feat(manipulation): add live grasp visualization

[TomCC7]

Contribution path

• Linked issue: DIM-1401

Problem

Operators cannot inspect ranked grasp candidates, the selected grasp, its approach path, or execution state through the manipulation visualizer. This makes planning failures and unexpected selections difficult to diagnose.

Solution

• Add reusable manipulation visualization layers.
• Render ranked candidates, the selected grasp, approach paths, and live execution state.
• Add Viser integration and hermetic tests.
• Keep production grasp geometry self-contained instead of importing demo code.

This is stack 4 of 5. Previous: #3364. Next: #3366. Review the diff against feat/grasp-03-connected-plans.

How to Test

uv run pytest dimos/manipulation/visualization dimos/manipulation/planning/monitor/test_world_monitor.py -v

Verified: 168 generic visualization and world-monitor tests passed; 78 focused live-grasp visualization and pick tests passed; Ruff passed.

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
3625	1	3624	175

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

dimos.robot.test_all_blueprints_generation::test_all_blueprints_is_current

Stack Traces | 4.1s 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 0xff94f4bd86c0>
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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