Task: Added simulation teleop blueprints for piper +xarm6 + xarm7

[mustafab0]

Problem

Running keyboard arm teleop requires launching multiple blueprints in separate terminals (coordinator + teleop UI separately). There is no single-command way to launch a keyboard-controlled arm with Drake visualization for Piper, XArm6, or XArm7.

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Solution

Added self-contained keyboard teleop blueprints for Piper, XArm6, and XArm7 under dimos/robot/manipulators/. Each blueprint composes a KeyboardTeleopModule (pygame UI), ControlCoordinator (mock adapter + CartesianIK at 100Hz), and ManipulationModule (Drake/Meshcat visualization) via autoconnect — runnable with a single dimos run command.

Created KeyboardTeleopModule in dimos/teleop/keyboard/ wrapping the cartesian jogger pygame UI as a DimOS Module with an Out[PoseStamped] port for coordinator integration.

Fixed _weld_base_if_needed to iterate all joints in the model instance and detect any existing world→base weld, rather than checking only for a joint named world_joint. This handles Piper's fixed_base_joint and any other naming convention.

Generated a static xarm7.urdf from xacro (matching the existing xarm6.urdf pattern) since the MuJoCo xarm7.xml has keyframe size issues with Pinocchio.

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Breaking Changes

None

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How to Test

1. dimos run keyboard-teleop-piper — verify Meshcat opens at localhost:7000 showing the Piper arm, pygame window appears with keyboard controls
2. dimos run keyboard-teleop-xarm6 — same for XArm6
3. dimos run keyboard-teleop-xarm7 — same for XArm7
4. In each, press W/S/A/D/Q/E to move the arm and confirm the robot updates in Meshcat
5. python -c "from dimos.robot.manipulators.piper.blueprints import keyboard_teleop_piper" — verify import
6. python -c "from dimos.robot.manipulators.xarm.blueprints import keyboard_teleop_xarm6, keyboard_teleop_xarm7" — verify import

[greptile-apps]

Greptile Summary

Added single-command keyboard teleop blueprints for Piper, XArm6, and XArm7 arms that compose a pygame-based KeyboardTeleopModule, ControlCoordinator (mock adapter + CartesianIK at 100Hz), and ManipulationModule (Drake/Meshcat visualization) via autoconnect.

Key changes:

• Created KeyboardTeleopModule wrapping the pygame cartesian jogger as a DimOS Module with Out[PoseStamped] port for coordinator integration
• Fixed _weld_base_if_needed in Drake world to iterate all joints and detect any world→base weld (handles fixed_base_joint for Piper, not just world_joint)
• Added three new blueprints: keyboard-teleop-piper, keyboard-teleop-xarm6, keyboard-teleop-xarm7
• Added comprehensive manipulation capability documentation

Quality:

• Clean module design with proper threading, stop events, and daemon thread handling
• Consistent with existing pygame patterns (SDL_VIDEODRIVER, error handling)
• Good separation of concerns between UI, control, and visualization layers
• Well-documented with usage examples

Confidence Score: 5/5

• This PR is safe to merge with minimal risk
• Score reflects well-structured implementation following existing patterns, comprehensive documentation, and bug fix that improves robustness. No breaking changes, clean module boundaries, and proper resource cleanup (threading, pygame)
• No files require special attention

Important Files Changed

Filename	Overview
dimos/teleop/keyboard/keyboard_teleop_module.py	New keyboard teleop module wrapping pygame UI as DimOS Module. Publishes PoseStamped commands to coordinator. Threading model looks correct with proper stop event handling.
dimos/manipulation/planning/world/drake_world.py	Improved base welding detection to iterate all joints instead of checking for specific joint name. Handles Piper's fixed_base_joint and other naming conventions correctly.
dimos/robot/manipulators/piper/blueprints.py	New Piper keyboard teleop blueprint composing KeyboardTeleopModule, ControlCoordinator, and ManipulationModule via autoconnect. Clean configuration with proper LCM transport setup.
dimos/robot/manipulators/xarm/blueprints.py	New XArm6/XArm7 keyboard teleop blueprints reusing existing config helpers. Proper 6-DOF and 7-DOF joint configurations with correct ee_joint_id values.
dimos/robot/all_blueprints.py	Registered three new keyboard teleop blueprints and keyboard_teleop_module in the global blueprint/module registries.
docs/capabilities/manipulation/readme.md	New comprehensive documentation for manipulation capability covering keyboard teleop, motion planning, architecture, blueprints, and supported robots.

Sequence Diagram

sequenceDiagram
    participant User
    participant KeyboardTeleopModule
    participant LCM as LCM Transport
    participant ControlCoordinator
    participant CartesianIK
    participant ManipulationModule
    participant Drake
    participant Meshcat

    User->>KeyboardTeleopModule: Press W/S/A/D/Q/E keys
    KeyboardTeleopModule->>KeyboardTeleopModule: Update current_pose based on dt
    KeyboardTeleopModule->>KeyboardTeleopModule: Clamp to workspace limits
    KeyboardTeleopModule->>LCM: Publish PoseStamped (cartesian_command)
    LCM->>ControlCoordinator: Forward cartesian_command
    ControlCoordinator->>CartesianIK: Process task (100Hz tick)
    CartesianIK->>CartesianIK: Solve IK using Pinocchio
    CartesianIK->>ControlCoordinator: Return joint targets
    ControlCoordinator->>ControlCoordinator: Apply to mock adapter
    ControlCoordinator->>LCM: Publish JointState
    LCM->>ManipulationModule: Forward joint_state
    ManipulationModule->>Drake: Update robot configuration
    Drake->>Meshcat: Render visualization (localhost:7000)
    Meshcat-->>User: Display updated robot pose

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[spomichter]

I thought we already have a teleop module for keyboard?