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_finger5_j2_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_finger5_j3_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_finger5_j4_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_foot_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_hand_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_hip_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_hip_roll_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_hip_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_knee_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_shoulder_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_shoulder_roll_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_shoulder_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_wrist_roll_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/right_wrist_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/waist_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/meshes/visual/waist_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite/mjcf/lite.xml (99%)
 rename {robots => lite_description/robots}/lite/urdf/lite.urdf (99%)
 rename {robots => lite_description/robots}/lite/xacro/lite.description.xacro (99%)
 rename {robots => lite_description/robots}/lite/xacro/lite.urdf.xacro (62%)
 rename {robots => lite_description/robots}/lite_bimanual/cad/config.json (100%)
 rename {robots => lite_description/robots}/lite_bimanual/cad/joint_properties.json (100%)
 rename {robots => lite_description/robots}/lite_bimanual/cad/physics.json (100%)
 rename {robots => lite_description/robots}/lite_bimanual/cad/ros2_control.json (100%)
 rename {robots => lite_description/robots}/lite_bimanual/cad/scad/chest.scad (100%)
 rename {robots => lite_description/robots}/lite_bimanual/cad/scad/left_fingertip.scad (100%)
 rename {robots => lite_description/robots}/lite_bimanual/cad/scad/left_hand.scad (100%)
 rename {robots => lite_description/robots}/lite_bimanual/cad/scad/left_shoulder_yaw.scad (100%)
 rename {robots => lite_description/robots}/lite_bimanual/cad/scad/left_wrist_yaw.scad (100%)
 rename {robots => lite_description/robots}/lite_bimanual/cad/scad/right_fingertip.scad (100%)
 rename {robots => lite_description/robots}/lite_bimanual/cad/scad/right_hand.scad (100%)
 rename {robots => lite_description/robots}/lite_bimanual/cad/scad/right_shoulder_yaw.scad (100%)
 rename {robots => lite_description/robots}/lite_bimanual/cad/scad/right_wrist_yaw.scad (100%)
 rename {robots => lite_description/robots}/lite_bimanual/meshes/visual/chest_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_bimanual/meshes/visual/left_elbow_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_bimanual/meshes/visual/left_hand_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_bimanual/meshes/visual/left_shoulder_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_bimanual/meshes/visual/left_shoulder_roll_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_bimanual/meshes/visual/left_shoulder_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_bimanual/meshes/visual/left_wrist_roll_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_bimanual/meshes/visual/left_wrist_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_bimanual/meshes/visual/right_elbow_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_bimanual/meshes/visual/right_hand_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_bimanual/meshes/visual/right_shoulder_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_bimanual/meshes/visual/right_shoulder_roll_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_bimanual/meshes/visual/right_shoulder_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_bimanual/meshes/visual/right_wrist_roll_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_bimanual/meshes/visual/right_wrist_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_bimanual/mjcf/lite_bimanual.xml (99%)
 rename {robots => lite_description/robots}/lite_bimanual/urdf/lite_bimanual.urdf (99%)
 rename {robots => lite_description/robots}/lite_bimanual/xacro/lite_bimanual.description.xacro (98%)
 rename {robots => lite_description/robots}/lite_bimanual/xacro/lite_bimanual.ros2_control.xacro (98%)
 rename {robots => lite_description/robots}/lite_bimanual/xacro/lite_bimanual.urdf.xacro (86%)
 rename {robots => lite_description/robots}/lite_biped/cad/config.json (100%)
 rename {robots => lite_description/robots}/lite_biped/cad/joint_properties.json (100%)
 rename {robots => lite_description/robots}/lite_biped/cad/physics.json (100%)
 rename {robots => lite_description/robots}/lite_biped/cad/ros2_control.json (100%)
 rename {robots => lite_description/robots}/lite_biped/cad/scad/left_foot.scad (100%)
 rename {robots => lite_description/robots}/lite_biped/cad/scad/left_hip_roll.scad (100%)
 rename {robots => lite_description/robots}/lite_biped/cad/scad/left_knee_pitch.scad (100%)
 rename {robots => lite_description/robots}/lite_biped/cad/scad/right_foot.scad (100%)
 rename {robots => lite_description/robots}/lite_biped/cad/scad/right_hip_roll.scad (100%)
 rename {robots => lite_description/robots}/lite_biped/cad/scad/right_knee_pitch.scad (100%)
 rename {robots => lite_description/robots}/lite_biped/meshes/visual/left_ankle_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped/meshes/visual/left_ankle_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped/meshes/visual/left_foot_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped/meshes/visual/left_hip_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped/meshes/visual/left_hip_roll_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped/meshes/visual/left_hip_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped/meshes/visual/left_knee_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped/meshes/visual/pelvis_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped/meshes/visual/right_ankle_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped/meshes/visual/right_ankle_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped/meshes/visual/right_foot_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped/meshes/visual/right_hip_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped/meshes/visual/right_hip_roll_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped/meshes/visual/right_hip_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped/meshes/visual/right_knee_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped/mjcf/lite_biped.xml (99%)
 rename {robots => lite_description/robots}/lite_biped/mjcf/lite_biped_scene.xml (100%)
 rename {robots => lite_description/robots}/lite_biped/urdf/lite_biped.urdf (99%)
 rename {robots => lite_description/robots}/lite_biped/xacro/lite_biped.description.xacro (98%)
 rename {robots => lite_description/robots}/lite_biped/xacro/lite_biped.ros2_control.xacro (98%)
 rename {robots => lite_description/robots}/lite_biped/xacro/lite_biped.urdf.xacro (88%)
 rename {robots => lite_description/robots}/lite_biped_debug/cad/config.json (100%)
 rename {robots => lite_description/robots}/lite_biped_debug/cad/joint_properties.json (100%)
 rename {robots => lite_description/robots}/lite_biped_debug/cad/physics.json (100%)
 rename {robots => lite_description/robots}/lite_biped_debug/cad/ros2_control.json (100%)
 rename {robots => lite_description/robots}/lite_biped_debug/cad/scad/left_foot_palm_debug.scad (100%)
 rename {robots => lite_description/robots}/lite_biped_debug/cad/scad/left_hip_roll.scad (100%)
 rename {robots => lite_description/robots}/lite_biped_debug/cad/scad/left_knee_pitch.scad (100%)
 rename {robots => lite_description/robots}/lite_biped_debug/cad/scad/right_foot_palm_debug.scad (100%)
 rename {robots => lite_description/robots}/lite_biped_debug/cad/scad/right_hip_roll.scad (100%)
 rename {robots => lite_description/robots}/lite_biped_debug/cad/scad/right_knee_pitch.scad (100%)
 rename {robots => lite_description/robots}/lite_biped_debug/meshes/visual/left_ankle_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped_debug/meshes/visual/left_ankle_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped_debug/meshes/visual/left_foot_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped_debug/meshes/visual/left_hip_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped_debug/meshes/visual/left_hip_roll_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped_debug/meshes/visual/left_hip_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped_debug/meshes/visual/left_knee_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped_debug/meshes/visual/pelvis_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped_debug/meshes/visual/right_ankle_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped_debug/meshes/visual/right_ankle_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped_debug/meshes/visual/right_foot_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped_debug/meshes/visual/right_hip_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped_debug/meshes/visual/right_hip_roll_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped_debug/meshes/visual/right_hip_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped_debug/meshes/visual/right_knee_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_biped_debug/mjcf/lite_biped_debug.xml (98%)
 rename {robots => lite_description/robots}/lite_biped_debug/mjcf/lite_biped_debug_scene.xml (100%)
 rename {robots => lite_description/robots}/lite_biped_debug/urdf/lite_biped_debug.urdf (99%)
 rename {robots => lite_description/robots}/lite_biped_debug/xacro/lite_biped_debug.description.xacro (98%)
 rename {robots => lite_description/robots}/lite_biped_debug/xacro/lite_biped_debug.ros2_control.xacro (98%)
 rename {robots => lite_description/robots}/lite_biped_debug/xacro/lite_biped_debug.urdf.xacro (88%)
 rename {robots => lite_description/robots}/lite_dummy/cad/config.json (100%)
 rename {robots => lite_description/robots}/lite_dummy/cad/joint_properties.json (100%)
 rename {robots => lite_description/robots}/lite_dummy/cad/physics.json (100%)
 rename {robots => lite_description/robots}/lite_dummy/cad/ros2_control.json (100%)
 rename {robots => lite_description/robots}/lite_dummy/cad/scad/chest.scad (100%)
 rename {robots => lite_description/robots}/lite_dummy/cad/scad/head.scad (100%)
 rename {robots => lite_description/robots}/lite_dummy/cad/scad/left_fingertip.scad (100%)
 rename {robots => lite_description/robots}/lite_dummy/cad/scad/left_foot.scad (100%)
 rename {robots => lite_description/robots}/lite_dummy/cad/scad/left_hand.scad (100%)
 rename {robots => lite_description/robots}/lite_dummy/cad/scad/left_hip_roll.scad (100%)
 rename {robots => lite_description/robots}/lite_dummy/cad/scad/left_knee_pitch.scad (100%)
 rename {robots => lite_description/robots}/lite_dummy/cad/scad/left_shoulder_yaw.scad (100%)
 rename {robots => lite_description/robots}/lite_dummy/cad/scad/left_wrist_yaw.scad (100%)
 rename {robots => lite_description/robots}/lite_dummy/cad/scad/pelvis.scad (100%)
 rename {robots => lite_description/robots}/lite_dummy/cad/scad/right_fingertip.scad (100%)
 rename {robots => lite_description/robots}/lite_dummy/cad/scad/right_foot.scad (100%)
 rename {robots => lite_description/robots}/lite_dummy/cad/scad/right_hand.scad (100%)
 rename {robots => lite_description/robots}/lite_dummy/cad/scad/right_hip_roll.scad (100%)
 rename {robots => lite_description/robots}/lite_dummy/cad/scad/right_knee_pitch.scad (100%)
 rename {robots => lite_description/robots}/lite_dummy/cad/scad/right_shoulder_yaw.scad (100%)
 rename {robots => lite_description/robots}/lite_dummy/cad/scad/right_wrist_yaw.scad (100%)
 rename {robots => lite_description/robots}/lite_dummy/cad/scad/torso.scad (100%)
 rename {robots => lite_description/robots}/lite_dummy/meshes/visual/chest_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_dummy/meshes/visual/head_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_dummy/meshes/visual/left_elbow_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_dummy/meshes/visual/left_hand_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_dummy/meshes/visual/left_shoulder_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_dummy/meshes/visual/left_shoulder_roll_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_dummy/meshes/visual/left_shoulder_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_dummy/meshes/visual/left_wrist_roll_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_dummy/meshes/visual/left_wrist_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_dummy/meshes/visual/neck_roll_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_dummy/meshes/visual/neck_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_dummy/meshes/visual/right_elbow_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_dummy/meshes/visual/right_hand_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_dummy/meshes/visual/right_shoulder_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_dummy/meshes/visual/right_shoulder_roll_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_dummy/meshes/visual/right_shoulder_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_dummy/meshes/visual/right_wrist_roll_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_dummy/meshes/visual/right_wrist_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_dummy/mjcf/lite_dummy.xml (99%)
 rename {robots => lite_description/robots}/lite_dummy/urdf/lite_dummy.urdf (99%)
 rename {robots => lite_description/robots}/lite_dummy/xacro/lite_dummy.description.xacro (98%)
 rename {robots => lite_description/robots}/lite_dummy/xacro/lite_dummy.ros2_control.xacro (98%)
 rename {robots => lite_description/robots}/lite_dummy/xacro/lite_dummy.urdf.xacro (86%)
 rename {robots => lite_description/robots}/lite_pro/cad/config.json (100%)
 rename {robots => lite_description/robots}/lite_pro/cad/joint_properties.json (100%)
 rename {robots => lite_description/robots}/lite_pro/cad/scad/chest.scad (100%)
 rename {robots => lite_description/robots}/lite_pro/cad/scad/head.scad (100%)
 rename {robots => lite_description/robots}/lite_pro/cad/scad/left_fingertip.scad (100%)
 rename {robots => lite_description/robots}/lite_pro/cad/scad/left_foot.scad (100%)
 rename {robots => lite_description/robots}/lite_pro/cad/scad/left_hand.scad (100%)
 rename {robots => lite_description/robots}/lite_pro/cad/scad/left_hip_roll.scad (100%)
 rename {robots => lite_description/robots}/lite_pro/cad/scad/left_knee_pitch.scad (100%)
 rename {robots => lite_description/robots}/lite_pro/cad/scad/left_shoulder_yaw.scad (100%)
 rename {robots => lite_description/robots}/lite_pro/cad/scad/left_wrist_yaw.scad (100%)
 rename {robots => lite_description/robots}/lite_pro/cad/scad/right_fingertip.scad (100%)
 rename {robots => lite_description/robots}/lite_pro/cad/scad/right_foot.scad (100%)
 rename {robots => lite_description/robots}/lite_pro/cad/scad/right_hand.scad (100%)
 rename {robots => lite_description/robots}/lite_pro/cad/scad/right_hip_roll.scad (100%)
 rename {robots => lite_description/robots}/lite_pro/cad/scad/right_knee_pitch.scad (100%)
 rename {robots => lite_description/robots}/lite_pro/cad/scad/right_shoulder_yaw.scad (100%)
 rename {robots => lite_description/robots}/lite_pro/cad/scad/right_wrist_yaw.scad (100%)
 rename {robots => lite_description/robots}/lite_pro/cad/scad/torso.scad (100%)
 rename {robots => lite_description/robots}/lite_pro/cad/scad/waist.scad (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/chest_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/head_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_ankle_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_ankle_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_elbow_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_finger1_j1_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_finger1_j2_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_finger1_j3_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_finger1_j4_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_finger2_j1_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_finger2_j2_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_finger2_j3_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_finger2_j4_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_finger3_j1_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_finger3_j2_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_finger3_j3_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_finger3_j4_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_finger4_j1_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_finger4_j2_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_finger4_j3_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_finger4_j4_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_finger5_j1_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_finger5_j2_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_finger5_j3_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_finger5_j4_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_foot_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_hand_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_hip_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_hip_roll_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_hip_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_knee_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_shoulder_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_shoulder_roll_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_shoulder_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_wrist_roll_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/left_wrist_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/neck_roll_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/neck_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/pelvis_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_ankle_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_ankle_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_elbow_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_finger1_j1_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_finger1_j2_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_finger1_j3_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_finger1_j4_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_finger2_j1_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_finger2_j2_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_finger2_j3_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_finger2_j4_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_finger3_j1_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_finger3_j2_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_finger3_j3_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_finger3_j4_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_finger4_j1_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_finger4_j2_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_finger4_j3_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_finger4_j4_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_finger5_j1_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_finger5_j2_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_finger5_j3_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_finger5_j4_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_foot_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_hand_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_hip_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_hip_roll_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_hip_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_knee_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_shoulder_pitch_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_shoulder_roll_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_shoulder_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_wrist_roll_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/right_wrist_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/waist_roll_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/meshes/visual/waist_yaw_visual.stl (100%)
 rename {robots => lite_description/robots}/lite_pro/mjcf/lite_pro.xml (99%)
 rename {robots => lite_description/robots}/lite_pro/urdf/lite_pro.urdf (99%)
 rename {robots => lite_description/robots}/lite_pro/xacro/lite_pro.description.xacro (99%)
 rename {robots => lite_description/robots}/lite_pro/xacro/lite_pro.urdf.xacro (63%)
 rename {robot_assets => lite_description}/workflow/__init__.py (100%)
 rename {robot_assets => lite_description}/workflow/finalize_urdf.py (95%)
 rename {robot_assets => lite_description}/workflow/generate.py (91%)
 rename {robot_assets => lite_description}/workflow/onshape_to_urdf.py (96%)
 rename {robot_assets => lite_description}/workflow/robot_model.py (89%)
 rename {robot_assets => lite_description}/workflow/urdf_to_mjcf.py (98%)
 rename {robot_assets => lite_description}/workflow/urdf_to_xacro.py (99%)
 delete mode 100644 robot_assets/__init__.py
 delete mode 100644 robot_assets/loader.py
 create mode 100644 tests/test_package.py

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
diff --git a/robots/lite/meshes/visual/left_finger1_j3_visual.stl b/lite_description/robots/lite/meshes/visual/left_finger1_j3_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_finger1_j3_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_finger1_j3_visual.stl
diff --git a/robots/lite/meshes/visual/left_finger1_j4_visual.stl b/lite_description/robots/lite/meshes/visual/left_finger1_j4_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_finger1_j4_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_finger1_j4_visual.stl
diff --git a/robots/lite/meshes/visual/left_finger2_j1_visual.stl b/lite_description/robots/lite/meshes/visual/left_finger2_j1_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_finger2_j1_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_finger2_j1_visual.stl
diff --git a/robots/lite/meshes/visual/left_finger2_j2_visual.stl b/lite_description/robots/lite/meshes/visual/left_finger2_j2_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_finger2_j2_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_finger2_j2_visual.stl
diff --git a/robots/lite/meshes/visual/left_finger2_j3_visual.stl b/lite_description/robots/lite/meshes/visual/left_finger2_j3_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_finger2_j3_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_finger2_j3_visual.stl
diff --git a/robots/lite/meshes/visual/left_finger2_j4_visual.stl b/lite_description/robots/lite/meshes/visual/left_finger2_j4_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_finger2_j4_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_finger2_j4_visual.stl
diff --git a/robots/lite/meshes/visual/left_finger3_j1_visual.stl b/lite_description/robots/lite/meshes/visual/left_finger3_j1_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_finger3_j1_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_finger3_j1_visual.stl
diff --git a/robots/lite/meshes/visual/left_finger3_j2_visual.stl b/lite_description/robots/lite/meshes/visual/left_finger3_j2_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_finger3_j2_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_finger3_j2_visual.stl
diff --git a/robots/lite/meshes/visual/left_finger3_j3_visual.stl b/lite_description/robots/lite/meshes/visual/left_finger3_j3_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_finger3_j3_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_finger3_j3_visual.stl
diff --git a/robots/lite/meshes/visual/left_finger3_j4_visual.stl b/lite_description/robots/lite/meshes/visual/left_finger3_j4_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_finger3_j4_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_finger3_j4_visual.stl
diff --git a/robots/lite/meshes/visual/left_finger4_j1_visual.stl b/lite_description/robots/lite/meshes/visual/left_finger4_j1_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_finger4_j1_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_finger4_j1_visual.stl
diff --git a/robots/lite/meshes/visual/left_finger4_j2_visual.stl b/lite_description/robots/lite/meshes/visual/left_finger4_j2_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_finger4_j2_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_finger4_j2_visual.stl
diff --git a/robots/lite/meshes/visual/left_finger4_j3_visual.stl b/lite_description/robots/lite/meshes/visual/left_finger4_j3_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_finger4_j3_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_finger4_j3_visual.stl
diff --git a/robots/lite/meshes/visual/left_finger4_j4_visual.stl b/lite_description/robots/lite/meshes/visual/left_finger4_j4_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_finger4_j4_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_finger4_j4_visual.stl
diff --git a/robots/lite/meshes/visual/left_finger5_j1_visual.stl b/lite_description/robots/lite/meshes/visual/left_finger5_j1_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_finger5_j1_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_finger5_j1_visual.stl
diff --git a/robots/lite/meshes/visual/left_finger5_j2_visual.stl b/lite_description/robots/lite/meshes/visual/left_finger5_j2_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_finger5_j2_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_finger5_j2_visual.stl
diff --git a/robots/lite/meshes/visual/left_finger5_j3_visual.stl b/lite_description/robots/lite/meshes/visual/left_finger5_j3_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_finger5_j3_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_finger5_j3_visual.stl
diff --git a/robots/lite/meshes/visual/left_finger5_j4_visual.stl b/lite_description/robots/lite/meshes/visual/left_finger5_j4_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_finger5_j4_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_finger5_j4_visual.stl
diff --git a/robots/lite/meshes/visual/left_foot_visual.stl b/lite_description/robots/lite/meshes/visual/left_foot_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_foot_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_foot_visual.stl
diff --git a/robots/lite/meshes/visual/left_hand_visual.stl b/lite_description/robots/lite/meshes/visual/left_hand_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_hand_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_hand_visual.stl
diff --git a/robots/lite/meshes/visual/left_hip_pitch_visual.stl b/lite_description/robots/lite/meshes/visual/left_hip_pitch_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_hip_pitch_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_hip_pitch_visual.stl
diff --git a/robots/lite/meshes/visual/left_hip_roll_visual.stl b/lite_description/robots/lite/meshes/visual/left_hip_roll_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_hip_roll_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_hip_roll_visual.stl
diff --git a/robots/lite/meshes/visual/left_hip_yaw_visual.stl b/lite_description/robots/lite/meshes/visual/left_hip_yaw_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_hip_yaw_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_hip_yaw_visual.stl
diff --git a/robots/lite/meshes/visual/left_knee_pitch_visual.stl b/lite_description/robots/lite/meshes/visual/left_knee_pitch_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_knee_pitch_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_knee_pitch_visual.stl
diff --git a/robots/lite/meshes/visual/left_shoulder_pitch_visual.stl b/lite_description/robots/lite/meshes/visual/left_shoulder_pitch_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_shoulder_pitch_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_shoulder_pitch_visual.stl
diff --git a/robots/lite/meshes/visual/left_shoulder_roll_visual.stl b/lite_description/robots/lite/meshes/visual/left_shoulder_roll_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_shoulder_roll_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_shoulder_roll_visual.stl
diff --git a/robots/lite/meshes/visual/left_shoulder_yaw_visual.stl b/lite_description/robots/lite/meshes/visual/left_shoulder_yaw_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_shoulder_yaw_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_shoulder_yaw_visual.stl
diff --git a/robots/lite/meshes/visual/left_wrist_roll_visual.stl b/lite_description/robots/lite/meshes/visual/left_wrist_roll_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_wrist_roll_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_wrist_roll_visual.stl
diff --git a/robots/lite/meshes/visual/left_wrist_yaw_visual.stl b/lite_description/robots/lite/meshes/visual/left_wrist_yaw_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/left_wrist_yaw_visual.stl
rename to lite_description/robots/lite/meshes/visual/left_wrist_yaw_visual.stl
diff --git a/robots/lite/meshes/visual/neck_roll_visual.stl b/lite_description/robots/lite/meshes/visual/neck_roll_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/neck_roll_visual.stl
rename to lite_description/robots/lite/meshes/visual/neck_roll_visual.stl
diff --git a/robots/lite/meshes/visual/neck_yaw_visual.stl b/lite_description/robots/lite/meshes/visual/neck_yaw_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/neck_yaw_visual.stl
rename to lite_description/robots/lite/meshes/visual/neck_yaw_visual.stl
diff --git a/robots/lite/meshes/visual/pelvis_visual.stl b/lite_description/robots/lite/meshes/visual/pelvis_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/pelvis_visual.stl
rename to lite_description/robots/lite/meshes/visual/pelvis_visual.stl
diff --git a/robots/lite/meshes/visual/right_ankle_pitch_visual.stl b/lite_description/robots/lite/meshes/visual/right_ankle_pitch_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_ankle_pitch_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_ankle_pitch_visual.stl
diff --git a/robots/lite/meshes/visual/right_ankle_yaw_visual.stl b/lite_description/robots/lite/meshes/visual/right_ankle_yaw_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_ankle_yaw_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_ankle_yaw_visual.stl
diff --git a/robots/lite/meshes/visual/right_elbow_pitch_visual.stl b/lite_description/robots/lite/meshes/visual/right_elbow_pitch_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_elbow_pitch_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_elbow_pitch_visual.stl
diff --git a/robots/lite/meshes/visual/right_finger1_j1_visual.stl b/lite_description/robots/lite/meshes/visual/right_finger1_j1_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_finger1_j1_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_finger1_j1_visual.stl
diff --git a/robots/lite/meshes/visual/right_finger1_j2_visual.stl b/lite_description/robots/lite/meshes/visual/right_finger1_j2_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_finger1_j2_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_finger1_j2_visual.stl
diff --git a/robots/lite/meshes/visual/right_finger1_j3_visual.stl b/lite_description/robots/lite/meshes/visual/right_finger1_j3_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_finger1_j3_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_finger1_j3_visual.stl
diff --git a/robots/lite/meshes/visual/right_finger1_j4_visual.stl b/lite_description/robots/lite/meshes/visual/right_finger1_j4_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_finger1_j4_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_finger1_j4_visual.stl
diff --git a/robots/lite/meshes/visual/right_finger2_j1_visual.stl b/lite_description/robots/lite/meshes/visual/right_finger2_j1_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_finger2_j1_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_finger2_j1_visual.stl
diff --git a/robots/lite/meshes/visual/right_finger2_j2_visual.stl b/lite_description/robots/lite/meshes/visual/right_finger2_j2_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_finger2_j2_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_finger2_j2_visual.stl
diff --git a/robots/lite/meshes/visual/right_finger2_j3_visual.stl b/lite_description/robots/lite/meshes/visual/right_finger2_j3_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_finger2_j3_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_finger2_j3_visual.stl
diff --git a/robots/lite/meshes/visual/right_finger2_j4_visual.stl b/lite_description/robots/lite/meshes/visual/right_finger2_j4_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_finger2_j4_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_finger2_j4_visual.stl
diff --git a/robots/lite/meshes/visual/right_finger3_j1_visual.stl b/lite_description/robots/lite/meshes/visual/right_finger3_j1_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_finger3_j1_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_finger3_j1_visual.stl
diff --git a/robots/lite/meshes/visual/right_finger3_j2_visual.stl b/lite_description/robots/lite/meshes/visual/right_finger3_j2_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_finger3_j2_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_finger3_j2_visual.stl
diff --git a/robots/lite/meshes/visual/right_finger3_j3_visual.stl b/lite_description/robots/lite/meshes/visual/right_finger3_j3_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_finger3_j3_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_finger3_j3_visual.stl
diff --git a/robots/lite/meshes/visual/right_finger3_j4_visual.stl b/lite_description/robots/lite/meshes/visual/right_finger3_j4_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_finger3_j4_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_finger3_j4_visual.stl
diff --git a/robots/lite/meshes/visual/right_finger4_j1_visual.stl b/lite_description/robots/lite/meshes/visual/right_finger4_j1_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_finger4_j1_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_finger4_j1_visual.stl
diff --git a/robots/lite/meshes/visual/right_finger4_j2_visual.stl b/lite_description/robots/lite/meshes/visual/right_finger4_j2_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_finger4_j2_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_finger4_j2_visual.stl
diff --git a/robots/lite/meshes/visual/right_finger4_j3_visual.stl b/lite_description/robots/lite/meshes/visual/right_finger4_j3_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_finger4_j3_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_finger4_j3_visual.stl
diff --git a/robots/lite/meshes/visual/right_finger4_j4_visual.stl b/lite_description/robots/lite/meshes/visual/right_finger4_j4_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_finger4_j4_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_finger4_j4_visual.stl
diff --git a/robots/lite/meshes/visual/right_finger5_j1_visual.stl b/lite_description/robots/lite/meshes/visual/right_finger5_j1_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_finger5_j1_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_finger5_j1_visual.stl
diff --git a/robots/lite/meshes/visual/right_finger5_j2_visual.stl b/lite_description/robots/lite/meshes/visual/right_finger5_j2_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_finger5_j2_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_finger5_j2_visual.stl
diff --git a/robots/lite/meshes/visual/right_finger5_j3_visual.stl b/lite_description/robots/lite/meshes/visual/right_finger5_j3_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_finger5_j3_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_finger5_j3_visual.stl
diff --git a/robots/lite/meshes/visual/right_finger5_j4_visual.stl b/lite_description/robots/lite/meshes/visual/right_finger5_j4_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_finger5_j4_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_finger5_j4_visual.stl
diff --git a/robots/lite/meshes/visual/right_foot_visual.stl b/lite_description/robots/lite/meshes/visual/right_foot_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_foot_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_foot_visual.stl
diff --git a/robots/lite/meshes/visual/right_hand_visual.stl b/lite_description/robots/lite/meshes/visual/right_hand_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_hand_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_hand_visual.stl
diff --git a/robots/lite/meshes/visual/right_hip_pitch_visual.stl b/lite_description/robots/lite/meshes/visual/right_hip_pitch_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_hip_pitch_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_hip_pitch_visual.stl
diff --git a/robots/lite/meshes/visual/right_hip_roll_visual.stl b/lite_description/robots/lite/meshes/visual/right_hip_roll_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_hip_roll_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_hip_roll_visual.stl
diff --git a/robots/lite/meshes/visual/right_hip_yaw_visual.stl b/lite_description/robots/lite/meshes/visual/right_hip_yaw_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_hip_yaw_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_hip_yaw_visual.stl
diff --git a/robots/lite/meshes/visual/right_knee_pitch_visual.stl b/lite_description/robots/lite/meshes/visual/right_knee_pitch_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_knee_pitch_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_knee_pitch_visual.stl
diff --git a/robots/lite/meshes/visual/right_shoulder_pitch_visual.stl b/lite_description/robots/lite/meshes/visual/right_shoulder_pitch_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_shoulder_pitch_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_shoulder_pitch_visual.stl
diff --git a/robots/lite/meshes/visual/right_shoulder_roll_visual.stl b/lite_description/robots/lite/meshes/visual/right_shoulder_roll_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_shoulder_roll_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_shoulder_roll_visual.stl
diff --git a/robots/lite/meshes/visual/right_shoulder_yaw_visual.stl b/lite_description/robots/lite/meshes/visual/right_shoulder_yaw_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_shoulder_yaw_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_shoulder_yaw_visual.stl
diff --git a/robots/lite/meshes/visual/right_wrist_roll_visual.stl b/lite_description/robots/lite/meshes/visual/right_wrist_roll_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_wrist_roll_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_wrist_roll_visual.stl
diff --git a/robots/lite/meshes/visual/right_wrist_yaw_visual.stl b/lite_description/robots/lite/meshes/visual/right_wrist_yaw_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/right_wrist_yaw_visual.stl
rename to lite_description/robots/lite/meshes/visual/right_wrist_yaw_visual.stl
diff --git a/robots/lite/meshes/visual/waist_pitch_visual.stl b/lite_description/robots/lite/meshes/visual/waist_pitch_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/waist_pitch_visual.stl
rename to lite_description/robots/lite/meshes/visual/waist_pitch_visual.stl
diff --git a/robots/lite/meshes/visual/waist_yaw_visual.stl b/lite_description/robots/lite/meshes/visual/waist_yaw_visual.stl
similarity index 100%
rename from robots/lite/meshes/visual/waist_yaw_visual.stl
rename to lite_description/robots/lite/meshes/visual/waist_yaw_visual.stl
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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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diff --git a/robots/lite_pro/meshes/visual/neck_roll_visual.stl b/lite_description/robots/lite_pro/meshes/visual/neck_roll_visual.stl
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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
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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"