Materialize asset-bound Task Program deployments

[yuecideng]

Description

Build standalone physical and semantic deployment configurations from verified asset selections. Preserve logical roles, derive fresh registration identities, adapt supported relative placement frames and reject stale geometry calibrations. Explicit local resources resolve from their declaring component; dataset identifiers retain registry semantics.

Generated asset references retain their output-directory owner through bundling. Local resources include only their dependency closure, use content-addressed paths and participate in deployment identity. Validation requires complete selected-asset and local-resource inventories even when restoring an artifact without the optional manifest digest. Background bodies inherit the production loader's static default.

Refs #810. This is layer 4/5 of the currently authorized asset-generalization implementation. PR6 online generation is deferred; no generation service is invoked by this stack.

Stack

• Layer: 4/5
• Base: main
• Depends on: Match task roles to compatible asset combinations #813 (merged)
• Followed by: Collect asset variants and qualify pouring motions #815

Validation

• 61 focused materialization/provider tests passed, including template path shadowing, resource-byte identity changes, resource relocation, nested URDF/OBJ/MTL dependencies, static background defaults and missing manifest entries. Seven new regression cases failed before the fixes and passed afterward.
• 40 agent-context tests passed. The final dependent stack passed 437 focused tests covering matching, configuration composition, compilation, acceptance and recording lifecycle, packaged deployments and context tooling.
• Black 26.3.1 (black .), the public API documentation coverage gate, context validation and changed-file syntax/header/export checks passed.

Tests use repository-pinned DexSim 0.5.1rc1 and matching Warp 1.17.0. The installed-package subprocess check passed in a temporary isolated virtual environment because that test replaces PYTHONPATH and otherwise selects the workstation's broken editable DexSim build. No shared environment installation was modified.

Context guidance now describes resource ownership, content identity and complete inventories; physical component ownership and existing API reference entries remain applicable. These fixes were validated with CPU tests and static preflight; native simulation was not rerun.

Type of change

• New feature (non-breaking change which adds functionality)

Checklist

• I have run the black . command to format the code base.
• I reviewed affected documentation and agent context, updated it where needed, or explained why no update was needed.
• Public API changes are reflected in the API docs (python docs/scripts/check_api_docs.py).
• I have added tests that prove the feature works.
• Dependencies reviewed; no new package requirements.

[greptile-apps]

Confidence Score: 5/5

[Medium impact] The PR appears safe to merge, with a non-blocking issue affecting textures on local Collada robot meshes.

Findings

1.  Collada textures disappear ▶

Fix with agent prompt

### Issue 1
embodichain/lab/task_program/integrations/asset_materialization.py:136-138
Local robots that use textured Collada meshes lose their images during bundling. `_check_dependencies` returns only the `.dae` file, and `_resource_files` skips its contents because it only parses `.urdf` and `.xml`. The new selective copy therefore leaves out images named by Collada `init_from`, which the old directory copy preserved.

Follow those image references when building the copy list so deployed robots keep their textures.

---

For each issue above, determine whether it is valid and should be fixed. If so, fix it directly.

Summary

Adds standalone deployments from verified asset selections, with fresh registration IDs and adapted relative placement frames.

• Selected asset roles become a standalone task deployment.
• Materialized deployments carry their assets and a checkable file manifest.
• Explicit local resource paths resolve from their declaring component.

Diagram

%%{init: {'theme': 'neutral'}}%%
flowchart LR
    A[Task template] --> C[Materialize deployment]
    B[Verified asset selection] --> C
    C --> D[Adapt physical and semantic bindings]
    D --> E[Bundle local files]
    E --> F[Write configs and manifest]
    F --> G[Check with production loader]
    G --> H[Validate before environment creation]

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_{Reviews (2) · Last reviewed commit: "fix(assets): bind deployments to verifie..." · Reviewed by Greptile}

[greptile-apps]

Collada textures disappear

Local robots that use textured Collada meshes lose their images during bundling. _check_dependencies returns only the .dae file, and _resource_files skips its contents because it only parses .urdf and .xml. The new selective copy therefore leaves out images named by Collada init_from, which the old directory copy preserved.

Follow those image references when building the copy list so deployed robots keep their textures.

Prompt To Fix With AI

This is a comment left during a code review.
Path: embodichain/lab/task_program/integrations/asset_materialization.py
Line: 136-138

Comment:
**Collada textures disappear**

Local robots that use textured Collada meshes lose their images during bundling. `_check_dependencies` returns only the `.dae` file, and `_resource_files` skips its contents because it only parses `.urdf` and `.xml`. The new selective copy therefore leaves out images named by Collada `init_from`, which the old directory copy preserved.

Follow those image references when building the copy list so deployed robots keep their textures.

---

For each issue above, determine whether it is valid and should be fixed. If so, fix it directly.