refactored manipulation blueprints for better organization

[mustafab0]

Problem

Manipulation blueprints have been all over the place as the project has evolved
Closes DIM-1033

Solution

refactored blueprint to match existing robot blueprint format

Contributor License Agreement

• [ x] I have read and approved the CLA.

[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
2274	1	2273	74

View the full list of 1 ❄️ flaky test(s)

dimos.e2e_tests.test_dimsim_walk_forward::test_walk_forward

Flake rate in main: 29.63% (Passed 19 times, Failed 8 times)

Stack Traces | 208s run time

lcm_spy = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x748d3da77e00>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x748d3bb80040>
human_input = <function human_input.<locals>.send_human_input at 0x748d3bb80400>
dim_sim = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x748d3d4f2d50>

    @pytest.mark.self_hosted_large
    def test_walk_forward(lcm_spy, start_blueprint, human_input, dim_sim) -> None:
        start_blueprint(
            "run",
            "--disable",
            "spatial-memory",
            "--disable",
            "security-module",
            "unitree-go2-agentic",
            simulator="dimsim",
        )
        lcm_spy.save_topic(".../McpClient/on_system_modules/res")
        lcm_spy.wait_for_saved_topic(".../McpClient/on_system_modules/res", timeout=1200.0)
    
        origin_x, origin_y = 1, 2
        dim_sim.set_agent_position(origin_x, origin_y)
    
        human_input("move forward 3 meter")
    
>       lcm_spy.wait_until_odom_position(origin_x + 3, origin_y, threshold=0.4, timeout=120)

dim_sim    = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x748d3d4f2d50>
human_input = <function human_input.<locals>.send_human_input at 0x748d3bb80400>
lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x748d3da77e00>
origin_x   = 1
origin_y   = 2
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x748d3bb80040>

dimos/e2e_tests/test_dimsim_walk_forward.py:37: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/e2e_tests/lcm_spy.py:182: in wait_until_odom_position
    self.wait_for_message_result(
        predicate  = <function LcmSpy.wait_until_odom_position.<locals>.predicate at 0x748d3bb9ede0>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x748d3da77e00>
        threshold  = 0.4
        timeout    = 120
        x          = 4
        y          = 2
dimos/e2e_tests/lcm_spy.py:168: in wait_for_message_result
    self.wait_until(
        event      = <threading.Event at 0x748d3d4f2f60: unset>
        fail_message = 'Failed to get to position x=4, y=2'
        listener   = <function LcmSpy.wait_for_message_result.<locals>.listener at 0x748d3bb80360>
        predicate  = <function LcmSpy.wait_until_odom_position.<locals>.predicate at 0x748d3bb9ede0>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x748d3da77e00>
        timeout    = 120
        topic      = '/odom#geometry_msgs.PoseStamped'
        type       = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x748d3da77e00>

    def wait_until(
        self,
        *,
        condition: Callable[[], bool],
        timeout: float,
        error_message: str,
        poll_interval: float = 0.1,
    ) -> None:
        start_time = time.time()
        while time.time() - start_time < timeout:
            if condition():
                return
            time.sleep(poll_interval)
>       raise TimeoutError(error_message)
E       TimeoutError: Failed to get to position x=4, y=2

condition  = <bound method Event.is_set of <threading.Event at 0x748d3d4f2f60: unset>>
error_message = 'Failed to get to position x=4, y=2'
poll_interval = 0.1
self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x748d3da77e00>
start_time = 1782014154.8610508
timeout    = 120

dimos/e2e_tests/lcm_spy.py:105: TimeoutError

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[greptile-apps]

Greptile Summary

This PR reorganizes manipulation blueprints from scattered files (dimos/control/blueprints/, dimos/manipulation/blueprints.py, and flat per-robot blueprints.py files) into per-manipulator packages with dedicated sub-modules (basic, teleop, agentic, etc.), following the pattern already established for other robot types.

• Hardware factory functions, FK model paths, and planning model configs are extracted into per-robot config.py files; shared helpers (trajectory_task, coordinator, planner, mujoco_if_sim) move to dimos.robot.manipulators.common.*; all_blueprints.py entry-points are updated to the new paths.
• dimos/manipulation/blueprints.py and dimos/control/blueprints/teleop.py and _hardware.py are removed and replaced by the new structure; dimos/control/blueprints/dual.py is renamed and trimmed to common/mixed.py.
• The old xarm coordinator task-name mismatch and the simulation bypass in the dual-arm blueprint have been addressed by consistently using the xarm7_hardware()/xarm6_hardware() helpers and the trajectory_task() factory.

Confidence Score: 5/5

This is a well-structured refactoring with no functional regressions; all entry-point names are preserved, and simulation/CAN-port handling is correctly delegated to hardware helpers throughout.

The refactoring consistently applies the new trajectory_task() / coordinator() / planner() helpers across xArm, OpenArm, A-750, and most of piper. The one inconsistency (piper basic coordinator hardcodes traj_piper rather than deriving via the helper) is a cosmetic/future-proofing concern that does not affect any currently registered blueprint. The previously flagged xArm task-name mismatch and the dual-arm simulation bypass have been addressed.

dimos/robot/manipulators/piper/blueprints/basic.py — trajectory task name is inconsistent with the xArm pattern and would silently fail if a ManipulationModule planner is ever paired with this coordinator.

Important Files Changed

Filename	Overview
dimos/robot/manipulators/xarm/config.py	Extracts xArm hardware factory functions and model config helpers from the old _hardware.py and manipulation/blueprints.py; simulation branching correctly delegated to xarm7_hardware()/xarm6_hardware().
dimos/robot/manipulators/xarm/blueprints/basic.py	Single and dual xArm coordinator and planner blueprints now use trajectory_task() helper consistently; coordinator_xarm6 task-name mismatch from previous threads is resolved.
dimos/robot/manipulators/piper/blueprints/basic.py	Piper basic coordinator correctly wires piper_hardware() + mujoco_if_sim, but hardcodes 'traj_piper' as the task name instead of using the trajectory_task() helper, creating an inconsistency with xArm peers and the expected 'traj_arm' from make_piper_model_config(name='arm').
dimos/robot/manipulators/common/blueprints.py	Clean shared factory helpers (trajectory_task, cartesian_ik_task, teleop_ik_task, coordinator, planner) that eliminate repetition across manipulator stacks.
dimos/robot/manipulators/common/mixed.py	Renamed from control/blueprints/dual.py; retains coordinator_piper_xarm and adds coordinator_teleop_dual with correct CAN fallback (can_port or 'can0').
dimos/robot/manipulators/common/sim.py	New mujoco_if_sim helper uses a lazy import of MujocoSimModule, avoiding heavy simulation dependencies on non-simulation runs.
dimos/robot/all_blueprints.py	All entry-point paths updated to new module locations; no regressions in registered blueprint names found.
dimos/manipulation/blueprints.py	Reduced to a thin compatibility re-export layer pointing to the new per-robot modules; existing import names preserved.
dimos/robot/manipulators/xarm/blueprints/teleop.py	Teleop, servo, velocity, and combined xArm blueprints cleanly ported; correctly uses xarm7_hardware()/xarm6_hardware() for simulation-aware adapters.
dimos/robot/manipulators/piper/config.py	Piper hardware factory and model config helpers correctly extracted; piper_hardware() handles simulation and CAN fallback (can_port or 'can0').

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    subgraph common["dimos.robot.manipulators.common"]
        BP["blueprints.py\ntrajector_task / cartesian_ik_task\nteleop_ik_task / coordinator / planner"]
        SIM["sim.py\nmujoco_if_sim()"]
        MIXED["mixed.py\ncoordinator_piper_xarm\ncoordinator_teleop_dual"]
        MOCK["mock.py\ncoordinator_mock\ncoordinator_dual_mock"]
    end
    subgraph xarm["dimos.robot.manipulators.xarm"]
        XCFG["config.py\nxarm7_hardware / xarm6_hardware\nmake_xarm_model_config"]
        XBASIC["blueprints/basic.py\ncoordinator_xarm7/6\nxarm7_planner_coordinator"]
        XTELEOP["blueprints/teleop.py\ncoordinator_teleop_xarm7/6"]
        XAGENT["blueprints/agentic.py\nxarm_perception_agent"]
    end
    subgraph piper["dimos.robot.manipulators.piper"]
        PCFG["config.py\npiper_hardware\nmake_piper_model_config"]
        PBASIC["blueprints/basic.py\ncoordinator_piper"]
        PTELEOP["blueprints/teleop.py\ncoordinator_teleop_piper"]
    end
    ALL["robot/all_blueprints.py\nentry-point registry"]
    BP --> XBASIC & XTELEOP & PBASIC & PTELEOP
    SIM --> XBASIC & XTELEOP & PBASIC & PTELEOP
    XCFG --> XBASIC & XTELEOP & MIXED
    PCFG --> PBASIC & PTELEOP & MIXED
    XBASIC --> XAGENT
    XBASIC & XTELEOP & PBASIC & PTELEOP & MIXED & MOCK --> ALL

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%%{init: {'theme': 'base', 'themeVariables': {"darkMode": true, "background": "#0d1117", "primaryColor": "#21262d", "primaryTextColor": "#e6edf3", "primaryBorderColor": "#8b949e", "lineColor": "#8b949e", "textColor": "#e6edf3", "edgeLabelBackground": "#161b22", "actorBkg": "#21262d", "actorBorder": "#8b949e", "actorTextColor": "#e6edf3", "actorLineColor": "#8b949e", "signalColor": "#8b949e", "signalTextColor": "#e6edf3", "noteBkgColor": "#373320", "noteBorderColor": "#d4a72c", "noteTextColor": "#f0e6c0", "labelBoxBkgColor": "#21262d", "labelBoxBorderColor": "#8b949e", "labelTextColor": "#e6edf3", "loopTextColor": "#e6edf3", "activationBkgColor": "#30363d", "activationBorderColor": "#8b949e"}}}%%
flowchart TD
    subgraph common["dimos.robot.manipulators.common"]
        BP["blueprints.py\ntrajector_task / cartesian_ik_task\nteleop_ik_task / coordinator / planner"]
        SIM["sim.py\nmujoco_if_sim()"]
        MIXED["mixed.py\ncoordinator_piper_xarm\ncoordinator_teleop_dual"]
        MOCK["mock.py\ncoordinator_mock\ncoordinator_dual_mock"]
    end
    subgraph xarm["dimos.robot.manipulators.xarm"]
        XCFG["config.py\nxarm7_hardware / xarm6_hardware\nmake_xarm_model_config"]
        XBASIC["blueprints/basic.py\ncoordinator_xarm7/6\nxarm7_planner_coordinator"]
        XTELEOP["blueprints/teleop.py\ncoordinator_teleop_xarm7/6"]
        XAGENT["blueprints/agentic.py\nxarm_perception_agent"]
    end
    subgraph piper["dimos.robot.manipulators.piper"]
        PCFG["config.py\npiper_hardware\nmake_piper_model_config"]
        PBASIC["blueprints/basic.py\ncoordinator_piper"]
        PTELEOP["blueprints/teleop.py\ncoordinator_teleop_piper"]
    end
    ALL["robot/all_blueprints.py\nentry-point registry"]
    BP --> XBASIC & XTELEOP & PBASIC & PTELEOP
    SIM --> XBASIC & XTELEOP & PBASIC & PTELEOP
    XCFG --> XBASIC & XTELEOP & MIXED
    PCFG --> PBASIC & PTELEOP & MIXED
    XBASIC --> XAGENT
    XBASIC & XTELEOP & PBASIC & PTELEOP & MIXED & MOCK --> ALL

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