Task/manipulation tests fixes

[mustafab0]

Problem

Manipulation blueprints required running multiple dimos run commands in separate terminals (e.g. coordinator-mock + xarm7-planner-coordinator), which was confusing and incompatible with the daemon's single-blueprint limitation. The interactive RPC client was also missing, and pyrealsense2 wasn't listed as a manipulation dependency.

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Solution

• Renamed manipulation_blueprints.py to blueprints.py for consistency with other modules.
• Baked the mock coordinator into xarm7_planner_coordinator via autoconnect, so it runs as a single dimos run xarm7-planner-coordinator command.
• Added manipulation_client.py — an interactive Python REPL (python -i) for plan/preview/execute workflows against a running ManipulationModule.
• Added pyrealsense2 to the manipulation dependency group in pyproject.toml.
• Updated README quick start to reflect single-command blueprints.

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Breaking Changes

• dimos run xarm7-planner-coordinator no longer requires a separate dimos run coordinator-mock. If you were running the coordinator separately for this blueprint, you can stop doing that.

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How to Test

[greptile-apps]

Greptile Summary

This PR simplifies the manipulation workflow by renaming manipulation_blueprints.py → blueprints.py, baking the mock coordinator directly into xarm7_planner_coordinator via autoconnect (eliminating the need for a separate terminal), adding a new interactive manipulation_client.py RPC shell, and adding pyrealsense2 to the manipulation dependency group.

Key changes:

• dimos/manipulation/blueprints.py: xarm7_planner_coordinator now self-contains a control_coordinator (mock adapter) via autoconnect — single-command launch is now functional
• dimos/manipulation/planning/examples/manipulation_client.py: New interactive REPL for plan/preview/execute workflows; however, the home() function has a bug — it passes a raw list directly to plan_to_joints instead of wrapping it in a JointState (as plan() correctly does), and does not guard against get_robot_info() returning None
• dimos/robot/all_blueprints.py + dimos/robot/manipulators/xarm/blueprints.py: Import paths updated to reflect the rename — correct and complete
• pyproject.toml / uv.lock: pyrealsense2 added to manipulation extras — appropriate fix
• unitree_sdk2_python: A git submodule was added that is entirely unrelated to this PR's stated goals and was not mentioned in the description — this should be reviewed for accidental inclusion

Confidence Score: 3/5

• Safe to merge after fixing the home() bug in manipulation_client.py and confirming the unrelated unitree_sdk2_python submodule addition is intentional.
• The core blueprint refactoring (rename + autoconnect for the mock coordinator) is clean and well-structured. The import path updates are mechanical and complete. However, the new manipulation_client.py contains a clear type mismatch bug in home() — it passes a raw list to plan_to_joints which expects a JointState, unlike the plan() helper which wraps correctly — and a null-safety issue on the same function. Additionally, an untracked unitree_sdk2_python git submodule appears in the diff with no mention in the PR description, which warrants explicit confirmation before merging.
• dimos/manipulation/planning/examples/manipulation_client.py (home() bug) and unitree_sdk2_python (unexplained submodule addition)

Important Files Changed

Filename	Overview
dimos/manipulation/blueprints.py	Renamed from manipulation_blueprints.py; xarm7_planner_coordinator now self-contains the mock coordinator via autoconnect, eliminating the need for a separate dimos run coordinator-mock process. Logic is clean and consistent with how other blueprints in the codebase compose coordinators.
dimos/manipulation/planning/examples/manipulation_client.py	New interactive RPC client. The home() function has two bugs: (1) it passes a raw list instead of a JointState to plan_to_joints — unlike plan() which correctly wraps the list — causing a runtime type mismatch; (2) it calls .get() on the result of get_robot_info() which can return None, leading to an AttributeError.
dimos/robot/all_blueprints.py	Import paths updated from dimos.manipulation.manipulation_blueprints to dimos.manipulation.blueprints across all five affected blueprint keys. Change is mechanical and correct.
dimos/robot/manipulators/xarm/blueprints.py	Import updated from manipulation_blueprints to blueprints. Purely a rename-tracking change with no functional impact.
pyproject.toml	pyrealsense2 correctly added to the manipulation extras group, matching the RealSense camera dependency used in xarm_perception blueprints.
unitree_sdk2_python	A unitree_sdk2_python git submodule was added at commit a035adea, but this is completely unrelated to the manipulation/blueprint changes described in the PR and was not mentioned in the PR description. Likely an accidental inclusion.

Sequence Diagram

sequenceDiagram
    participant User
    participant CLI as dimos CLI
    participant XAP as xarm7_planner_coordinator<br/>(autoconnect)
    participant MM as ManipulationModule
    participant CC as control_coordinator<br/>(mock adapter)
    participant Client as manipulation_client.py<br/>(python -i)

    Note over CLI,XAP: Single command: dimos run xarm7-planner-coordinator
    CLI->>XAP: launch blueprint
    XAP->>MM: start ManipulationModule
    XAP->>CC: start control_coordinator (mock)
    MM-->>CC: LCMTransport /coordinator/joint_state

    Note over User,Client: Second terminal: python -i -m ...manipulation_client
    User->>Client: import / _client = RPCClient(None, ManipulationModule)
    Client->>MM: RPC connection (LCMRPC)

    User->>Client: plan([0.1]*7)
    Client->>MM: plan_to_joints(JointState)
    MM-->>Client: bool (success)

    User->>Client: preview()
    Client->>MM: preview_path(duration)
    MM-->>Client: Meshcat URL

    User->>Client: execute()
    Client->>MM: execute()
    MM->>CC: trajectory RPC (traj_arm)
    CC-->>MM: execution result
    MM-->>Client: bool (success)

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_{Last reviewed commit: 00d626c}