Feature: Add gripper control for control coordinator

[mustafab0]

Problem

No gripper control pipeline exists between ManipulationClient and hardware adapters.
XArm adapter missing set_gripper_enable(True) and wait=True, causing silent failures.

Solution

End-to-end gripper RPCs: Client → ManipulationModule → Coordinator → adapter.
Exposed ConnectedHardware.adapter property for direct gripper access, bypassing joint pipeline.

Breaking Changes

None.

How to Test

bash
pytest dimos/manipulation/test_manipulation_unit.py
pytest dimos/control/test_control_unit.py

closes DIM-442

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Greptile Overview

Greptile Summary

Implements end-to-end gripper control pipeline from ManipulationClient through ManipulationModule and ControlCoordinator to hardware adapters.

Key changes:

• Added RPC methods (set_gripper, get_gripper, open_gripper, close_gripper) at all layers
• Exposed ConnectedHardware.adapter property for direct gripper access, bypassing the joint control pipeline
• Fixed XArm adapter by adding set_gripper_enable(True) and wait=True parameter, resolving silent failures
• Added gripper_hardware_id config field to RobotModelConfig for hardware mapping
• Updated coordinator client initialization to check for gripper config

Architecture:
The implementation correctly bypasses the joint trajectory pipeline by accessing the adapter directly, which is appropriate since gripper control has different timing/synchronization requirements than coordinated joint motion.

Confidence Score: 5/5

• This PR is safe to merge with minimal risk
• Clean implementation of gripper control pipeline with proper error handling, thread safety (uses existing _hardware_lock), and appropriate architectural choices. The XArm adapter fixes address the root cause of silent failures. No breaking changes, and the changes are well-isolated.
• No files require special attention

Important Files Changed

Filename	Overview
dimos/control/coordinator.py	Added RPC methods for gripper control that delegate to hardware adapter via ConnectedHardware
dimos/hardware/manipulators/xarm/adapter.py	Fixed gripper control by adding set_gripper_enable(True) and wait=True parameter
dimos/manipulation/manipulation_module.py	Added gripper RPC methods with hardcoded 0.85m open position; updated coordinator client initialization logic

Sequence Diagram

sequenceDiagram
    participant Client as ManipulationClient
    participant Module as ManipulationModule
    participant Coordinator as ControlCoordinator
    participant Hardware as ConnectedHardware
    participant Adapter as XArmAdapter
    participant XArm as XArm Device

    Client->>Module: set_gripper(position, robot_name)
    Module->>Module: _get_gripper_hardware_id(robot_name)
    Module->>Module: _get_coordinator_client()
    Module->>Coordinator: set_gripper_position(hw_id, position)
    Coordinator->>Hardware: hw.adapter.write_gripper_position(position)
    Hardware->>Adapter: write_gripper_position(position)
    Adapter->>XArm: set_gripper_enable(True)
    Adapter->>Adapter: Convert meters to mm (position * 1000)
    Adapter->>XArm: set_gripper_position(pos_mm, wait=True)
    XArm-->>Adapter: code (0 = success)
    Adapter-->>Hardware: bool (success/failure)
    Hardware-->>Coordinator: bool (success/failure)
    Coordinator-->>Module: bool (success/failure)
    Module-->>Client: bool (success/failure)

    Note over Client,XArm: Similar flow for get_gripper, open_gripper, close_gripper

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