feat: roboplan integration

[TomCC7]

Integrate roboplan into manipulation module. One class implements roboplan's worldspec+plannerspec, achieving composition of roboplan world+roboplan planner/generic planner.

Better merge after #2413 since we resurfaced creation of world/planner specs.

Design choices:

1. roboplan python binding installed through custom fork, which is uv-installable (https://github.com/TomCC7/roboplan).
2. Single class implements both world/planner specs to make planner impl more compact.
3. A default srdf are generated for roboplan. Can formalize in later movegroup concept introduction.

How to Test

launch coordinator and pass argument for roboplan world/planner.

# roboplan planner
uv run dimos run xarm7-planner-coordinator \
  -o manipulationmodule.world_backend=roboplan \
  -o manipulationmodule.planner_name=roboplan
# generic planner
uv run dimos run xarm7-planner-coordinator \
  -o manipulationmodule.world_backend=roboplan \
  -o manipulationmodule.planner_name=rrt_connect
# and client in a different terminal...
uv run python -i -m dimos.manipulation.planning.examples.manipulation_client

Contributor License Agreement

• I have read and approved the CLA.

[codecov]

Codecov Report

❌ Patch coverage is 77.01934% with 202 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
...imos/manipulation/planning/world/roboplan_world.py	63.47%	129 Missing and 54 partials ⚠️
dimos/manipulation/planning/factory.py	53.57%	7 Missing and 6 partials ⚠️
dimos/manipulation/test_roboplan_world.py	98.41%	4 Missing ⚠️
dimos/manipulation/test_planning_factory.py	97.82%	1 Missing and 1 partial ⚠️

Flag	Coverage Δ
OS-ubuntu-24.04-arm	63.85% <77.01%> (-0.01%)	⬇️
OS-ubuntu-latest	64.67% <77.01%> (-0.03%)	⬇️
Py-3.10	64.67% <77.01%> (-0.03%)	⬇️
Py-3.11	64.67% <77.01%> (-0.03%)	⬇️
Py-3.12	64.67% <77.01%> (-0.03%)	⬇️
Py-3.13	64.67% <77.01%> (-0.03%)	⬇️
Py-3.14	64.68% <77.01%> (-0.03%)	⬇️
Py-3.14t	64.67% <77.01%> (-0.03%)	⬇️
SelfHosted-Large	30.32% <23.80%> (?)
SelfHosted-Linux	38.21% <24.60%> (-0.08%)	⬇️
SelfHosted-macOS	36.94% <24.60%> (-0.11%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
dimos/manipulation/manipulation_module.py	47.62% <100.00%> (+0.62%)	⬆️
dimos/manipulation/test_planning_factory.py	97.82% <97.82%> (ø)
dimos/manipulation/test_roboplan_world.py	98.41% <98.41%> (ø)
dimos/manipulation/planning/factory.py	64.70% <53.57%> (+20.26%)	⬆️
...imos/manipulation/planning/world/roboplan_world.py	63.47% <63.47%> (ø)

... and 19 files with indirect coverage changes

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[greptile-apps]

Greptile Summary

This PR integrates RoboPlan as an optional world and planner backend alongside the existing Drake backend. A new RoboPlanWorld class (840 lines) simultaneously implements WorldSpec and PlannerSpec, allowing both Drake's RRT-Connect and RoboPlan's native planner to run over the same scene.

• New RoboPlanWorld adapter handles scene construction (URDF + auto-generated SRDF), collision queries with multi-signature fallback, FK/Jacobian, and native RRT planning; previous review findings (SRDF temp-dir accumulation, empty-path mis-reported as SUCCESS, unnamed path waypoints, TypeError swallowed in collision fallback) are all addressed in this version.
• factory.py gains validate_backend_combination() for early startup validation, and a new world_backend parameter that threads through create_world, create_planner, and create_planning_stack.
• pyproject.toml adds a manipulation-roboplan extra using an unpinned HTTPS git source; the committed uv.lock pins to a specific commit hash, preserving reproducibility for uv sync.

Confidence Score: 5/5

Safe to merge; the RoboPlan backend is opt-in and the default Drake path is unchanged.

All concerns flagged in previous review rounds are resolved in this version: SRDF temp dirs now use tempfile.TemporaryDirectory scoped to the world object, empty planner results are caught and returned as NO_SOLUTION, path waypoints always carry names from robot.config.joint_names, and every TypeError fallback attempt in _has_collisions is individually wrapped. The dependency URL is HTTPS (not SSH), so CI without SSH keys will work. The lock file pins to a specific commit, preserving reproducibility. The only remaining finding is a P2: obstacle.color is silently replaced with a hardcoded value.

dimos/manipulation/planning/world/roboplan_world.py — the _call_first_obstacle_method ignores obstacle.color

Important Files Changed

Filename	Overview
dimos/manipulation/planning/world/roboplan_world.py	New 840-line RoboPlan world/planner adapter. Previous reviewer concerns (SRDF temp accumulation, empty-path SUCCESS, unnamed path waypoints, TypeError fallback loop) are all addressed. Minor: obstacle.color is silently replaced with a hardcoded orange value.
dimos/manipulation/planning/factory.py	Adds validate_backend_combination(), roboplan branch in create_world/create_planner, and world_backend threading through create_planning_stack. Backend validation is clean and double-checked (both at module entry and inside factory functions).
dimos/manipulation/manipulation_module.py	Adds world_backend config field and threads it through WorldMonitor and create_planner; validate_backend_combination is called eagerly at startup. Change is minimal and correct.
dimos/manipulation/test_planning_factory.py	New factory-level unit tests covering backend validation, planner routing, and module wiring. Good coverage of invalid combinations and no-robot early-exit path.
dimos/manipulation/test_roboplan_world.py	Comprehensive fake-roboplan test suite covering robot registration, collision checks, edge checks, FK/Jacobian, native planning, SRDF generation, and fallback behaviors including empty-path and TypeError-on-collision-context.
pyproject.toml	Adds manipulation-roboplan extra with an unpinned git HTTPS dependency; the lockfile pins to a specific commit hash so reproducibility is maintained through uv.lock. Commit pinning in pyproject.toml is explicitly deferred per the PR description.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A[ManipulationModuleConfig\nworld_backend / planner_name] --> B[validate_backend_combination]
    B --> C{world_backend?}
    C -->|drake| D[DrakeWorld]
    C -->|roboplan| E[RoboPlanWorld]
    E --> F{planner_name?}
    D --> G{planner_name?}
    F -->|rrt_connect| H[RRTConnectPlanner\nuses RoboPlanWorld collision checks]
    F -->|roboplan| I[RoboPlanWorld\nacts as its own PlannerSpec]
    G -->|rrt_connect| J[RRTConnectPlanner\nuses DrakeWorld]
    I --> K[roboplan.rrt.RRT\nnative planner]
    H --> L[PlanningResult]
    J --> L
    K --> L

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_{Reviews (6): Last reviewed commit: "fix: continue RoboPlan collision fallbac..." | Re-trigger Greptile}