ci: cache robot_descriptions assets across runs#530
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Model tests (Panda, PR2, UR3/5/10, Jaco, ...) load URDFs via robot_descriptions, which lazily git-clones large upstream asset repos on first use rather than bundling them. On a fresh CI runner that clone happens mid-test, competing with the per-test 50s timeout — slow and occasionally flaky (ImportError surfaces as "model not available" even though the model exists, robot_descriptions just couldn't fetch it in time). Caching ~/.cache/robot_descriptions between runs means only the first run after this lands pays that cost. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
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Summary
robot_descriptions, which lazilygit clones large upstream asset repos (hundreds of files) on first use of a given model rather than bundling the data--timeout=50, and shows up asValueError: Robot model 'X' is not available(via fix(models): fall back to robot_descriptions' new naming, hide wrapped dependency on failure #529's improved error message) even though the model exists — robot_descriptions just couldn't fetch it in time~/.cache/robot_descriptions(confirmed via robot_descriptions' own source: alwaysos.path.expanduser("~/.cache/robot_descriptions"), consistent across Windows/Mac/Linux) acrosstest-core,test, andcoveragejobs — only the first run after this lands pays the fetch costTest plan
python -c "import yaml; yaml.safe_load(...)"🤖 Generated with Claude Code