diff --git a/dimos/conftest.py b/dimos/conftest.py
index 3a97a9a907..7b22bbf9f5 100644
--- a/dimos/conftest.py
+++ b/dimos/conftest.py
@@ -171,6 +171,13 @@ def pytest_sessionstart(session):
     _arm_crash_dumps()
 
 
+def pytest_ignore_collect(collection_path: pathlib.Path) -> bool | None:
+    # Nested Python projects own their dependencies and test invocation.
+    if collection_path.is_dir() and (collection_path / "pyproject.toml").is_file():
+        return True
+    return None
+
+
 def pytest_configure(config):
     config.addinivalue_line(
         "markers",
diff --git a/dimos/experimental/isolated_python/README.md b/dimos/experimental/isolated_python/README.md
index d171d67ce2..9ebe80d56a 100644
--- a/dimos/experimental/isolated_python/README.md
+++ b/dimos/experimental/isolated_python/README.md
@@ -6,16 +6,14 @@ management. Its API is experimental and may change without compatibility aliases
 
 ## Project layout
 
-Place the host contract beside a `python/` project that contains the concrete
-runtime:
+Keep the host contract in `dimos/` and its isolated project outside the package:
 
 ```text
-my_module/
-├── contract.py
-└── python/
-    ├── pyproject.toml
-    └── my_runtime/
-        └── runtime.py
+dimos/my_module/contract.py
+native/python/my_module/
+├── pyproject.toml
+└── my_runtime/
+    └── runtime.py
 ```
 
 Define the host-visible contract:
@@ -33,6 +31,7 @@ class MultiplierConfig(IsolatedPythonModuleConfig):
 
 
 class Multiplier(IsolatedPythonModule):
+    project_dir = "native/python/my_module"
     implementation = "my_runtime.runtime:MultiplierRuntime"
     config: MultiplierConfig
 
@@ -41,13 +40,13 @@ class Multiplier(IsolatedPythonModule):
         raise NotImplementedError
 ```
 
-The sibling runtime imports and implements that contract:
+The isolated runtime imports and implements that contract:
 
 ```python skip
 from typing import Any
 
 from dimos.core.core import rpc
-from my_module.contract import Multiplier
+from dimos.my_module.contract import Multiplier
 
 
 class MultiplierRuntime(Multiplier):
@@ -66,16 +65,28 @@ a contract stub or changes its signature or classification.
 
 ## Runtime behavior
 
-During `build()`, dimOS syncs the sibling project and installs the host dimOS
-with its dependencies into a cached `uv run --with` overlay. The first build can
-take minutes to download; later builds reuse the cache. If `pixi.toml` exists,
-Pixi supplies `uv`. If `uv.lock` exists, dimOS uses `--frozen` and treats the
-lockfile as the source of truth.
-
-Source checkouts make the current dimOS checkout available to the runtime.
-Installed hosts let `uv` resolve `dimos`, so the host and runtime versions may
-differ. The sibling project's `.python-version` and `requires-python` select its
-Python version.
+During `build()`, dimOS uses `uv run` to sync the declared project and prepare a
+cached overlay containing dimOS from the shared checkout and its dependencies.
+The first build can take minutes to download; later builds reuse the cache.
+If `pixi.toml` exists, Pixi supplies `uv`. If `uv.lock` exists, dimOS uses
+`--frozen` and treats the lockfile as the source of truth.
+
+The runtime project and child dimOS come from `get_project_root()`, the shared
+LFS checkout helper. Development uses the current checkout, including local edits.
+Installed hosts reuse the cached repository or clone `main` on first use. The child
+installs dimOS from that checkout with `--with-editable`; its revision may differ
+from the host's. Existing clones are not updated automatically. The checkout must
+contain the declared project. Restart running modules after editing sources.
+
+The project's `.python-version` and `requires-python` select its Python
+version. Environments are stored under the dimOS cache directory in
+`isolated-python/<project-path-hash>/.venv`, so projects do not share environments.
+Preparation also warms the DimOS overlay before starting the readiness deadline.
+
+Runtime projects are not packaged in dimOS wheels or source distributions.
+The examples use `[tool.uv] package = false` and import runtime code from the
+project working directory. Load models and download checkpoints in `start()`,
+keeping imports and construction lightweight.
 
 The host contract retains the public module name and forwards contract RPCs to a
 unique internal endpoint. Ordinary dimOS serialization and transport handle RPC
@@ -83,6 +94,10 @@ values, exceptions, timeouts, async methods, skills, streams, and module
 references. Restarting the contract starts a fresh interpreter and reloads the
 runtime package.
 
+Runtime classes and tests live outside `dimos/`, so host blueprint discovery and
+source checks do not scan them. Run runtime tests with their project's pytest
+configuration and `--confcutdir=.` to avoid loading host fixtures.
+
 ## Example
 
 The source tree includes a complete example with a locked external project:
@@ -93,3 +108,19 @@ uv run python -m dimos.experimental.isolated_python.example.run
 
 The example demonstrates streams, RPCs, skills, an injected module reference,
 restart behavior, and automatic shutdown.
+
+## Runtime development
+
+Root pytest and mypy check `dimos/`; isolated projects live outside that tree. Run their tests and type
+checks inside their own environment. For GraspGenX, from the repository root:
+
+```bash
+cd native/python/graspgenx
+export UV_PROJECT_ENVIRONMENT="${XDG_CACHE_HOME:-$HOME/.cache}/dimos/graspgenx-tests"
+uv run --frozen --group tests --with-editable ../../.. python -m pytest
+uv run --frozen --group lint --with-editable ../../.. python -m mypy
+```
+
+The tests mock the model backend and need no GPU or checkpoints. Runtime mypy
+reads the annotated dimOS and GraspGenX source despite their missing `py.typed`
+markers. Each runtime owns its lint configuration and dependencies.
diff --git a/dimos/experimental/isolated_python/example/contract.py b/dimos/experimental/isolated_python/example/contract.py
index 5883813ca3..b8b4a66401 100644
--- a/dimos/experimental/isolated_python/example/contract.py
+++ b/dimos/experimental/isolated_python/example/contract.py
@@ -38,6 +38,7 @@ class Config(IsolatedPythonModuleConfig):
 class ExampleExternal(IsolatedPythonModule):
     """Multiply incoming integers in an isolated Python environment."""
 
+    project_dir = "native/python/example"
     implementation = "example_external.runtime:ExampleExternalRuntime"
     config: Config
 
diff --git a/dimos/experimental/isolated_python/module.py b/dimos/experimental/isolated_python/module.py
index 8d30cfcff7..1587ba9cef 100644
--- a/dimos/experimental/isolated_python/module.py
+++ b/dimos/experimental/isolated_python/module.py
@@ -12,11 +12,11 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Run a concrete Module subclass in an isolated sibling Python project."""
+"""Run a concrete Module subclass in an isolated repository Python project."""
 
 from __future__ import annotations
 
-import inspect
+from hashlib import sha256
 import os
 from pathlib import Path
 import pickle
@@ -26,11 +26,12 @@
 import time
 from typing import Any, ClassVar
 
-from dimos.constants import DIMOS_PROJECT_ROOT
+from dimos.constants import CACHE_DIR
 from dimos.core.core import rpc
 from dimos.core.module import Module
 from dimos.core.native_module import NativeModule, NativeModuleConfig
 from dimos.core.rpc_client import RPCClient
+from dimos.utils.data import get_project_root
 from dimos.utils.generic import short_id
 from dimos.utils.logging_config import setup_logger
 
@@ -38,15 +39,11 @@
 
 
 def isolated_python_run_command(project: Path, *command: str) -> list[str]:
-    """Run a command with the host DimOS available in an isolated project."""
+    """Run a project with dimOS from the shared source checkout."""
     args = ["uv", "run"]
     if (project / "uv.lock").is_file():
         args.append("--frozen")
-    if (DIMOS_PROJECT_ROOT / "pyproject.toml").is_file():
-        args.extend(("--with-editable", str(DIMOS_PROJECT_ROOT)))
-    else:
-        # Installed hosts intentionally accept the newest compatible DimOS.
-        args.extend(("--with", "dimos"))
+    args.extend(("--with-editable", str(get_project_root())))
     args.extend(command)
     if (project / "pixi.toml").is_file():
         return ["pixi", "run", "--executable", *args]
@@ -56,7 +53,7 @@ def isolated_python_run_command(project: Path, *command: str) -> list[str]:
 class IsolatedPythonModuleConfig(NativeModuleConfig):
     """Process settings for an isolated Python module."""
 
-    # Isolated Python modules resolve their real command from the sibling project.
+    # Isolated Python modules resolve their real command from the repository project.
     executable: str = "uv"
     startup_timeout: float = 30.0
     output_limit: int = 64 * 1024
@@ -73,13 +70,14 @@ class IsolatedPythonModule(NativeModule):
     """A host RPC contract implemented by an isolated Python subclass.
 
     Contract classes set :attr:`implementation` to an import reference in a
-    sibling ``python/`` project. Calls to RPCs introduced by the contract are
+    repository project selected by :attr:`project_dir`. Contract RPCs are
     forwarded to the concrete runtime subclass. Framework and lifecycle RPCs
     remain on the host facade.
     """
 
     config: IsolatedPythonModuleConfig
     implementation: ClassVar[str]
+    project_dir: ClassVar[str]
 
     _isolated_python_runtime: bool
     _runtime_client: RPCClient | None
@@ -109,12 +107,11 @@ def __getattribute__(self, name: str) -> Any:
 
     @property
     def runtime_project(self) -> Path:
-        source = Path(inspect.getfile(type(self))).resolve()
-        project = source.parent / "python"
+        project = get_project_root() / self.project_dir
         if not project.is_dir():
             raise FileNotFoundError(
                 f"Isolated Python runtime project is missing: {project}; "
-                "create a sibling 'python/' directory"
+                "ensure the shared dimOS checkout contains this project"
             )
         if not (project / "pyproject.toml").is_file():
             raise FileNotFoundError(
@@ -123,8 +120,8 @@ def runtime_project(self) -> Path:
         return project
 
     def _prepare_command(self) -> list[str]:
-        # `uv run` syncs the sibling project and builds the cached overlay that
-        # holds the host DimOS with its dependencies. Doing it here keeps the
+        # `uv run` syncs the declared project and builds the cached overlay that
+        # holds the shared checkout’s dimOS with its dependencies. Doing it here keeps the
         # first install, which can take minutes, out of the startup timeout.
         return isolated_python_run_command(self.runtime_project, "python", "-c", "pass")
 
@@ -156,13 +153,14 @@ def _runtime_env(self) -> dict[str, str]:
         env.pop("VIRTUAL_ENV", None)
         env.pop("UV_PYTHON", None)
         env.pop("UV_PROJECT_ENVIRONMENT", None)
+        project_key = sha256(str(self.runtime_project).encode()).hexdigest()[:16]
+        env["UV_PROJECT_ENVIRONMENT"] = str(CACHE_DIR / "isolated-python" / project_key / ".venv")
         env.update(self.config.extra_env)
         return env
 
     def _run_prepare(self) -> None:
-        command = self._prepare_command()
         result = subprocess.run(
-            command,
+            self._prepare_command(),
             cwd=self.runtime_project,
             env=self._runtime_env(),
             capture_output=True,
diff --git a/dimos/experimental/isolated_python/test_end_to_end.py b/dimos/experimental/isolated_python/test_end_to_end.py
index bdbbf28fcc..602b0e5213 100644
--- a/dimos/experimental/isolated_python/test_end_to_end.py
+++ b/dimos/experimental/isolated_python/test_end_to_end.py
@@ -92,7 +92,7 @@ def test_example_script_exits_after_printing_results() -> None:
         cwd=repository,
         capture_output=True,
         text=True,
-        timeout=30,
+        timeout=300,
     )
 
     assert result.returncode == 0, result.stderr
diff --git a/dimos/experimental/isolated_python/test_module.py b/dimos/experimental/isolated_python/test_module.py
index 9d6d1d95b4..f943fff3d1 100644
--- a/dimos/experimental/isolated_python/test_module.py
+++ b/dimos/experimental/isolated_python/test_module.py
@@ -13,6 +13,7 @@
 # limitations under the License.
 
 from pathlib import Path
+import subprocess
 
 import pytest
 from pytest_mock import MockerFixture
@@ -21,10 +22,13 @@
 from dimos.experimental.isolated_python.module import (
     IsolatedPythonModule,
     IsolatedPythonModuleConfig,
+    isolated_python_run_command,
 )
+from dimos.utils import data
 
 
 class Contract(IsolatedPythonModule):
+    project_dir = "native/python/test"
     implementation = "runtime:Runtime"
     config: IsolatedPythonModuleConfig
 
@@ -33,114 +37,135 @@ def value(self) -> int:
         raise NotImplementedError
 
 
-def test_sibling_project_is_required(tmp_path: Path, monkeypatch: pytest.MonkeyPatch) -> None:
-    source = tmp_path / "contract.py"
-    source.touch()
+@pytest.fixture
+def project(tmp_path, monkeypatch):
+    runtime = tmp_path / Contract.project_dir
+    runtime.mkdir(parents=True)
+    (runtime / "pyproject.toml").touch()
+    (runtime / "uv.lock").touch()
     monkeypatch.setattr(
-        "dimos.experimental.isolated_python.module.inspect.getfile", lambda _: str(source)
+        "dimos.experimental.isolated_python.module.get_project_root", lambda: tmp_path
     )
+    return runtime
+
+
+def test_checkout_resolution_is_lazy(mocker):
+    root = mocker.patch("dimos.experimental.isolated_python.module.get_project_root")
     module = Contract()
     try:
-        with pytest.raises(FileNotFoundError, match="sibling 'python/'"):
+        Contract.blueprint()
+        root.assert_not_called()
+    finally:
+        module.stop()
+
+
+@pytest.mark.parametrize("manifest", [False, True])
+def test_missing_runtime_reports_expected_path(tmp_path, monkeypatch, manifest):
+    project = tmp_path / Contract.project_dir
+    if manifest:
+        project.mkdir(parents=True)
+    monkeypatch.setattr(
+        "dimos.experimental.isolated_python.module.get_project_root", lambda: tmp_path
+    )
+    module = Contract()
+    try:
+        with pytest.raises(FileNotFoundError, match=str(project)):
             module.runtime_project  # noqa: B018
     finally:
         module.stop()
 
 
-def test_uv_lock_enables_frozen_commands(tmp_path: Path, monkeypatch: pytest.MonkeyPatch) -> None:
-    source = tmp_path / "contract.py"
-    source.touch()
-    project = tmp_path / "python"
-    project.mkdir()
+@pytest.mark.parametrize("installed", [False, True])
+def test_runtime_uses_shared_checkout(tmp_path, monkeypatch, installed):
+    checkout = tmp_path / "repo"
+    (checkout / ".git").mkdir(parents=True)
+    project = checkout / Contract.project_dir
+    project.mkdir(parents=True)
     (project / "pyproject.toml").touch()
-    (project / "uv.lock").touch()
-    checkout = tmp_path / "checkout"
-    checkout.mkdir()
-    (checkout / "pyproject.toml").touch()
     monkeypatch.setattr(
-        "dimos.experimental.isolated_python.module.inspect.getfile", lambda _: str(source)
+        data, "DIMOS_PROJECT_ROOT", tmp_path / "site-packages" if installed else checkout
     )
-    monkeypatch.setattr("dimos.experimental.isolated_python.module.DIMOS_PROJECT_ROOT", checkout)
+    monkeypatch.setattr(data, "_get_user_data_dir", lambda: tmp_path)
+    data.get_project_root.cache_clear()
     module = Contract()
     try:
-        command = module._launch_command(7)
+        assert module.runtime_project == project
+        assert isolated_python_run_command(project, "python") == [
+            "uv",
+            "run",
+            "--with-editable",
+            str(checkout),
+            "python",
+        ]
+    finally:
+        module.stop()
+        data.get_project_root.cache_clear()
+
 
+def test_uv_lock_enables_frozen_commands(project):
+    module = Contract()
+    try:
         assert module._prepare_command() == [
             "uv",
             "run",
             "--frozen",
             "--with-editable",
-            str(checkout),
+            str(project.parents[2]),
             "python",
             "-c",
             "pass",
         ]
-        assert command[:5] == [
+        assert module._launch_command(7)[:5] == [
             "uv",
             "run",
             "--frozen",
             "--with-editable",
-            str(checkout),
+            str(project.parents[2]),
         ]
-        assert "--python" not in command
-    finally:
-        module.stop()
-
-
-def test_installed_host_uses_unversioned_dimos(
-    tmp_path: Path, monkeypatch: pytest.MonkeyPatch
-) -> None:
-    source = tmp_path / "contract.py"
-    source.touch()
-    project = tmp_path / "python"
-    project.mkdir()
-    (project / "pyproject.toml").touch()
-    installed_root = tmp_path / "site-packages"
-    installed_root.mkdir()
-    monkeypatch.setattr(
-        "dimos.experimental.isolated_python.module.inspect.getfile", lambda _: str(source)
-    )
-    monkeypatch.setattr(
-        "dimos.experimental.isolated_python.module.DIMOS_PROJECT_ROOT", installed_root
-    )
-    module = Contract()
-    try:
-        command = module._launch_command(7)
-
-        assert command[:4] == ["uv", "run", "--with", "dimos"]
-        assert "--python" not in command
     finally:
         module.stop()
 
 
-def test_pixi_supplies_uv_when_manifest_exists(
-    tmp_path: Path, monkeypatch: pytest.MonkeyPatch
-) -> None:
-    source = tmp_path / "contract.py"
-    source.touch()
-    project = tmp_path / "python"
-    project.mkdir()
-    (project / "pyproject.toml").touch()
+def test_pixi_supplies_uv_when_manifest_exists(project):
     (project / "pixi.toml").touch()
-    monkeypatch.setattr(
-        "dimos.experimental.isolated_python.module.inspect.getfile", lambda _: str(source)
-    )
     module = Contract()
     try:
-        assert module._prepare_command()[:5] == ["pixi", "run", "--executable", "uv", "run"]
+        assert module._prepare_command() == [
+            "pixi",
+            "run",
+            "--executable",
+            "uv",
+            "run",
+            "--frozen",
+            "--with-editable",
+            str(project.parents[2]),
+            "python",
+            "-c",
+            "pass",
+        ]
+        assert module._launch_command(7)[:4] == ["pixi", "run", "--executable", "uv"]
+
     finally:
         module.stop()
 
 
-def test_runtime_environment_uses_sibling_virtualenv(
-    monkeypatch: pytest.MonkeyPatch,
-) -> None:
+def test_runtime_environment_uses_project_specific_cache(project, tmp_path, monkeypatch):
     monkeypatch.setenv("VIRTUAL_ENV", "/parent/.venv")
+    monkeypatch.setenv("UV_PYTHON", "3.10")
+    monkeypatch.setenv("UV_PROJECT_ENVIRONMENT", "/parent/.venv")
+    monkeypatch.setattr("dimos.experimental.isolated_python.module.CACHE_DIR", tmp_path / "cache")
     module = Contract(extra_env={"EXAMPLE_SETTING": "configured"})
     try:
         env = module._runtime_env()
-
         assert "VIRTUAL_ENV" not in env
+        assert "UV_PYTHON" not in env
+        assert Path(env["UV_PROJECT_ENVIRONMENT"]).is_relative_to(tmp_path / "cache")
+        assert module._runtime_env()["UV_PROJECT_ENVIRONMENT"] == env["UV_PROJECT_ENVIRONMENT"]
+        other = tmp_path / "native/python/other"
+        other.mkdir()
+        (other / "pyproject.toml").touch()
+        monkeypatch.setattr(Contract, "project_dir", "native/python/other")
+        assert module._runtime_env()["UV_PROJECT_ENVIRONMENT"] != env["UV_PROJECT_ENVIRONMENT"]
         assert env["EXAMPLE_SETTING"] == "configured"
     finally:
         module.stop()
@@ -178,3 +203,38 @@ def test_runtime_build_skips_environment_preparation(mocker: MockerFixture) -> N
         spawn.assert_not_called()
     finally:
         module.stop()
+
+
+def test_preparation_warms_the_launch_environment(project: Path, mocker: MockerFixture) -> None:
+    run = mocker.patch(
+        "dimos.experimental.isolated_python.module.subprocess.run",
+        return_value=subprocess.CompletedProcess([], 0, "", ""),
+    )
+    module = Contract()
+    try:
+        module._run_prepare()
+
+        assert [call.args[0] for call in run.call_args_list] == [
+            isolated_python_run_command(project, "python", "-c", "pass"),
+        ]
+        assert module._launch_command(7)[:5] == run.call_args.args[0][:5]
+        for call in run.call_args_list:
+            assert call.kwargs["cwd"] == project
+            assert call.kwargs["env"] == module._runtime_env()
+    finally:
+        module.stop()
+
+
+def test_preparation_failure_prevents_launch(project: Path, mocker: MockerFixture) -> None:
+    mocker.patch(
+        "dimos.experimental.isolated_python.module.subprocess.run",
+        return_value=subprocess.CompletedProcess([], 1, "", "dependency unavailable"),
+    )
+    module = Contract()
+    spawn = mocker.patch.object(module, "_spawn_runtime")
+    try:
+        with pytest.raises(RuntimeError, match="dependency unavailable"):
+            module.build()
+        spawn.assert_not_called()
+    finally:
+        module.stop()
diff --git a/dimos/manipulation/grasping/grasp_gen_x/module.py b/dimos/manipulation/grasping/grasp_gen_x/module.py
new file mode 100644
index 0000000000..7a608e7a90
--- /dev/null
+++ b/dimos/manipulation/grasping/grasp_gen_x/module.py
@@ -0,0 +1,102 @@
+# Copyright 2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Import-safe DimOS adapter for GraspGenX grasp proposals."""
+
+from __future__ import annotations
+
+from typing import Annotated, Literal, TypeAlias
+
+import numpy as np
+from pydantic import Field, FiniteFloat, field_validator
+
+from dimos.core.core import rpc
+from dimos.experimental.isolated_python.module import (
+    IsolatedPythonModule,
+    IsolatedPythonModuleConfig,
+)
+from dimos.manipulation.grasping.grasp_gen_spec import GraspGenSpec
+from dimos.msgs.manipulation_msgs.GraspCandidateArray import GraspCandidateArray
+from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
+from dimos.protocol.service.spec import BaseConfig
+
+GRASPGENX_MODEL_REPO = "adithyamurali/GraspGenXModel"
+GRASPGENX_MODEL_REVISION = "7c834043c11a11417e31d6d5ea9355801e40a2c1"
+GRASPGENX_MODEL_VERSION = "release"
+
+BoundedExtent = Annotated[FiniteFloat, Field(gt=0.0, le=0.5)]
+BoundedOffset = Annotated[FiniteFloat, Field(ge=-0.5, le=0.5)]
+PositiveCount = Annotated[int, Field(gt=0, strict=True)]
+SweepExtents: TypeAlias = tuple[BoundedExtent, BoundedExtent, BoundedExtent]
+SweepOffset: TypeAlias = tuple[BoundedOffset, BoundedOffset, BoundedOffset]
+Vector4: TypeAlias = tuple[FiniteFloat, FiniteFloat, FiniteFloat, FiniteFloat]
+RigidTransform: TypeAlias = tuple[Vector4, Vector4, Vector4, Vector4]
+GripperFamily: TypeAlias = Literal["parallel_2f", "revolute_2f", "revolute_3f"]
+
+IDENTITY_TRANSFORM: RigidTransform = (
+    (1.0, 0.0, 0.0, 0.0),
+    (0.0, 1.0, 0.0, 0.0),
+    (0.0, 0.0, 1.0, 0.0),
+    (0.0, 0.0, 0.0, 1.0),
+)
+
+
+class SweepVolumeGripperConfig(BaseConfig):
+    """Axis-aligned open and half-open sweep-volume description."""
+
+    extents_open: SweepExtents
+    offset_open: SweepOffset
+    extents_half_open: SweepExtents
+    offset_half_open: SweepOffset
+    fingertip_depth: BoundedExtent
+    family: GripperFamily = "parallel_2f"
+
+
+class GraspGenXConfig(IsolatedPythonModuleConfig):
+    """GraspGenX deployment settings, serializable by DimOS blueprints."""
+
+    gripper: SweepVolumeGripperConfig
+    grasp_frame_to_tcp: RigidTransform = IDENTITY_TRANSFORM
+    max_candidates: PositiveCount = 100
+
+    # Relational matrix properties cannot be expressed through scalar Field constraints.
+    @field_validator("grasp_frame_to_tcp")
+    @classmethod
+    def _validate_rigid_transform(cls, value: RigidTransform) -> RigidTransform:
+        matrix = np.asarray(value, dtype=float)
+        if not np.allclose(matrix[3], [0.0, 0.0, 0.0, 1.0], atol=1e-7):
+            raise ValueError("grasp_frame_to_tcp must be homogeneous")
+        rotation = matrix[:3, :3]
+        if not np.allclose(rotation.T @ rotation, np.eye(3), atol=1e-6) or not np.isclose(
+            np.linalg.det(rotation), 1.0, atol=1e-6
+        ):
+            raise ValueError("grasp_frame_to_tcp rotation must be orthonormal with determinant +1")
+        return value
+
+
+class GraspGenXError(RuntimeError):
+    """Base error for model loading and inference failures."""
+
+
+class GraspGenXModule(IsolatedPythonModule, GraspGenSpec):
+    """Grasp proposals implemented in a separately locked Python environment."""
+
+    project_dir = "native/python/graspgenx"
+    implementation = "graspgenx_runtime.runtime:GraspGenXRuntimeModule"
+    config: GraspGenXConfig
+
+    @rpc
+    def propose_grasps(self, object_pointcloud: PointCloud2) -> GraspCandidateArray:
+        """Return ranked TCP poses for an object point cloud in its input frame."""
+        raise NotImplementedError
diff --git a/dimos/manipulation/grasping/grasp_gen_x/test_module.py b/dimos/manipulation/grasping/grasp_gen_x/test_module.py
new file mode 100644
index 0000000000..55d7e4c301
--- /dev/null
+++ b/dimos/manipulation/grasping/grasp_gen_x/test_module.py
@@ -0,0 +1,158 @@
+# Copyright 2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Host contract tests; the isolated runtime is not imported here."""
+
+from __future__ import annotations
+
+import inspect
+import os
+from pathlib import Path
+import subprocess
+import sys
+from typing import Any
+
+import numpy as np
+import pytest
+
+from dimos.manipulation.grasping.grasp_gen_spec import GraspGenSpec, LegacyGraspGenSpec
+from dimos.manipulation.grasping.grasp_gen_x.module import GraspGenXConfig
+from dimos.msgs.geometry_msgs.Pose import Pose
+from dimos.msgs.manipulation_msgs.GraspCandidate import GraspCandidate
+from dimos.msgs.manipulation_msgs.GraspCandidateArray import GraspCandidateArray
+from dimos.msgs.std_msgs.Header import Header
+
+
+def config(**overrides: Any) -> GraspGenXConfig:
+    values: dict[str, Any] = {
+        "gripper": {
+            "extents_open": (0.1, 0.1, 0.1),
+            "offset_open": (0.0, 0.0, 0.0),
+            "extents_half_open": (0.1, 0.1, 0.1),
+            "offset_half_open": (0.0, 0.0, 0.0),
+            "fingertip_depth": 0.1,
+        },
+    }
+    values.update(overrides)
+    return GraspGenXConfig(**values)  # type: ignore[arg-type]
+
+
+def test_public_adapter_import_does_not_load_optional_runtime() -> None:
+    result = subprocess.run(
+        [
+            sys.executable,
+            "-c",
+            (
+                "import sys; "
+                "import dimos.manipulation.grasping.grasp_gen_x.module; "
+                "assert 'graspgenx' not in sys.modules; assert 'graspgenx_runtime.backend' not in sys.modules"
+            ),
+        ],
+        check=False,
+        capture_output=True,
+        text=True,
+    )
+
+    assert result.returncode == 0, result.stderr
+
+
+def test_messages_round_trip_empty_and_score() -> None:
+    value = GraspCandidateArray(Header(3.0, "camera"), [GraspCandidate(Pose(1, 2, 3), 0.25)])
+    decoded = GraspCandidateArray.decode(value.encode())
+
+    assert decoded.header.frame_id == "camera"
+    assert decoded.header.timestamp == pytest.approx(3.0)
+    assert decoded.candidates[0].score == pytest.approx(0.25)
+    assert (
+        GraspCandidateArray.decode(
+            GraspCandidateArray(Header(3.0, "camera"), []).encode()
+        ).candidates
+        == []
+    )
+
+
+def test_ranked_spec_is_canonical_during_legacy_contract_transition() -> None:
+    legacy_signature = inspect.signature(LegacyGraspGenSpec.generate_grasps)
+    signature = inspect.signature(GraspGenSpec.propose_grasps)
+
+    assert list(legacy_signature.parameters) == [
+        "self",
+        "pointcloud",
+        "scene_pointcloud",
+    ]
+    assert list(signature.parameters) == ["self", "object_pointcloud"]
+    assert signature.parameters["object_pointcloud"].annotation.__name__ == "PointCloud2"
+    assert signature.return_annotation is GraspCandidateArray
+
+
+@pytest.mark.parametrize(
+    ("field", "value"),
+    [
+        ("family", "unsupported"),
+        ("extents_open", (0.1, 0.1)),
+        ("extents_open", (0.0, 0.1, 0.1)),
+        ("extents_open", (0.6, 0.1, 0.1)),
+        ("offset_open", (0.6, 0.0, 0.0)),
+        ("offset_open", (np.nan, 0.0, 0.0)),
+        ("fingertip_depth", 0.0),
+    ],
+)
+def test_gripper_constraints_are_declared_by_fields(field: str, value: Any) -> None:
+    gripper = config().gripper.model_dump()
+
+    with pytest.raises(ValueError):
+        config(gripper={**gripper, field: value})
+
+
+@pytest.mark.parametrize("value", [0, -1, True])
+def test_candidate_limit_is_a_strict_positive_integer(value: Any) -> None:
+    with pytest.raises(ValueError):
+        config(max_candidates=value)
+
+
+def test_rigid_transform_relational_validation() -> None:
+    with pytest.raises(ValueError, match="orthonormal"):
+        config(
+            grasp_frame_to_tcp=(
+                (2.0, 0.0, 0.0, 0.0),
+                (0.0, 1.0, 0.0, 0.0),
+                (0.0, 0.0, 1.0, 0.0),
+                (0.0, 0.0, 0.0, 1.0),
+            )
+        )
+
+
+def test_host_collection_excludes_the_nested_runtime_suite() -> None:
+    # This is a new pytest controller, not an outer xdist worker. Give it its
+    # own run ID so its watchdog cannot sweep the parent session's workers.
+    env = {key: value for key, value in os.environ.items() if not key.startswith("PYTEST_XDIST_")}
+    result = subprocess.run(
+        [
+            sys.executable,
+            "-m",
+            "pytest",
+            "--collect-only",
+            "--no-cov",
+            "-q",
+            str(Path(__file__).parent),
+        ],
+        capture_output=True,
+        text=True,
+        timeout=60,
+        env=env,
+    )
+
+    assert result.returncode == 0, result.stdout + result.stderr
+    assert "test_public_adapter_import_does_not_load_optional_runtime" in result.stdout
+    assert "test_runtime.py" not in result.stdout
diff --git a/dimos/manipulation/planning/spec/test_model_validation.py b/dimos/manipulation/planning/spec/test_model_validation.py
index 69307aea38..8605233799 100644
--- a/dimos/manipulation/planning/spec/test_model_validation.py
+++ b/dimos/manipulation/planning/spec/test_model_validation.py
@@ -22,8 +22,16 @@
 
 from io import BytesIO
 from pathlib import Path
+import platform
+import sys
 
 import pytest
+
+# The tests extra excludes yourdfpy on Linux ARM because embreex has no wheel.
+if sys.platform == "linux" and platform.machine() == "aarch64":
+    pytest.importorskip(
+        "yourdfpy", reason="yourdfpy is unavailable in the Linux ARM test environment"
+    )
 from yourdfpy import URDF  # type: ignore[import-untyped]
 
 from dimos.manipulation.planning.groups.models import PlanningGroupDefinition
diff --git a/dimos/manipulation/planning/utils/test_point_cloud_self_filter.py b/dimos/manipulation/planning/utils/test_point_cloud_self_filter.py
index 3b09e88a8b..b24d352e30 100644
--- a/dimos/manipulation/planning/utils/test_point_cloud_self_filter.py
+++ b/dimos/manipulation/planning/utils/test_point_cloud_self_filter.py
@@ -16,11 +16,19 @@
 
 from collections.abc import Callable, Iterator
 from pathlib import Path
+import platform
+import sys
 from typing import Any, cast
 
 import numpy as np
 import pytest
 
+# The tests extra excludes yourdfpy on Linux ARM because embreex has no wheel.
+if sys.platform == "linux" and platform.machine() == "aarch64":
+    pytest.importorskip(
+        "yourdfpy", reason="yourdfpy is unavailable in the Linux ARM test environment"
+    )
+
 from dimos.manipulation.planning.utils.point_cloud_self_filter import PointCloudSelfFilter
 from dimos.msgs.geometry_msgs.Transform import Transform
 from dimos.msgs.geometry_msgs.Vector3 import Vector3
diff --git a/dimos/robot/all_blueprints.py b/dimos/robot/all_blueprints.py
index c675f682e7..6caa1b9345 100644
--- a/dimos/robot/all_blueprints.py
+++ b/dimos/robot/all_blueprints.py
@@ -248,7 +248,7 @@
     "go2-zenoh": "dimos.robot.unitree.go2.zenoh.zenohconnection.GO2Zenoh",
     "google-maps-skill-container": "dimos.agents.skills.google_maps_skill_container.GoogleMapsSkillContainer",
     "gps-nav-skill-container": "dimos.agents.skills.gps_nav_skill.GpsNavSkillContainer",
-    "grasp-gen-x-module": "dimos.manipulation.grasping.grasp_gen_x.GraspGenXModule",
+    "grasp-gen-x-module": "dimos.manipulation.grasping.grasp_gen_x.module.GraspGenXModule",
     "grasping-module": "dimos.manipulation.grasping.grasping.GraspingModule",
     "gstreamer-camera-module": "dimos.hardware.sensors.camera.gstreamer.gstreamer_camera.GstreamerCameraModule",
     "habitat-connection": "dimos.simulation.habitat.connection.HabitatConnection",
diff --git a/dimos/robot/manipulators/dual_openyam/test_integration.py b/dimos/robot/manipulators/dual_openyam/test_integration.py
index ca90114388..442950bfb3 100644
--- a/dimos/robot/manipulators/dual_openyam/test_integration.py
+++ b/dimos/robot/manipulators/dual_openyam/test_integration.py
@@ -13,8 +13,16 @@
 # limitations under the License.
 
 from io import BytesIO
+import platform
+import sys
 
 import pytest
+
+# The tests extra excludes yourdfpy on Linux ARM because embreex has no wheel.
+if sys.platform == "linux" and platform.machine() == "aarch64":
+    pytest.importorskip(
+        "yourdfpy", reason="yourdfpy is unavailable in the Linux ARM test environment"
+    )
 from yourdfpy import URDF  # type: ignore[import-untyped]
 
 from dimos.manipulation.planning.utils.mesh_utils import prepare_urdf_for_drake
diff --git a/dimos/robot/manipulators/xarm/blueprints/grasp.py b/dimos/robot/manipulators/xarm/blueprints/grasp.py
index d46df33fc0..8e34d32a39 100644
--- a/dimos/robot/manipulators/xarm/blueprints/grasp.py
+++ b/dimos/robot/manipulators/xarm/blueprints/grasp.py
@@ -31,7 +31,7 @@
 from dimos.core.coordination.blueprints import Blueprint, autoconnect
 from dimos.core.global_config import global_config
 from dimos.hardware.sensors.camera.realsense.camera import RealSenseCamera
-from dimos.manipulation.grasping.grasp_gen_x import GraspGenXModule
+from dimos.manipulation.grasping.grasp_gen_x.module import GraspGenXModule
 from dimos.manipulation.grasping.heuristic_grasp import HeuristicGraspModule
 from dimos.manipulation.manipulation_module import ManipulationModule
 from dimos.manipulation.manipulation_skills import ManipulationSkills
diff --git a/dimos/robot/manipulators/xarm/blueprints/test_teleop.py b/dimos/robot/manipulators/xarm/blueprints/test_teleop.py
index 8cd1a0afbb..fef0f0ba57 100644
--- a/dimos/robot/manipulators/xarm/blueprints/test_teleop.py
+++ b/dimos/robot/manipulators/xarm/blueprints/test_teleop.py
@@ -12,8 +12,17 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import platform
+import sys
+
 import pytest
 
+# The tests extra excludes yourdfpy on Linux ARM because embreex has no wheel.
+if sys.platform == "linux" and platform.machine() == "aarch64":
+    pytest.importorskip(
+        "yourdfpy", reason="yourdfpy is unavailable in the Linux ARM test environment"
+    )
+
 from dimos.control.coordinator import ControlCoordinator, TaskConfig
 from dimos.core.coordination.blueprints import Blueprint
 from dimos.manipulation.manipulation_module import (
diff --git a/dimos/robot/test_all_blueprints_generation.py b/dimos/robot/test_all_blueprints_generation.py
index 271bebf77c..206ebfbba8 100644
--- a/dimos/robot/test_all_blueprints_generation.py
+++ b/dimos/robot/test_all_blueprints_generation.py
@@ -116,9 +116,7 @@ def _build_module_class_set(root: Path) -> set[str]:
     known: set[str] = {"Module", "ModuleBase"}
     all_classes: list[tuple[str, list[str]]] = []
 
-    for path in sorted(root.rglob("*.py")):
-        if "__pycache__" in str(path):
-            continue
+    for path in sorted(_get_all_python_files(root)):
         try:
             tree = ast.parse(path.read_text("utf-8"), str(path))
         except Exception:
@@ -256,11 +254,17 @@ def _check_for_uncommitted_changes(file_path: Path) -> bool:
 
 
 def _get_all_python_files(root: Path) -> Generator[Path, None, None]:
-    for path in root.rglob("*.py"):
-        rel_path = str(path.relative_to(root.parent))
-        if "__pycache__" in str(path) or rel_path in IGNORED_FILES:
-            continue
-        yield path
+    for directory, children, filenames in os.walk(root):
+        parent = Path(directory)
+        children[:] = [
+            name
+            for name in children
+            if name != "__pycache__" and not (parent / name / "pyproject.toml").is_file()
+        ]
+        for name in filenames:
+            path = parent / name
+            if path.suffix == ".py" and str(path.relative_to(root.parent)) not in IGNORED_FILES:
+                yield path
 
 
 def _path_to_module_name(path: Path, root: Path) -> str:
@@ -325,3 +329,26 @@ def _ends_with_blueprint_method(node: ast.expr) -> bool:
         if isinstance(func, ast.Attribute) and func.attr in BLUEPRINT_METHODS:
             return True
     return False
+
+
+def test_nested_projects_do_not_contribute_modules_or_blueprints(tmp_path: Path) -> None:
+    root = tmp_path / "dimos"
+    runtime = root / "provider/python"
+    runtime.mkdir(parents=True)
+    (runtime / "pyproject.toml").write_text('[project]\nname = "runtime"\n')
+    (root / "provider/contract.py").write_text(
+        "class HostContract(Module): pass\n"
+        "class RuntimeOnlyBase: pass\n"
+        "class NotAModule(RuntimeOnlyBase): pass\n"
+        "host_blueprint = HostContract.blueprint()\n"
+    )
+    (runtime / "runtime.py").write_text(
+        "class PublicRuntime(HostContract): pass\n"
+        "class RuntimeOnlyBase(Module): pass\n"
+        "runtime_blueprint = PublicRuntime.blueprint()\n"
+    )
+
+    blueprints, modules = _scan_for_blueprints(root)
+
+    assert blueprints == {"host-blueprint": "dimos.provider.contract:host_blueprint"}
+    assert modules == {"host-contract": "dimos.provider.contract.HostContract"}
diff --git a/docs/capabilities/manipulation/index.md b/docs/capabilities/manipulation/index.md
index 75d2d81264..d497fded0c 100644
--- a/docs/capabilities/manipulation/index.md
+++ b/docs/capabilities/manipulation/index.md
@@ -316,8 +316,8 @@ Python extras do not install native RealSense binaries, vendor SDK setup,
 system libraries, or robot/model assets. Follow the hardware-specific setup
 instructions. Agentic blueprints require provider credentials; the default
 EdgeTAM backend requires CUDA or MPS. The bundle includes CPU ONNX inference;
-specialized CUDA backends, GraspGenX, dataset export (`learning`), and DDS remain
-separate extras. Linux x86_64 is the primary supported bundle platform; backend
+specialized CUDA backends, dataset export (`learning`), and DDS remain
+separate extras. GraspGenX prepares its own isolated Python environment on first use. Linux x86_64 is the primary supported bundle platform; backend
 and hardware wheel availability still limits macOS and ARM installations.
 
 Safety behavior for unsupported RoboPlan features:
diff --git a/docs/capabilities/manipulation/xarm-grasp.md b/docs/capabilities/manipulation/xarm-grasp.md
index b837fd0b87..5649ec7d53 100644
--- a/docs/capabilities/manipulation/xarm-grasp.md
+++ b/docs/capabilities/manipulation/xarm-grasp.md
@@ -20,13 +20,22 @@ Miss `--xarm7-ip` on hardware and the arm has no address to reach; leave
 `xarm-grasp-agent` and `xarm-grasp-graspgenx-agent` add an MCP agent over the
 top; drive those with `dimos agent-send "..."`.
 
-`xarm-grasp-graspgenx` needs the `graspgenx` extra and a CUDA GPU. Checkpoints
-download once from Hugging Face and cache under `~/.cache/huggingface`.
+GraspGenX requires Linux x86_64, a CUDA 12.8-compatible GPU, and `uv >=0.9.25`.
+The first launch prepares its isolated Python 3.12 environment and downloads the
+checkpoints. Runtime sources come from the development checkout or the shared
+repository clone used by installed dimOS.
+
+To show the MuJoCo window with Rerun disabled:
 
 ```bash
-uv sync --extra graspgenx
+MUJOCO_GL=glfw dimos --viewer none run xarm-grasp-graspgenx \
+  --simulation mujoco --headless false
 ```
 
+In another terminal, use `dimos shell` and follow [Driving it](#driving-it) to scan
+objects and request grasps. See the [isolated-runtime development guide](/dimos/experimental/isolated_python/README.md#runtime-development)
+for test and type-check commands.
+
 What differs between the arm and the sim is decided at import time: the hardware
 adapter, the base pose, the camera (RealSense plus its mount edge, versus the
 MuJoCo wrist camera), the detector backends, and the home pose.
diff --git a/dimos/experimental/isolated_python/example/python/.gitignore b/native/python/example/.gitignore
similarity index 100%
rename from dimos/experimental/isolated_python/example/python/.gitignore
rename to native/python/example/.gitignore
diff --git a/dimos/experimental/isolated_python/example/python/.python-version b/native/python/example/.python-version
similarity index 100%
rename from dimos/experimental/isolated_python/example/python/.python-version
rename to native/python/example/.python-version
diff --git a/dimos/experimental/isolated_python/example/python/example_external/runtime.py b/native/python/example/example_external/runtime.py
similarity index 95%
rename from dimos/experimental/isolated_python/example/python/example_external/runtime.py
rename to native/python/example/example_external/runtime.py
index dcfb6cb9a7..26bdc85f9a 100644
--- a/dimos/experimental/isolated_python/example/python/example_external/runtime.py
+++ b/native/python/example/example_external/runtime.py
@@ -21,7 +21,7 @@
 
 
 class ExampleExternalRuntime(ExampleExternal):
-    """Concrete implementation loaded in the sibling environment."""
+    """Concrete implementation loaded in the isolated environment."""
 
     def __init__(self, **kwargs: Any) -> None:
         super().__init__(**kwargs)
diff --git a/dimos/experimental/isolated_python/example/python/pyproject.toml b/native/python/example/pyproject.toml
similarity index 66%
rename from dimos/experimental/isolated_python/example/python/pyproject.toml
rename to native/python/example/pyproject.toml
index 91b13fa4df..844646b3cb 100644
--- a/dimos/experimental/isolated_python/example/python/pyproject.toml
+++ b/native/python/example/pyproject.toml
@@ -1,17 +1,11 @@
-[build-system]
-requires = ["setuptools>=70"]
-build-backend = "setuptools.build_meta"
-
 [project]
 name = "example-isolated-python-runtime"
 version = "0.1.0"
 requires-python = ">=3.12,<3.13"
 
 [tool.uv]
+package = false
 required-environments = [
     "sys_platform == 'linux' and platform_machine == 'aarch64'",
     "sys_platform == 'linux' and platform_machine == 'x86_64'",
 ]
-
-[tool.setuptools.packages.find]
-where = ["."]
diff --git a/dimos/experimental/isolated_python/example/python/uv.lock b/native/python/example/uv.lock
similarity index 90%
rename from dimos/experimental/isolated_python/example/python/uv.lock
rename to native/python/example/uv.lock
index 8b8f523d3c..31c5bc2da2 100644
--- a/dimos/experimental/isolated_python/example/python/uv.lock
+++ b/native/python/example/uv.lock
@@ -9,4 +9,4 @@ required-markers = [
 [[package]]
 name = "example-isolated-python-runtime"
 version = "0.1.0"
-source = { editable = "." }
+source = { virtual = "." }
diff --git a/dimos/manipulation/grasping/grasp_gen_x_runtime.py b/native/python/graspgenx/graspgenx_runtime/backend.py
similarity index 95%
rename from dimos/manipulation/grasping/grasp_gen_x_runtime.py
rename to native/python/graspgenx/graspgenx_runtime/backend.py
index 34a76c7f2e..3c54b5bd73 100644
--- a/dimos/manipulation/grasping/grasp_gen_x_runtime.py
+++ b/native/python/graspgenx/graspgenx_runtime/backend.py
@@ -22,7 +22,7 @@
 from huggingface_hub import snapshot_download
 import numpy as np
 
-from dimos.manipulation.grasping.grasp_gen_x import (
+from dimos.manipulation.grasping.grasp_gen_x.module import (
     GRASPGENX_MODEL_REPO,
     GRASPGENX_MODEL_REVISION,
     GRASPGENX_MODEL_VERSION,
@@ -71,7 +71,7 @@ class GraspGenXRuntime:
     """Loaded GraspGenX sampler and exact tensor conversion boundary."""
 
     def __init__(self, config: GraspGenXConfig) -> None:
-        model_config = load_model_cfg(_gen_dir, _dis_dir, gen_pth=None, dis_pth=None)
+        model_config = load_model_cfg(str(_gen_dir), str(_dis_dir), gen_pth=None, dis_pth=None)
         for component in ("diffusion", "discriminator"):
             backbone = getattr(model_config, component).gripper_backbone
             if backbone not in SWEEP_VOLUME_ONLY_BACKBONES:
diff --git a/dimos/manipulation/grasping/grasp_gen_x.py b/native/python/graspgenx/graspgenx_runtime/runtime.py
similarity index 61%
rename from dimos/manipulation/grasping/grasp_gen_x.py
rename to native/python/graspgenx/graspgenx_runtime/runtime.py
index 0107da1a32..e5d672b44a 100644
--- a/dimos/manipulation/grasping/grasp_gen_x.py
+++ b/native/python/graspgenx/graspgenx_runtime/runtime.py
@@ -12,18 +12,20 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Import-safe DimOS adapter for GraspGenX grasp proposals."""
+"""Concrete grasp proposal implementation, loaded only in the isolated process."""
 
 from __future__ import annotations
 
-from typing import TYPE_CHECKING, Annotated, Any, Literal, TypeAlias
+from typing import TYPE_CHECKING, Any
 
 import numpy as np
-from pydantic import Field, FiniteFloat, field_validator
 
 from dimos.core.core import rpc
-from dimos.core.module import Module, ModuleConfig
-from dimos.manipulation.grasping.grasp_gen_spec import GraspGenSpec
+from dimos.manipulation.grasping.grasp_gen_x.module import (
+    GraspGenXConfig,
+    GraspGenXError,
+    GraspGenXModule,
+)
 from dimos.msgs.geometry_msgs.Pose import Pose
 from dimos.msgs.geometry_msgs.Quaternion import Quaternion
 from dimos.msgs.geometry_msgs.Vector3 import Vector3
@@ -31,82 +33,21 @@
 from dimos.msgs.manipulation_msgs.GraspCandidateArray import GraspCandidateArray
 from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
 from dimos.msgs.std_msgs.Header import Header
-from dimos.protocol.service.spec import BaseConfig
 
 if TYPE_CHECKING:
-    from dimos.manipulation.grasping.grasp_gen_x_runtime import GraspGenXRuntime
-
-GRASPGENX_MODEL_REPO = "adithyamurali/GraspGenXModel"
-GRASPGENX_MODEL_REVISION = "7c834043c11a11417e31d6d5ea9355801e40a2c1"
-GRASPGENX_MODEL_VERSION = "release"
-
-BoundedExtent = Annotated[FiniteFloat, Field(gt=0.0, le=0.5)]
-BoundedOffset = Annotated[FiniteFloat, Field(ge=-0.5, le=0.5)]
-PositiveCount = Annotated[int, Field(gt=0, strict=True)]
-SweepExtents: TypeAlias = tuple[BoundedExtent, BoundedExtent, BoundedExtent]
-SweepOffset: TypeAlias = tuple[BoundedOffset, BoundedOffset, BoundedOffset]
-Vector4: TypeAlias = tuple[FiniteFloat, FiniteFloat, FiniteFloat, FiniteFloat]
-RigidTransform: TypeAlias = tuple[Vector4, Vector4, Vector4, Vector4]
-GripperFamily: TypeAlias = Literal["parallel_2f", "revolute_2f", "revolute_3f"]
-
-IDENTITY_TRANSFORM: RigidTransform = (
-    (1.0, 0.0, 0.0, 0.0),
-    (0.0, 1.0, 0.0, 0.0),
-    (0.0, 0.0, 1.0, 0.0),
-    (0.0, 0.0, 0.0, 1.0),
-)
-
-
-class SweepVolumeGripperConfig(BaseConfig):
-    """Axis-aligned open and half-open sweep-volume description."""
-
-    extents_open: SweepExtents
-    offset_open: SweepOffset
-    extents_half_open: SweepExtents
-    offset_half_open: SweepOffset
-    fingertip_depth: BoundedExtent
-    family: GripperFamily = "parallel_2f"
-
-
-class GraspGenXConfig(ModuleConfig):
-    """GraspGenX deployment settings, serializable by DimOS blueprints."""
-
-    gripper: SweepVolumeGripperConfig
-    grasp_frame_to_tcp: RigidTransform = IDENTITY_TRANSFORM
-    max_candidates: PositiveCount = 100
-
-    # Relational matrix properties cannot be expressed through scalar Field constraints.
-    @field_validator("grasp_frame_to_tcp")
-    @classmethod
-    def _validate_rigid_transform(cls, value: RigidTransform) -> RigidTransform:
-        matrix = np.asarray(value, dtype=float)
-        if not np.allclose(matrix[3], [0.0, 0.0, 0.0, 1.0], atol=1e-7):
-            raise ValueError("grasp_frame_to_tcp must be homogeneous")
-        rotation = matrix[:3, :3]
-        if not np.allclose(rotation.T @ rotation, np.eye(3), atol=1e-6) or not np.isclose(
-            np.linalg.det(rotation), 1.0, atol=1e-6
-        ):
-            raise ValueError("grasp_frame_to_tcp rotation must be orthonormal with determinant +1")
-        return value
-
-
-class GraspGenXError(RuntimeError):
-    """Base error for model loading and inference failures."""
+    from .backend import GraspGenXRuntime
 
 
 def _create_runtime(config: GraspGenXConfig) -> GraspGenXRuntime:
     # This import is the intentional first-use boundary for the optional GPU runtime.
-    from dimos.manipulation.grasping.grasp_gen_x_runtime import GraspGenXRuntime
+    from .backend import GraspGenXRuntime
 
     return GraspGenXRuntime(config)
 
 
-class GraspGenXModule(Module, GraspGenSpec):
+class GraspGenXRuntimeModule(GraspGenXModule):
     """Direct adapter whose optional runtime is loaded synchronously by ``start``."""
 
-    dedicated_worker = True
-    config: GraspGenXConfig  # type: ignore[assignment]
-
     def __init__(self, **kwargs: Any) -> None:
         super().__init__(**kwargs)
         self._runtime: GraspGenXRuntime | None = None
diff --git a/dimos/manipulation/grasping/test_grasp_gen_x.py b/native/python/graspgenx/graspgenx_runtime/test_runtime.py
similarity index 60%
rename from dimos/manipulation/grasping/test_grasp_gen_x.py
rename to native/python/graspgenx/graspgenx_runtime/test_runtime.py
index 5621eeb711..faa7ea6824 100644
--- a/dimos/manipulation/grasping/test_grasp_gen_x.py
+++ b/native/python/graspgenx/graspgenx_runtime/test_runtime.py
@@ -12,35 +12,30 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Hermetic tests for the import-safe GraspGenX adapter."""
+"""Proposal behavior tests run in the isolated project's environment."""
 
 from __future__ import annotations
 
 import inspect
-import subprocess
-import sys
 from typing import Any
 
+import graspgenx_runtime.runtime as runtime_module
+from graspgenx_runtime.runtime import GraspGenXRuntimeModule
 import numpy as np
 import pytest
 from pytest_mock import MockerFixture
 
-from dimos.manipulation.grasping.grasp_gen_spec import GraspGenSpec, LegacyGraspGenSpec
-import dimos.manipulation.grasping.grasp_gen_x as grasp_gen_x
-from dimos.manipulation.grasping.grasp_gen_x import (
+from dimos.experimental.isolated_python.bootstrap import validate_runtime
+from dimos.manipulation.grasping.grasp_gen_x.module import (
     GraspGenXConfig,
     GraspGenXError,
     GraspGenXModule,
 )
-from dimos.msgs.geometry_msgs.Pose import Pose
-from dimos.msgs.manipulation_msgs.GraspCandidate import GraspCandidate
-from dimos.msgs.manipulation_msgs.GraspCandidateArray import GraspCandidateArray
 from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
-from dimos.msgs.std_msgs.Header import Header
 
 
-def config(**overrides: object) -> GraspGenXConfig:
-    values: dict[str, object] = {
+def config(**overrides: Any) -> GraspGenXConfig:
+    values: dict[str, Any] = {
         "gripper": {
             "extents_open": (0.1, 0.1, 0.1),
             "offset_open": (0.0, 0.0, 0.0),
@@ -62,28 +57,9 @@ def cloud(points: np.ndarray | None = None) -> PointCloud2:
     return PointCloud2.from_numpy(xyz, frame_id="camera", timestamp=12.5)
 
 
-def test_public_adapter_import_does_not_load_optional_runtime() -> None:
-    result = subprocess.run(
-        [
-            sys.executable,
-            "-c",
-            (
-                "import sys; "
-                "import dimos.manipulation.grasping.grasp_gen_x; "
-                "assert 'dimos.manipulation.grasping.grasp_gen_x_runtime' not in sys.modules"
-            ),
-        ],
-        check=False,
-        capture_output=True,
-        text=True,
-    )
-
-    assert result.returncode == 0, result.stderr
-
-
 @pytest.fixture
 def runtime(mocker: MockerFixture) -> Any:
-    create_runtime = mocker.patch.object(grasp_gen_x, "_create_runtime")
+    create_runtime = mocker.patch.object(runtime_module, "_create_runtime")
     instance = create_runtime.return_value
     instance.infer.return_value = (
         np.repeat(np.eye(4, dtype=np.float32)[None], 1, axis=0),
@@ -92,74 +68,8 @@ def runtime(mocker: MockerFixture) -> Any:
     return create_runtime
 
 
-def test_messages_round_trip_empty_and_score() -> None:
-    value = GraspCandidateArray(Header(3.0, "camera"), [GraspCandidate(Pose(1, 2, 3), 0.25)])
-    decoded = GraspCandidateArray.decode(value.encode())
-
-    assert decoded.header.frame_id == "camera"
-    assert decoded.header.timestamp == pytest.approx(3.0)
-    assert decoded.candidates[0].score == pytest.approx(0.25)
-    assert (
-        GraspCandidateArray.decode(
-            GraspCandidateArray(Header(3.0, "camera"), []).encode()
-        ).candidates
-        == []
-    )
-
-
-def test_ranked_spec_is_canonical_during_legacy_contract_transition() -> None:
-    legacy_signature = inspect.signature(LegacyGraspGenSpec.generate_grasps)
-    signature = inspect.signature(GraspGenSpec.propose_grasps)
-
-    assert list(legacy_signature.parameters) == [
-        "self",
-        "pointcloud",
-        "scene_pointcloud",
-    ]
-    assert list(signature.parameters) == ["self", "object_pointcloud"]
-    assert signature.parameters["object_pointcloud"].annotation.__name__ == "PointCloud2"
-    assert signature.return_annotation is GraspCandidateArray
-
-
-@pytest.mark.parametrize(
-    ("field", "value"),
-    [
-        ("family", "unsupported"),
-        ("extents_open", (0.1, 0.1)),
-        ("extents_open", (0.0, 0.1, 0.1)),
-        ("extents_open", (0.6, 0.1, 0.1)),
-        ("offset_open", (0.6, 0.0, 0.0)),
-        ("offset_open", (np.nan, 0.0, 0.0)),
-        ("fingertip_depth", 0.0),
-    ],
-)
-def test_gripper_constraints_are_declared_by_fields(field: str, value: object) -> None:
-    gripper = config().gripper.model_dump()
-
-    with pytest.raises(ValueError):
-        config(gripper={**gripper, field: value})
-
-
-@pytest.mark.parametrize("value", [0, -1, True])
-def test_candidate_limit_is_a_strict_positive_integer(value: object) -> None:
-    with pytest.raises(ValueError):
-        config(max_candidates=value)
-
-
-def test_rigid_transform_relational_validation() -> None:
-    with pytest.raises(ValueError, match="orthonormal"):
-        config(
-            grasp_frame_to_tcp=(
-                (2.0, 0.0, 0.0, 0.0),
-                (0.0, 1.0, 0.0, 0.0),
-                (0.0, 0.0, 1.0, 0.0),
-                (0.0, 0.0, 0.0, 1.0),
-            )
-        )
-
-
 def test_start_is_synchronous_and_idempotent(runtime: Any) -> None:
-    module = GraspGenXModule(**module_args())
+    module = GraspGenXRuntimeModule(_isolated_python_runtime=True, **module_args())
     try:
         module.start()
         module.start()
@@ -172,7 +82,7 @@ def test_start_is_synchronous_and_idempotent(runtime: Any) -> None:
 
 def test_start_failure_is_explicit(runtime: Any) -> None:
     runtime.side_effect = RuntimeError("CUDA unavailable")
-    module = GraspGenXModule(**module_args())
+    module = GraspGenXRuntimeModule(_isolated_python_runtime=True, **module_args())
     try:
         with pytest.raises(GraspGenXError, match="initialize"):
             module.start()
@@ -196,7 +106,7 @@ def test_adapter_sorts_stably_truncates_and_applies_tcp_transform(runtime: Any)
             (0.0, 0.0, 0.0, 1.0),
         ),
     )
-    module = GraspGenXModule(**module_args(cfg))
+    module = GraspGenXRuntimeModule(_isolated_python_runtime=True, **module_args(cfg))
     try:
         module.start()
         result = module.propose_grasps(cloud())
@@ -214,7 +124,7 @@ def test_empty_backend_result_preserves_input_header(runtime: Any) -> None:
         np.empty((0, 4, 4), dtype=np.float32),
         np.empty(0, dtype=np.float32),
     )
-    module = GraspGenXModule(**module_args())
+    module = GraspGenXRuntimeModule(_isolated_python_runtime=True, **module_args())
     try:
         module.start()
         result = module.propose_grasps(cloud())
@@ -235,7 +145,7 @@ def test_empty_backend_result_preserves_input_header(runtime: Any) -> None:
     ],
 )
 def test_invalid_cloud_points_are_rejected(runtime: Any, points: np.ndarray) -> None:
-    module = GraspGenXModule(**module_args())
+    module = GraspGenXRuntimeModule(_isolated_python_runtime=True, **module_args())
     try:
         module.start()
         with pytest.raises(ValueError, match="pointcloud|XYZ"):
@@ -257,7 +167,7 @@ def test_invalid_backend_outputs_are_rejected(
     runtime: Any, backend: tuple[np.ndarray, np.ndarray]
 ) -> None:
     runtime.return_value.infer.return_value = backend
-    module = GraspGenXModule(**module_args())
+    module = GraspGenXRuntimeModule(_isolated_python_runtime=True, **module_args())
     try:
         module.start()
         with pytest.raises(ValueError):
@@ -268,7 +178,7 @@ def test_invalid_backend_outputs_are_rejected(
 
 def test_inference_failure_is_wrapped(runtime: Any) -> None:
     runtime.return_value.infer.side_effect = RuntimeError("backend")
-    module = GraspGenXModule(**module_args())
+    module = GraspGenXRuntimeModule(_isolated_python_runtime=True, **module_args())
     try:
         module.start()
         with pytest.raises(GraspGenXError, match="inference"):
@@ -278,7 +188,7 @@ def test_inference_failure_is_wrapped(runtime: Any) -> None:
 
 
 def test_not_started_and_missing_metadata_are_rejected(runtime: Any) -> None:
-    module = GraspGenXModule(**module_args())
+    module = GraspGenXRuntimeModule(_isolated_python_runtime=True, **module_args())
     missing_frame = cloud()
     missing_frame.frame_id = ""
     missing_timestamp = cloud()
@@ -293,3 +203,10 @@ def test_not_started_and_missing_metadata_are_rejected(runtime: Any) -> None:
             module.propose_grasps(missing_timestamp)
     finally:
         module.stop()
+
+
+def test_runtime_implements_the_host_contract() -> None:
+    validate_runtime(GraspGenXModule, GraspGenXRuntimeModule)
+    assert inspect.signature(GraspGenXModule.propose_grasps) == inspect.signature(
+        GraspGenXRuntimeModule.propose_grasps
+    )
diff --git a/native/python/graspgenx/pyproject.toml b/native/python/graspgenx/pyproject.toml
new file mode 100644
index 0000000000..ce8caba6a4
--- /dev/null
+++ b/native/python/graspgenx/pyproject.toml
@@ -0,0 +1,58 @@
+[project]
+name = "dimos-graspgenx-runtime"
+version = "0.1.0"
+requires-python = ">=3.12,<3.13"
+dependencies = ["graspgenx", "matplotlib>=3.7.1"]
+
+[dependency-groups]
+lint = ["mypy==1.19.0"]
+tests = ["pytest==8.3.5", "pytest-mock==3.15.0", "pytest-timeout==2.4.0"]
+
+[tool.pytest.ini_options]
+testpaths = ["graspgenx_runtime"]
+addopts = "--confcutdir=. --import-mode=importlib --timeout=60 -ra"
+
+[tool.mypy]
+files = ["graspgenx_runtime"]
+python_version = "3.12"
+strict = true
+explicit_package_bases = true
+exclude = "test_.*[.]py$"
+# Check this project's code, while using imported dependencies for type information.
+follow_imports = "silent"
+
+[[tool.mypy.overrides]]
+module = ["dimos", "dimos.*", "graspgenx", "graspgenx.*"]
+# Both packages ship annotated source without a py.typed marker.
+follow_untyped_imports = true
+
+[tool.uv]
+default-groups = []
+package = false
+required-version = ">=0.9.25"
+environments = ["sys_platform == 'linux' and platform_machine == 'x86_64'"]
+# Keep the previously validated GraspGenX recipe local to this environment.
+override-dependencies = [
+    "torch==2.7.1",
+    "torchvision==0.22.1",
+    "yourdfpy>=0.0.60",
+    "trimesh>=4.12",
+    "numpy>=2",
+    "timm>=1.0.17",
+    "huggingface-hub>=0.30,<1",
+    "diffusers>=0.29",
+    "pyopengl>=3.1.5",
+]
+
+[tool.uv.sources]
+graspgenx = { git = "https://github.com/NVlabs/GraspGenX.git", rev = "b9429097728cb1c430dd78b92edf17ba318aad03" }
+torch = { index = "pytorch-cu128" }
+torchvision = { index = "pytorch-cu128" }
+
+[[tool.uv.index]]
+name = "pytorch-cu128"
+url = "https://download.pytorch.org/whl/cu128"
+explicit = true
+
+[tool.uv.extra-build-dependencies]
+sharedarray = ["setuptools>=45,<78"]
diff --git a/native/python/graspgenx/uv.lock b/native/python/graspgenx/uv.lock
new file mode 100644
index 0000000000..cb6d56124d
--- /dev/null
+++ b/native/python/graspgenx/uv.lock
@@ -0,0 +1,1822 @@
+version = 1
+revision = 3
+requires-python = "==3.12.*"
+resolution-markers = [
+    "platform_machine == 'x86_64' and sys_platform == 'linux'",
+]
+supported-markers = [
+    "platform_machine == 'x86_64' and sys_platform == 'linux'",
+]
+
+[manifest]
+overrides = [
+    { name = "diffusers", specifier = ">=0.29" },
+    { name = "huggingface-hub", specifier = ">=0.30,<1" },
+    { name = "numpy", specifier = ">=2" },
+    { name = "pyopengl", specifier = ">=3.1.5" },
+    { name = "timm", specifier = ">=1.0.17" },
+    { name = "torch", specifier = "==2.7.1", index = "https://download.pytorch.org/whl/cu128" },
+    { name = "torchvision", specifier = "==0.22.1", index = "https://download.pytorch.org/whl/cu128" },
+    { name = "trimesh", specifier = ">=4.12" },
+    { name = "yourdfpy", specifier = ">=0.0.60" },
+]
+
+[[package]]
+name = "absl-py"
+version = "2.5.0"
+source = { registry = "https://pypi.org/simple" }
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diff --git a/pyproject.toml b/pyproject.toml
index 7606ded1b3..f1998a897c 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -27,7 +27,6 @@ include = ["dimos*"]
 # (MANIFEST.in already prunes these from the sdist; this keeps their stray
 # .py modules out of the wheel too).
 exclude = [
-    "dimos.experimental.isolated_python.example.python*",
     "dimos.web.websocket_vis.node_modules*",
     "dimos.web.command-center-extension*",
     "dimos.web.dimos_interface.src*",
@@ -373,14 +372,6 @@ scene = [
     "usd-core>=23.11",
 ]
 
-graspgenx = [
-    "graspgenx",
-    "huggingface-hub>=0.30,<1",
-    "matplotlib>=3.7.1",
-    "torch>=2.1,<2.7",
-    "torchvision>=0.16,<0.22",
-]
-
 all = [
     "dimos[apriltag,cuda,drone,manipulation,misc,scene,unitree,webrtc]",
 ]
@@ -545,22 +536,12 @@ override-dependencies = [
     # uv picks importlib-metadata>=9 and cascades the otel stack down to 1.11.1,
     # whose stale _pb2.py files crash with protobuf>=6.
     "importlib-metadata<8.8.0",
-    # GraspGenX pins older versions that conflict with the current DimOS stack.
-    # These versions were validated with the pinned GraspGenX source revision.
-    "yourdfpy>=0.0.60",
-    "trimesh>=4.12",
-    "numpy>=2",
-    "timm>=1.0.17",
-    "huggingface-hub>=0.30,<1",
-    "diffusers>=0.29",
-    "pyopengl>=3.1.5",
     # Force the torch 2.7 line even if a transitive dep asks for newer.
     "torch>=2.1,<2.8",
     "torchvision>=0.16,<0.23",
 ]
 
 [tool.uv.sources]
-graspgenx = { git = "https://github.com/NVlabs/GraspGenX.git", rev = "b9429097728cb1c430dd78b92edf17ba318aad03" }
 # CUDA builds are not published for macOS or non-x86_64 Linux. Those platforms
 # fall back to PyPI.
 torch = [
@@ -654,8 +635,6 @@ module = [
     "etils",
     "faster_whisper",
     "geometry_msgs.*",
-    "graspgenx",
-    "graspgenx.*",
     "h5py",
     "h5py.*",
     "mcap",
@@ -756,7 +735,8 @@ exclude_also = [
 max_size_kb = 75
 ignore = [
     "uv.lock",
-    "dimos/experimental/isolated_python/example/python/uv.lock",
+    "native/python/example/uv.lock",
+    "native/python/graspgenx/uv.lock",
     "*/package-lock.json",
     "Cargo.lock",
     "*/Cargo.lock",
diff --git a/uv.lock b/uv.lock
index 06d991753e..891b7b40cb 100644
--- a/uv.lock
+++ b/uv.lock
@@ -52,22 +52,15 @@ constraints = [
     { name = "onnxruntime-gpu", marker = "python_full_version < '3.11'", specifier = "<1.24" },
 ]
 overrides = [
-    { name = "diffusers", specifier = ">=0.29" },
-    { name = "huggingface-hub", specifier = ">=0.30,<1" },
     { name = "importlib-metadata", specifier = "<8.8.0" },
     { name = "langgraph-prebuilt", specifier = "<=1.0.8" },
-    { name = "numpy", specifier = ">=2" },
     { name = "opencv-python", marker = "sys_platform == 'never'" },
     { name = "pillow", specifier = ">=12.2.0" },
-    { name = "pyopengl", specifier = ">=3.1.5" },
     { name = "pytest", specifier = "==8.3.5" },
-    { name = "timm", specifier = ">=1.0.17" },
     { name = "torch", marker = "(platform_machine != 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and sys_platform != 'win32')", specifier = ">=2.1,<2.8" },
     { name = "torch", marker = "(platform_machine == 'x86_64' and sys_platform == 'linux') or sys_platform == 'win32'", specifier = ">=2.1,<2.8", index = "https://download.pytorch.org/whl/cu128" },
     { name = "torchvision", marker = "(platform_machine != 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and sys_platform != 'win32')", specifier = ">=0.16,<0.23" },
     { name = "torchvision", marker = "(platform_machine == 'x86_64' and sys_platform == 'linux') or sys_platform == 'win32'", specifier = ">=0.16,<0.23", index = "https://download.pytorch.org/whl/cu128" },
-    { name = "trimesh", specifier = ">=4.12" },
-    { name = "yourdfpy", specifier = ">=0.0.60" },
 ]
 
 [[package]]
@@ -664,15 +657,6 @@ wheels = [
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 ]
 
-[[package]]
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-version = "0.1.7"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/54/93/badd4f5ccf25209f3fef2573073da9fe4a45a3da99fca2f800f942130c0f/braceexpand-0.1.7.tar.gz", hash = "sha256:e6e539bd20eaea53547472ff94f4fb5c3d3bf9d0a89388c4b56663aba765f705", size = 7777, upload-time = "2021-05-07T13:49:07.323Z" }
-wheels = [
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-
 [[package]]
 name = "bracex"
 version = "3.0.1"
@@ -1271,15 +1255,6 @@ wheels = [
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 ]
 
-[[package]]
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-version = "1.0.5"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/32/02/75ee14911378497eb3bb1bfa576cd99bc88ecf0d9f60671721a91dbecaaf/config-path-1.0.5.tar.gz", hash = "sha256:ed17ad1a0cbdadb2781443a27a624057138611416885acb3fb41132a6d559d77", size = 11215, upload-time = "2023-10-03T19:41:43.639Z" }
-wheels = [
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-]
-
 [[package]]
 name = "configargparse"
 version = "1.7.1"
@@ -1611,36 +1586,6 @@ wheels = [
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 ]
 
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-version = "3.2.9"
-source = { registry = "https://pypi.org/simple" }
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