Berkeley-Humanoids · T-K-233 · Jun 22, 2026 · Jun 22, 2026
diff --git a/docs/concepts/architecture.md b/docs/concepts/architecture.md
@@ -249,7 +249,7 @@ The shipping configuration is a **two-machine tethered split**. The
 same colcon workspace is installed (and built from the same pixi lock
 file) on both machines; each launch boots only the subset of nodes
 that belongs on its side. Single-machine sim/dev paths
-(`bar_bringup_lite/mujoco.launch.py`, `bar_description_lite/view_lite.launch.py`,
+(`bar_bringup_lite/mujoco.launch.py`, `bar_bringup_lite/view_lite.launch.py`,
 `bar_bringup_lite/calibrate.launch.py`) are unaffected — they
 collapse both sides into one process tree.
 

diff --git a/docs/concepts/mit_command_surface.md b/docs/concepts/mit_command_surface.md
@@ -83,7 +83,7 @@ projects. Three properties make it the right primitive:
 
 The five command interfaces and three state interfaces are declared
 per-joint inside each `<ros2_control>` block. From
-`bar_description_lite/urdf/lite.ros2_control.xacro`:
+`lite_description/robots/lite_dummy/xacro/lite_dummy.ros2_control.xacro`:
 
 ```xml
 <joint name="${name}">

diff --git a/docs/getting_started/installation.md b/docs/getting_started/installation.md
@@ -81,7 +81,7 @@ platforms = ["linux-64", "linux-aarch64"]
 # `view` / `viz` launches.
 ros-jazzy-ros-base = "*"
 # The whole Lite bringup: bar_controllers (ONNX-enabled), bar_msgs,
-# bar_description_lite, bar_robstride, bar_socketcan, bar_common, bar_policy.
+# lite_description, bar_robstride, bar_socketcan, bar_common, bar_policy.
 ros-jazzy-bar-bringup-lite = "*"
 # Optional: the `bar` diagnostic CLI (run via `ros2 run bar_cli bar ...`).
 ros-jazzy-bar-cli = "*"
@@ -227,15 +227,14 @@ ros2 control list_hardware_interfaces 2>/dev/null \
     || echo "(no controller_manager running yet — expected)"
 ```
 
-The 12 `bar_ros2` packages:
+The 11 `bar_ros2` packages (Lite's `lite_description` comes separately, via `bar.repos`):
 
 ```
 bar_bringup_lite
 bar_bringup_prime
 bar_cli
 bar_common
 bar_controllers
-bar_description_lite
 bar_description_prime
 bar_robstride
 bar_sito

diff --git a/docs/getting_started/lite_101.md b/docs/getting_started/lite_101.md
@@ -35,7 +35,7 @@ The simplest possible launch: `robot_state_publisher` + a
 the kinematic chain.
 
 ```sh
-ros2 launch bar_description_lite view_lite.launch.py
+ros2 launch bar_bringup_lite view_lite.launch.py
 ```
 
 What you'll see:
@@ -225,7 +225,7 @@ Four moving pieces, all worth recognising for the rest of the docs:
 
 | Piece | What it does |
 |---|---|
-| **URDF** (`bar_description_lite`) | Kinematic + dynamic description. Same file across mock / sim / real — the `<ros2_control>` `<plugin>` is the only difference. |
+| **URDF** (`lite_description`) | Kinematic + dynamic description. Same file across mock / sim / real — the `<ros2_control>` `<plugin>` is the only difference. |
 | **`controller_manager`** | Hosts the hardware plugin + every controller. The "tick loop" of the system. Update rate 50 Hz here. |
 | **Mode-FSM controllers** (`bar_controllers`) | Five plugins, one active at a time. `zero_torque` (safe default), `damping` (compliant fail-safe), `standby` (interpolate to a pose), `rl_policy` (in-process ONNX — the System 0 learned-policy tier), `remote_policy` (System 1/2 external-command ingress for non-real-time `MITCommand` sources). |
 | **MuJoCo / Robstride** (the simulation / real backend) | Where the MIT torque actually gets applied. Same five command interfaces in both. |

diff --git a/docs/how_to/add_new_joint.md b/docs/how_to/add_new_joint.md
@@ -15,12 +15,21 @@ Five files in three packages:
 
 | File | Purpose |
 |---|---|
-| `bar_description_lite/urdf/lite.urdf.xacro` | Kinematic chain: link, joint axis, limits, mass, mesh |
-| `bar_description_lite/urdf/lite.ros2_control.xacro` | `<ros2_control>` block — which CAN bus, model, direction, command/state interfaces |
-| `bar_description_lite/mjcf/lite.xml` | MuJoCo model (if you want sim parity) |
+| `lite_description/robots/lite_dummy/xacro/lite_dummy.urdf.xacro` | Kinematic chain: link, joint axis, limits, mass, mesh |
+| `lite_description/robots/lite_dummy/xacro/lite_dummy.ros2_control.xacro` | `<ros2_control>` block — which CAN bus, model, direction, command/state interfaces |
+| `lite_description/robots/lite_dummy/mjcf/lite_dummy.xml` | MuJoCo model (if you want sim parity) |
 | `bar_controllers/config/bar_lite_controllers.yaml` | `joints:` list for every controller + per-joint K/D / standby pose entries |
 | `bar_bringup_lite/config/calibration.yaml` | `homing_offset` for the new joint (created via [Calibrate the zero pose](./calibrate_zero_pose.md)) |
 
+> **Heads-up — the Lite description is generated.** The three `lite_description`
+> files above are build artifacts of the external
+> [`Lite-Description`](https://github.com/Berkeley-Humanoids/Lite-Description) repo,
+> produced from Onshape CAD. The canonical way to add a joint is to edit
+> `robots/lite_dummy/cad/*` there, run `robot-assets-generate lite_dummy`, and bump
+> the `lite_description` pin in `bar.repos` — **not** to hand-edit the committed
+> `xacro` / `urdf` / `mjcf`. The steps below describe the URDF changes the
+> generator ultimately produces.
+
 ## Step 1 — Add the link + joint to `lite.urdf.xacro`
 
 ```xml
@@ -53,16 +62,16 @@ separate `can_interface_neck`).
 The neck case wants a third block:
 
 ```xml
-<xacro:macro name="lite_neck_joints" params="use_fake_hardware use_sim">
-  <xacro:lite_joint name="neck_yaw"   can_id="31" model="rs-00" direction="1"
+<xacro:macro name="lite_dummy_neck_joints" params="use_fake_hardware use_sim">
+  <xacro:lite_dummy_joint name="neck_yaw"   can_id="31" model="rs-00" direction="1"
                     lower_limit="-0.785" upper_limit="0.785"
                     torque_limit="10" current_limit="14"
                     use_fake_hardware="${use_fake_hardware}" use_sim="${use_sim}"/>
-  <xacro:lite_joint name="neck_roll"  can_id="32" model="rs-00" direction="1"
+  <xacro:lite_dummy_joint name="neck_roll"  can_id="32" model="rs-00" direction="1"
                     lower_limit="-0.524" upper_limit="0.524"
                     torque_limit="10" current_limit="14"
                     use_fake_hardware="${use_fake_hardware}" use_sim="${use_sim}"/>
-  <xacro:lite_joint name="neck_pitch" can_id="33" model="rs-00" direction="1"
+  <xacro:lite_dummy_joint name="neck_pitch" can_id="33" model="rs-00" direction="1"
                     lower_limit="-0.524" upper_limit="0.524"
                     torque_limit="10" current_limit="14"
                     use_fake_hardware="${use_fake_hardware}" use_sim="${use_sim}"/>
@@ -76,7 +85,7 @@ macro inside the existing combined block.
 Verify the URDF expands cleanly (inside `pixi shell`):
 
 ```bash
-xacro $(ros2 pkg prefix bar_description_lite)/share/bar_description_lite/urdf/lite.urdf.xacro \
+xacro $(ros2 pkg prefix lite_description)/share/lite_description/robots/lite_dummy/xacro/lite_dummy.urdf.xacro \
     use_fake_hardware:=false use_sim:=false calibration_file:='' \
     > /tmp/expanded.urdf
 ```

diff --git a/docs/how_to/live_viz.md b/docs/how_to/live_viz.md
@@ -102,7 +102,7 @@ per-`/lite/joint_states` callback + a tf update.
 
 | Symptom | Cause |
 |---|---|
-| Window opens but robot is blank / collapsed | Mesh `package://` URLs not resolving. Make sure `bar_description_lite`'s install is on `AMENT_PREFIX_PATH` (pixi activation does this automatically once you `pixi shell` into `bar_ws/`). |
+| Window opens but robot is blank / collapsed | Mesh `package://` URLs not resolving. Make sure `lite_description`'s install is on `AMENT_PREFIX_PATH` (pixi activation does this automatically once you `pixi shell` into `bar_ws/`). |
 | `rerun_viz` says `ModuleNotFoundError: No module named 'rerun'` | The pixi env wasn't entered — run `cd bar_ws && pixi shell` first, then `ros2 run bar_bringup_lite rerun_viz`. |
 | `viser_viz` complains about a missing `scipy` symbol | Stale env. Re-run `pixi install` to resync against `pixi.lock`. |
 | Browser at `:8080` shows "this site can't be reached" | `viser_viz` not running — start it via `ros2 launch bar_bringup_lite viz.launch.py` (default viewer is `viser`), or wrong host in the URL. |

diff --git a/docs/how_to/use_pixi_tasks.md b/docs/how_to/use_pixi_tasks.md
@@ -53,7 +53,7 @@ extra arguments after the alias are forwarded unchanged.
 
 | Alias | Equivalent | Side |
 |---|---|---|
-| `pixi run view` | `ros2 launch bar_description_lite view_lite.launch.py` | dev — URDF inspector |
+| `pixi run view` | `ros2 launch bar_bringup_lite view_lite.launch.py` | dev — URDF inspector |
 | `pixi run launch-mujoco` | `ros2 launch bar_bringup_lite mujoco.launch.py` | dev — full Lite controller stack in MuJoCo |
 | `pixi run launch-real` | `ros2 launch bar_bringup_lite real.launch.py` | robot — real-hardware Lite bringup |
 | `pixi run launch-viz` | `ros2 launch bar_bringup_lite viz.launch.py` | host — live URDF + joint-state viewer (`viewer:=viser\|rerun`) |

diff --git a/docs/reference/hardware_specs.md b/docs/reference/hardware_specs.md
@@ -44,13 +44,16 @@ policy is trained against this order, it is frozen — see "Frozen schemas" in
 `neck_pitch`, all rs-00-class with `K_p ≈ 30`, `K_d ≈ 1`.)
 
 :::tip[Where these numbers come from]
-Per-joint static config (CAN id, model, direction, position limits, torque
-cap, current cap) is the **single source of truth** in
-[`bar_description_lite/urdf/lite.ros2_control.xacro`](https://github.com/T-K-233/bar_ros2/blob/main/bar_description_lite/urdf/lite.ros2_control.xacro).
-Each value appears once, as a xacro arg on the `lite_joint` macro call:
+Per-joint hardware facts (CAN id, model, direction, torque cap, current cap)
+live in the CAD input
+[`robots/lite_dummy/cad/ros2_control.json`](https://github.com/Berkeley-Humanoids/Lite-Description/blob/main/robots/lite_dummy/cad/ros2_control.json);
+position limits come from the URDF (also from CAD). The generator expands both
+into the `<param>`s of the **generated** `lite_dummy.ros2_control.xacro` — each
+value appears as a xacro arg on a `lite_dummy_joint` macro call (don't hand-edit
+the generated file):
 
 ```xml
-<xacro:lite_joint name="left_shoulder_pitch" can_id="11" model="rs-02" direction="-1"
+<xacro:lite_dummy_joint name="left_shoulder_pitch" can_id="11" model="rs-02" direction="-1"
                   lower_limit="-3.141592653589793" upper_limit="0.7853981633974483"
                   torque_limit="17" current_limit="27"
                   use_fake_hardware="${use_fake_hardware}" use_sim="${use_sim}"/>
@@ -62,7 +65,7 @@ xacro expands those into `<param>` children on the `<joint>` element, which
 the Robstride parameter IDs `0x700B` and `0x7018` — same writes the upstream
 `T-K-233/Lite-Lowlevel-Python`'s `humanoid_control/control.py` performs).
 Initial values were mirrored from that repo's `configs/bimanual.yaml`; if
-upstream retunes, edit them here in lockstep.
+upstream retunes, edit `ros2_control.json` and regenerate (see below).
 
 Default stiffness / damping reflects a conservative MIT-mode setting suitable
 for first activation; tune per deployment.
@@ -76,26 +79,32 @@ them, regardless of what a policy publishes. They're an upper bound, not a
 target. Lower them when bringing up a new policy on the bench; raise them
 once the motion envelope is verified.
 
-**Edit-rebuild loop**:
+**Edit-rebuild loop** — the caps live in the CAD input, so the retune happens in
+the `lite_description` repo and flows back through `bar.repos`:
 
-1. Open `bar_description_lite/urdf/lite.ros2_control.xacro`.
-2. Find the `<xacro:lite_joint name="<joint>" …>` call for the joint you
-   want to retune (one per arm in `lite_left_arm_joints` /
-   `lite_right_arm_joints` macros).
-3. Edit the `torque_limit="…"` (N·m, float) and / or `current_limit="…"`
-   (A, float) attributes in place.
-4. Rebuild and re-launch:
+1. In the `lite_description` repo, edit the joint's `torque_limit` (N·m, float)
+   and / or `current_limit` (A, float) in `robots/lite_dummy/cad/ros2_control.json`.
+2. Regenerate the xacro: `uv run robot-assets-generate lite_dummy --only xacro`.
+3. Commit + push; bump the `lite_description` pin in `bar_ros2`'s `bar.repos`
+   (keep the buildfarm's in sync).
+4. Re-import, rebuild, and re-launch:
 
    ```sh
    cd <workspace>/bar_ws
    pixi shell
-   colcon build --symlink-install --packages-select bar_description_lite
+   pixi run setup        # vcs import — pulls the regenerated lite_description
+   colcon build --symlink-install --packages-select lite_description
    # If a bringup is already running, Ctrl+C it first — the firmware-side
    # caps are written on the `on_activate` transition, so an already-
    # activated plugin won't pick up the new value until the next bringup.
    ros2 launch bar_bringup_lite real.launch.py
    ```
 
+   For a throwaway bench experiment, edit the caps directly in the vcs-imported
+   `src/lite_description/.../lite_dummy.ros2_control.xacro` and `colcon build` —
+   but that copy is overwritten on the next `pixi run setup`, so fold any keeper
+   change back into `ros2_control.json` upstream.
+
 5. Confirm in the bringup log that the new value flowed through:
 
    ```

diff --git a/docs/reference/launch_args.md b/docs/reference/launch_args.md
@@ -10,13 +10,13 @@ bundled launch enables that path.
 Launches live in two repos:
 
 - `bar_ros2` ships the Lite + Prime control-plane bringups (`bar_bringup_lite`,
-  `bar_bringup_prime`), the URDF inspector (`bar_description_lite`),
+  `bar_bringup_prime`), the URDF inspector (`bar_bringup_lite`),
   and the policy prepare-and-load launches (`bar_policy`).
 - `pianist_ros2` ships piano-task-specific launches: scene composition
   (`pianist_bringup`), the piano prepare-and-load launch, and the USB-MIDI
   driver (both `pianist_policy`).
 
-## `bar_description_lite/launch/view_lite.launch.py`
+## `bar_bringup_lite/launch/view_lite.launch.py`
 
 URDF inspector — no controller_manager, no physics.
 
@@ -108,14 +108,14 @@ plugin).
 |---|---|---|
 | `mode` | `arms` | Same as the real bringup. `arms` (14 joints) or `arms_neck` (17 joints). |
 | `hardware_config` | `<bundled lite_hardware.yaml>` | Same as the real bringup; the bus mapping is unused in MuJoCo but the joint list is read. |
-| `scene` | `lite` | MJCF scene basename under `bar_description_lite/mjcf/`. Default `lite` (robot only). Task packages from sibling repos (e.g. `pianist_ros2`'s `pianist_bringup`) compose their own runtime scene XML and override this arg with their composed-file basename. |
+| `scene` | `lite_dummy` | MJCF scene basename under `lite_description/robots/lite_dummy/mjcf/`. Default `lite_dummy` (robot only). Task packages from sibling repos (e.g. `pianist_ros2`'s `pianist_bringup`) compose their own runtime scene XML and override this arg with their composed-file basename. |
 | `enable_gamepad` | `true` | Same hard-fail-on-missing-`/dev/input/js*` behaviour as the real bringup. |
 
 Implicit:
 
 - The xacro is invoked with `use_sim:=true`. **`use_sim` wins over
   `use_fake_hardware`** in the xacro's `<plugin>` selector — see the
-  decision tree in [Packages](packages.md#bar_description_lite--bar_description_prime).
+  decision tree in [Packages](packages.md#lite_description-external--bar_description_prime).
 - Every node runs with `use_sim_time:=true`. Time advances at MuJoCo's
   pace via `/clock`.
 - `bar_bringup_lite/config/sim_overrides.yaml` is layered on top of
@@ -204,7 +204,7 @@ apart.
 
 MuJoCo bringup for the piano task. Composes the Lite robot and the
 piano MJCF into one scene file (`_runtime_lite_piano.xml`) inside
-`bar_description_lite`'s MJCF share dir, then delegates to
+`lite_description`'s `robots/lite_dummy/mjcf/` share dir, then delegates to
 `bar_bringup_lite/mujoco.launch.py` with `scene:=_runtime_lite_piano`.
 Also spawns the `piano_state_bridge` sim-side bridge so
 `/piano/key_state` exists on the sim path.
@@ -217,7 +217,7 @@ Also spawns the `piano_state_bridge` sim-side bridge so
 
 `scene:=` is **not** exposed — `pianist_bringup` controls that internally.
 
-## xacro args (`bar_description_lite/urdf/lite.urdf.xacro`)
+## xacro args (`lite_description/robots/lite_dummy/xacro/lite_dummy.urdf.xacro`)
 
 The launch args ultimately feed these xacro args. Useful when driving
 xacro directly (e.g. in a sim2sim eval harness):
@@ -241,7 +241,7 @@ robot involved, no tether):
 
 ```sh
 # Drag joints in RViz, no controllers.
-ros2 launch bar_description_lite view_lite.launch.py
+ros2 launch bar_bringup_lite view_lite.launch.py
 
 # MuJoCo physics, /clock from sim time.
 ros2 launch bar_bringup_lite mujoco.launch.py

diff --git a/docs/reference/packages.md b/docs/reference/packages.md
@@ -75,21 +75,26 @@ wire conventions only** — no participant/transport.
 The `lite_sdk2` SDK builds its publisher/subscriber layer on top. See
 [Talk to bar_ros2 from Python](../how_to/talk_to_bar_ros2_from_python.md).
 
-### `bar_description_lite` / `bar_description_prime`
+### `lite_description` (external) / `bar_description_prime`
 
-URDF / xacro / meshes / `<ros2_control>` blocks.
+URDF / xacro / meshes / `<ros2_control>` blocks. **Lite's description is no longer
+in `bar_ros2`** — it lives in the external, CAD-generated
+[`lite_description`](https://github.com/Berkeley-Humanoids/Lite-Description) repo
+(bar deploys the `lite_dummy` variant), pulled in via `bar.repos`. It is
+**asset-only**: the RViz inspector (`view_lite.launch.py` + `view_lite.rviz`) now
+lives in `bar_bringup_lite`. `bar_description_prime` is still an in-tree stub.
 
-Layout (Lite shown):
+Layout (Lite shown, inside the `lite_description` repo):
 
 ```
-bar_description_lite/
-├── urdf/
-│   ├── lite.urdf.xacro              # top-level kinematics (mode-aware: 14 or 17 joints)
-│   └── lite.ros2_control.xacro      # 3-way plugin selector + per-joint static config
-├── meshes/   *.stl                  # visual meshes
-├── mjcf/     lite.xml               # MuJoCo physics model
-├── config/   view_lite.rviz         # RViz config
-└── launch/   view_lite.launch.py    # standalone visualization
+lite_description/robots/lite_dummy/
+├── xacro/
+│   ├── lite_dummy.urdf.xacro          # top-level assembly: args + includes + instantiation
+│   ├── lite_dummy.ros2_control.xacro  # 3-way plugin selector + per-joint static config
+│   └── lite_dummy.description.xacro   # kinematics macro (base_link, mesh_root)
+├── urdf/   lite_dummy.urdf            # flat URDF — the generated kinematic hub
+├── mjcf/   lite_dummy.xml             # MuJoCo physics model
+└── meshes/visual/   *.stl             # visual meshes
 ```
 
 The xacro selects between **three hardware backends** via args:

diff --git a/docs/reference/quick_reference.md b/docs/reference/quick_reference.md
@@ -23,7 +23,7 @@ Grouped by which machine they run on. See
 for the split rationale. Launches come from two repos:
 
 - `bar_ros2` ships the Lite + Prime bringups (`bar_bringup_lite`,
-  `bar_bringup_prime`), the description viewer (`bar_description_lite`),
+  `bar_bringup_prime`), the description viewer (`bar_bringup_lite`),
   and the policy prepare-and-load launch (`bar_policy`).
 - `pianist_ros2` ships the piano-task launches (`pianist_bringup`
   composes a Lite + piano MuJoCo scene; `pianist_policy` prepares the
@@ -33,7 +33,7 @@ for the split rationale. Launches come from two repos:
 
 ```bash
 # Drag joints in RViz — no controllers, no physics
-ros2 launch bar_description_lite view_lite.launch.py
+ros2 launch bar_bringup_lite view_lite.launch.py
 
 # MuJoCo sim — full controller stack, /clock from sim time
 ros2 launch bar_bringup_lite mujoco.launch.py