feat(manipulation): unify xArm pick and place

[TomCC7]

Summary

• unify simulated and real xArm pick/place around one generic manipulation workflow
• expose two runnable blueprints: xarm-box-filling for the real demo and xarm-grasp-sim-agent for MuJoCo
• keep box-filling policy in the derived module while the base module exposes clean scan, select, pick, and place operations
• use provider-supplied grasp candidates, revalidate prepared picks, verify holding, and place by held-object reference
• keep collision checking on free-space motion and use explicit unchecked linear motion only for contact legs
• integrate the current origin/main trajectory parametrization design

Validation

• CI=1 uv run pytest dimos/robot/test_all_blueprints_generation.py dimos/robot/test_all_blueprints.py dimos/manipulation/test_manipulation_unit.py dimos/manipulation/test_pick_and_place_unit.py dimos/manipulation/test_generated_plan_materialization.py dimos/manipulation/test_plan_execution.py dimos/manipulation/planning/monitor/test_world_obstacle_suppression.py dimos/manipulation/planning/planners/test_roboplan_config.py -q
  • 235 passed, 3 skipped
• uv run mypy dimos/manipulation/manipulation_module.py dimos/manipulation/pick_and_place_module.py
• uv run ruff check on the merged manipulation and blueprint files

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[codecov]

❌ 2 Tests Failed:

Tests completed	Failed	Passed	Skipped
3844	2	3842	176

View the top 2 failed test(s) by shortest run time

dimos.codebase_checks.test_inline_heavy_imports::test_heavy_imports_are_inline

Stack Traces | 1.89s run time

def test_heavy_imports_are_inline() -> None:
        """Fail if any file imports cv2/open3d/rerun at module level."""
        hits = find_eager_heavy_imports()
        if hits:
            listing = "\n".join(
                f"  - dimos/{f}:{line}: `{module}`"
                for f, lines in sorted(hits.items())
                for line, module in lines
            )
>           raise AssertionError(
                f"Found module-level import(s) of {'/'.join(HEAVY_MODULES)}:\n{listing}\n\n"
                "These libraries load large native extensions into every process that "
                "transitively imports the module. Import them inside the function or "
                "method that uses them; imports needed only for type annotations go "
                "under `if TYPE_CHECKING:`."
            )
E           AssertionError: Found module-level import(s) of cv2/open3d/rerun:
E             - .../manipulation/visualization/pose_overlay.py:17: `cv2`
E             - .../manipulation/visualization/rerun.py:20: `rerun.blueprint`
E             - dimos/perception/sim_object_scene.py:30: `open3d`
E           
E           These libraries load large native extensions into every process that transitively imports the module. Import them inside the function or method that uses them; imports needed only for type annotations go under `if TYPE_CHECKING:`.

hits       = {'manipulation/visualization/pose_overlay.py': [(17, 'cv2')], 'manipulation/visualization/rerun.py': [(20, 'rerun.blueprint')], 'perception/sim_object_scene.py': [(30, 'open3d')]}
listing    = '  - .../manipulation/visualization/pose_overlay.py:17: `cv2`\n  - .../manipulation/visualization/rerun.py:20: `rerun.blueprint`\n  - dimos/perception/sim_object_scene.py:30: `open3d`'

dimos/codebase_checks/test_inline_heavy_imports.py:92: AssertionError

dimos.codebase_checks.test_no_dunder_new::test_no_dunder_new

Stack Traces | 2.05s run time

def test_no_dunder_new() -> None:
        """Fail if any test file calls `__new__` to bypass `__init__`."""
        dimos_dir = DIMOS_PROJECT_ROOT / "dimos"
        hits = find_dunder_new_calls()
        if hits:
            listing = "\n".join(
                f"  - {p.relative_to(dimos_dir)}:{lineno}: {line.strip()}" for p, lineno, line in hits
            )
>           raise AssertionError(
                f"Found __new__ call(s) in test files:\n{listing}\n\n"
                "Tests must construct objects with the real constructor: __init__ is "
                "code under test too, and an object assembled by hand silently rots "
                "when the constructor changes. If __init__ does heavy work, mock the "
                "collaborators it needs instead of skipping it. Only if that is truly "
                "impossible, add the call to the WHITELIST in "
                "dimos/codebase_checks/test_no_dunder_new.py."
            )
E           AssertionError: Found __new__ call(s) in test files:
E             - manipulation/test_table_collision.py:23: module = object.__new__(ManipulationModule)
E           
E           Tests must construct objects with the real constructor: __init__ is code under test too, and an object assembled by hand silently rots when the constructor changes. If __init__ does heavy work, mock the collaborators it needs instead of skipping it. Only if that is truly impossible, add the call to the WHITELIST in dimos/codebase_checks/test_no_dunder_new.py.

dimos_dir  = PosixPath('.../dimos/dimos/dimos')
hits       = [(PosixPath('.../dimos/dimos/dimos/manipulation/test_table_collision.py'), 23, '    module = object.__new__(ManipulationModule)')]
listing    = '  - manipulation/test_table_collision.py:23: module = object.__new__(ManipulationModule)'

dimos/codebase_checks/test_no_dunder_new.py:67: AssertionError

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