feat: openarm hardware support with dm_control

[TomCC7]

Reopens the OpenArm Damiao changes from #3351 after the intentional revert in #3387.

The original PR was merged and therefore cannot be reopened on GitHub. This replacement PR uses the same head branch and targets the same stacked base.

Please carry review context forward from #3351. The branch contains the hardware-validated follow-up fixes that landed before the original merge.

closes DIM-979

[greptile-apps]

Greptile Summary

The PR restores OpenArm v2.0 as a synchronized bimanual Damiao whole-body device and updates its planning, visualization, blueprint, testing, asset, and documentation support.

• Replaces the per-arm OpenArm driver with the shared Damiao whole-body adapter architecture.
• Models both arms and grippers as one 16-joint hardware component with a 14-joint bimanual planning model.
• Updates simulation-aware blueprints, mesh conversion, Viser behavior, tests, LFS assets, and operator documentation.

Confidence Score: 5/5

The PR appears safe to merge because no blocking failure remains in the eligible follow-up review scope.

No blocking failure remains.

Important Files Changed

Filename	Overview
dimos/hardware/whole_body/openarm_damiao/adapter.py	Defines the OpenArm v2.0 motor topology, bus defaults, joint ordering, grippers, and gravity model on the generic Damiao adapter.
dimos/hardware/whole_body/damiao/adapter.py	Keeps arm feedback moving during inactive read-only sessions and supplies pre-activation gripper placeholders.
dimos/robot/manipulators/openarm/config.py	Selects simulated or physical whole-body hardware and defines the synchronized hardware and bimanual planning-model mappings.
dimos/robot/manipulators/openarm/blueprints/teleop.py	Rebuilds keyboard teleoperation and planner composition around per-arm EEF tasks and a shared bimanual trajectory task.
dimos/manipulation/planning/utils/mesh_utils.py	Disambiguates converted mesh filenames derived from source paths.
dimos/manipulation/planning/world/roboplan_model.py	Updates composed planning-model behavior for the restored bimanual OpenArm model.
dimos/manipulation/visualization/viser/gui.py	Updates Viser integration for the changed multi-group OpenArm planning and visualization flow.
dimos/robot/all_blueprints.py	Regenerates the blueprint registry for the consolidated OpenArm blueprint set.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart LR
    CLI[OpenArm blueprint] --> CFG[Simulation-aware hardware config]
    CFG -->|Simulation| MOCK[Mock whole-body adapter]
    CFG -->|Hardware| OA[OpenArm Damiao adapter]
    OA --> DAMIAO[Generic Damiao whole-body lifecycle]
    DAMIAO --> LEFT[Left CAN bus and arm]
    DAMIAO --> RIGHT[Right CAN bus and arm]
    CFG --> COORD[Control coordinator]
    PLAN[Bimanual planning model] --> COORD
    COORD --> OA
    COORD --> MOCK

Loading

_{Reviews (2): Last reviewed commit: "Merge branch 'cc/feat/openyam-driver' in..." | Re-trigger Greptile}

[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
4256	1	4255	69

View the top 1 failed test(s) by shortest run time

dimos.e2e_tests.test_manipulation_planning_groups::test_dual_arm_plans_and_dispatches_both_arms_through_control_coordinator

Stack Traces | 18.5s run time

dimos.protocol.rpc.rpc_utils.RemoteError: [Remote builtins.RuntimeError] Invalid goal configuration requested, cannot plan!

Remote traceback:
Traceback (most recent call last):
  File ".../protocol/rpc/pubsubrpc.py", line 280, in execute_and_respond
    response = f(*args[0], **args[1])
               ^^^^^^^^^^^^^^^^^^^^^^
  File ".../protocol/rpc/spec.py", line 116, in override_f
    return getattr(module, fname)(*args, **kwargs)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File ".../dimos/manipulation/manipulation_module.py", line 923, in plan_to_joint_targets
    return self.generate_plan_to_joint_targets(joint_targets) is not None
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File ".../dimos/manipulation/manipulation_module.py", line 962, in generate_plan_to_joint_targets
    return self._plan_selected_path(group_ids, start, goal, planning_epoch)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File ".../dimos/manipulation/manipulation_module.py", line 652, in _plan_selected_path
    result = self._planner.plan_selected_joint_path(
             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File ".../planning/planners/roboplan_planner.py", line 164, in plan_selected_joint_path
    return self._plan_group(
           ^^^^^^^^^^^^^^^^^
  File ".../planning/planners/roboplan_planner.py", line 552, in _plan_group
    result = self._run_native_rrt(
             ^^^^^^^^^^^^^^^^^^^^^
  File ".../planning/planners/roboplan_planner.py", line 597, in _run_native_rrt
    result = planner.plan(start, goal)
             ^^^^^^^^^^^^^^^^^^^^^^^^^
RuntimeError: Invalid goal configuration requested, cannot plan!


The above exception was the direct cause of the following exception:

lcm_spy = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x76164c99fc50>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x76163d582e80>

    def test_dual_arm_plans_and_dispatches_both_arms_through_control_coordinator(
        lcm_spy: LcmSpy,
        start_blueprint: Callable[..., DimosCliCall],
    ) -> None:
        """Plan one generated plan over both arms and dispatch through one trajectory task."""
        _start_openarm_mock_planner(start_blueprint, lcm_spy)
    
        client = RPCClient(None, ManipulationModule)
        coordinator_client = RPCClient(None, ControlCoordinator)
        try:
            info = _wait_for_robot_info(client, ROBOT_NAME)
            group_ids = _planning_group_ids(info)
    
            tasks = coordinator_client.list_tasks()
            assert tasks == [DEFAULT_TRAJECTORY_TASK_NAME]
    
            _prepare_for_planning(client, (ROBOT_NAME,))
    
>           planned = client.plan_to_joint_targets(
                {
                    group_ids["left_manipulator"]: _offset_target(client, LEFT_SLICE, 0.02),
                    group_ids["right_manipulator"]: _offset_target(client, RIGHT_SLICE, -0.02),
                }
            )

client     = <dimos.core.rpc_client.RPCClient object at 0x76164eb0d880>
coordinator_client = <dimos.core.rpc_client.RPCClient object at 0x76164ca00860>
group_ids  = {'left_manipulator': 'openarm/left_manipulator', 'right_manipulator': 'openarm/right_manipulator'}
info       = {'base_link': 'openarm_body_link0', 'end_effector_link': None, 'has_joint_name_mapping': True, 'home_joints': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, ...], ...}
lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x76164c99fc50>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x76163d582e80>
tasks      = ['traj_arm']

dimos/e2e_tests/test_manipulation_planning_groups.py:211: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/core/rpc_client.py:93: in __call__
    result, unsub_fn = self._rpc.call_sync(
        args       = ({'openarm/left_manipulator': JointState(ts=1786163348.9394836, frame_id='', name=[], position=[0.02, 0.02, 0.02, 0.02...8.9399347, frame_id='', name=[], position=[-0.02, -0.02, -0.02, -0.02, -0.02, -0.02, -0.02], velocity=[], effort=[])},)
        kwargs     = {}
        self       = <dimos.core.rpc_client.RpcCall object at 0x7616a6c93410>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <dimos.protocol.rpc.pubsubrpc.LCMRPC object at 0x76164eb0ccb0>
name = 'ManipulationModule/plan_to_joint_targets'
arguments = (({'openarm/left_manipulator': JointState(ts=1786163348.9394836, frame_id='', name=[], position=[0.02, 0.02, 0.02, 0.0...9347, frame_id='', name=[], position=[-0.02, -0.02, -0.02, -0.02, -0.02, -0.02, -0.02], velocity=[], effort=[])},), {})
rpc_timeout = 120.0

    def call_sync(
        self, name: str, arguments: Args, rpc_timeout: float | None = None
    ) -> tuple[Any, Callable[[], None]]:
        if rpc_timeout is None:
            method = name.rsplit("/", 1)[-1]
            rpc_timeout = self.rpc_timeouts.get(name) or self.rpc_timeouts.get(
                method, self.default_rpc_timeout
            )
        event = threading.Event()
    
        def receive_value(val) -> None:  # type: ignore[no-untyped-def]
            event.result = val  # type: ignore[attr-defined]  # attach to event
            event.set()
    
        unsub_fn = self.call(name, arguments, receive_value)
        if not event.wait(rpc_timeout):
            # Retries register new callbacks. Remove this expired callback so
            # repeated timeouts do not accumulate entries in the shared response map.
            unsub_fn()
            raise TimeoutError(f"RPC call to '{name}' timed out after {rpc_timeout} seconds")
    
        # Check if the result is an exception and raise it
        result = event.result  # type: ignore[attr-defined]
        if isinstance(result, BaseException):
>           raise result
E           RuntimeError: Invalid goal configuration requested, cannot plan!

arguments  = (({'openarm/left_manipulator': JointState(ts=1786163348.9394836, frame_id='', name=[], position=[0.02, 0.02, 0.02, 0.0...9347, frame_id='', name=[], position=[-0.02, -0.02, -0.02, -0.02, -0.02, -0.02, -0.02], velocity=[], effort=[])},), {})
event      = <threading.Event at 0x76164e5cfe30: set>
method     = 'plan_to_joint_targets'
name       = 'ManipulationModule/plan_to_joint_targets'
receive_value = <function RPCClient.call_sync.<locals>.receive_value at 0x76163d581da0>
result     = RuntimeError('Invalid goal configuration requested, cannot plan!')
rpc_timeout = 120.0
self       = <dimos.protocol.rpc.pubsubrpc.LCMRPC object at 0x76164eb0ccb0>
unsub_fn   = <function PubSubRPCMixin.call_cb.<locals>.unsubscribe_callback at 0x76163d583380>

.../protocol/rpc/spec.py:88: RuntimeError

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