feat(manipulation): validate connected grasp plans

[TomCC7]

Contribution path

• Linked issue: DIM-1401

Problem

Validating pre-grasp, grasp, and retreat independently can accept legs that are individually feasible but cannot be executed as one continuous sequence.

Solution

• Validate pre-grasp, grasp, and retreat as a connected sequence.
• Carry each planned endpoint into the next leg.
• Support explicit planning start states in the manipulation and RoboPlan interfaces.
• Add deterministic unit and planner-contract coverage plus OpenSpec artifacts.

This is stack 3 of 5. Previous: #3363. Next: #3365. Review the diff against feat/grasp-02-pipeline.

How to Test

uv run pytest dimos/manipulation/test_manipulation_unit.py dimos/manipulation/test_pick_and_place_unit.py dimos/manipulation/test_roboplan_world.py -v

Verified: 159 focused connected-planning tests passed; Ruff passed on the changed Python files.

AI assistance

OpenAI Codex with GPT-5 was used extensively for branch extraction, implementation cleanup, verification, and this description.

Checklist

• I have read and approved the CLA.

[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
3602	1	3601	174

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

dimos.robot.test_all_blueprints_generation::test_all_blueprints_is_current

Stack Traces | 4.06s run time

def test_all_blueprints_is_current() -> None:
        root = DIMOS_PROJECT_ROOT / "dimos"
        all_blueprints, all_modules = _scan_for_blueprints(root)
    
        common = set(all_blueprints.keys()) & set(all_modules.keys())
        assert not common, (
            f"Names must be unique across blueprints and modules, "
            f"but these appear in both: {sorted(common)}"
        )
    
        generated_content = _generate_all_blueprints_content(all_blueprints, all_modules)
    
        file_path = root / "robot" / "all_blueprints.py"
    
        if "CI" in os.environ:
            if not file_path.exists():
                pytest.fail(f"all_blueprints.py does not exist at {file_path}")
    
            current_content = file_path.read_text()
            if current_content != generated_content:
                diff = difflib.unified_diff(
                    current_content.splitlines(keepends=True),
                    generated_content.splitlines(keepends=True),
                    fromfile="all_blueprints.py (current)",
                    tofile="all_blueprints.py (generated)",
                )
                diff_str = "".join(diff)
>               pytest.fail(
                    f"all_blueprints.py is out of date. Run "
                    f"`pytest dimos/robot/test_all_blueprints_generation.py` locally to update.\n\n"
                    f"Diff:\n{diff_str}"
                )
E               Failed: all_blueprints.py is out of date. Run `pytest dimos/robot/test_all_blueprints_generation.py` locally to update.
E               
E               Diff:
E               --- all_blueprints.py (current)
E               +++ all_blueprints.py (generated)
E               @@ -216,6 +216,7 @@
E                    "goal-relay": "dimos.navigation.nav_3d.mls_planner.goal_relay.GoalRelay",
E                    "google-maps-skill-container": "dimos.agents.skills.google_maps_skill_container.GoogleMapsSkillContainer",
E                    "gps-nav-skill-container": "dimos.agents.skills.gps_nav_skill.GpsNavSkillContainer",
E               +    "grasp-gen-x-module": "dimos.manipulation.grasping.grasp_gen_x.GraspGenXModule",
E                    "grasping-module": "dimos.manipulation.grasping.grasping.GraspingModule",
E                    "gstreamer-camera-module": "dimos.hardware.sensors.camera.gstreamer.gstreamer_camera.GstreamerCameraModule",
E                    "hosted-stats-module": "dimos.teleop.hosted.hosted_stats.HostedStatsModule",

all_blueprints = {'a1z-planner-coordinator': 'dimos.robot.manipulators.a1z.blueprints.basic:a1z_planner_coordinator', 'alfred-nav': 'di...rs.a1z.blueprints.basic:coordinator_a1z', 'coordinator-basic': 'dimos.control.blueprints.basic:coordinator_basic', ...}
all_modules = {'alfred-high-level': 'dimos.robot.diy.alfred.effector_high_level.AlfredHighLevel', 'arm-command-module': 'dimos.teleo...t_extensions.ArmTeleopModule', 'b-box-navigation-module': 'dimos.navigation.bbox_navigation.BBoxNavigationModule', ...}
common     = set()
current_content = '# Copyright 2025-2026 Dimensional Inc.\n#\n# Licensed under the Apache License, Version 2.0 (the "License");\n# you m...sted.blueprints.cloudflare.WristCamera",\n    "zed-camera": "dimos.hardware.sensors.camera.zed.camera.ZEDCamera",\n}\n'
diff       = <generator object unified_diff at 0xff5e96fe5220>
diff_str   = '--- all_blueprints.py (current)\n+++ all_blueprints.py (generated)\n@@ -216,6 +216,7 @@\n     "goal-relay": "dimos.na...er_camera.GstreamerCameraModule",\n     "hosted-stats-module": "dimos.teleop.hosted.hosted_stats.HostedStatsModule",\n'
file_path  = PosixPath('.../dimos/robot/all_blueprints.py')
generated_content = '# Copyright 2025-2026 Dimensional Inc.\n#\n# Licensed under the Apache License, Version 2.0 (the "License");\n# you m...sted.blueprints.cloudflare.WristCamera",\n    "zed-camera": "dimos.hardware.sensors.camera.zed.camera.ZEDCamera",\n}\n'
root       = PosixPath('.../dimos/dimos/dimos')

dimos/robot/test_all_blueprints_generation.py:76: Failed

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