Planning Group 5: Add group-aware Viser planning

[TomCC7]

Summary

• add the planning-group-aware Viser manipulation panel while preserving the UI contract from cc/spec/movegroup@0edb8d3dd
• add synchronized, group-native multi-robot plan preview with safe cancellation and freshness checks
• replace the robot-scoped Viser adapter with a visualization-local group backend
• rename dual-xarm6-planner-coordinator-mock-meshcat to dual-xarm6-planner-coordinator and default that blueprint to Viser

Validation

• 152 required manipulation and Viser tests passed with no skips
• targeted mypy passed for all changed production files
• Ruff, formatting, and git diff --check passed
• strict OpenSpec validation passed
• blueprint tests: 4 passed
• generated blueprint registry test: 1 passed

Notes

• UI parity was reviewed against 0edb8d3dd only; the prior upstream extraction commit was not used
• UI review was code-level/manual-contract validation, not a live browser or hardware run

[codecov]

Codecov Report

❌ Patch coverage is 84.32574% with 537 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/manipulation/visualization/viser/gui.py	74.33%	79 Missing and 56 partials ⚠️
dimos/manipulation/manipulation_module.py	69.40%	61 Missing and 36 partials ⚠️
...planning/world/test_drake_world_planning_groups.py	12.03%	95 Missing ⚠️
dimos/manipulation/planning/world/drake_world.py	14.11%	73 Missing ⚠️
dimos/manipulation/visualization/operator.py	84.04%	17 Missing and 13 partials ⚠️
...on/visualization/viser/test_viser_visualization.py	95.99%	22 Missing and 3 partials ⚠️
...mos/manipulation/visualization/viser/visualizer.py	68.57%	13 Missing and 9 partials ⚠️
dimos/manipulation/visualization/viser/scene.py	88.60%	10 Missing and 8 partials ⚠️
...mos/manipulation/planning/monitor/world_monitor.py	72.91%	8 Missing and 5 partials ⚠️
dimos/manipulation/visualization/test_operator.py	95.33%	8 Missing and 1 partial ⚠️
... and 7 more

@@                    Coverage Diff                     @@
##           cc/planning_group/main    #2860      +/-   ##
==========================================================
+ Coverage                   71.33%   71.52%   +0.18%     
==========================================================
  Files                         905      916      +11     
  Lines                       81625    84810    +3185     
  Branches                     7504     8308     +804     
==========================================================
+ Hits                        58227    60657    +2430     
- Misses                      21488    22070     +582     
- Partials                     1910     2083     +173     

Flag	Coverage Δ
OS-ubuntu-24.04-arm	64.21% <52.45%> (+0.65%)	⬆️
OS-ubuntu-latest	66.55% <84.17%> (+0.35%)	⬆️
Py-3.10	66.55% <84.17%> (+0.36%)	⬆️
Py-3.11	66.55% <84.17%> (+0.35%)	⬆️
Py-3.12	66.55% <84.17%> (+0.36%)	⬆️
Py-3.13	66.55% <84.17%> (+0.35%)	⬆️
Py-3.14	66.56% <84.17%> (+0.35%)	⬆️
Py-3.14t	66.55% <84.17%> (+0.35%)	⬆️
SelfHosted-Large	29.67% <19.96%> (-0.22%)	⬇️
SelfHosted-Linux	36.92% <23.40%> (-0.42%)	⬇️
SelfHosted-macOS	35.82% <23.40%> (-0.41%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
dimos/control/test_control.py	95.19% <100.00%> (+0.62%)	⬆️
dimos/manipulation/_test_manipulation_helpers.py	100.00% <100.00%> (ø)
dimos/manipulation/planning/spec/models.py	98.78% <100.00%> (-1.22%)	⬇️
dimos/manipulation/planning/spec/protocols.py	100.00% <100.00%> (ø)
...anipulation/test_generated_plan_materialization.py	100.00% <100.00%> (ø)
dimos/manipulation/test_manipulation_module.py	100.00% <100.00%> (+1.36%)	⬆️
dimos/manipulation/test_manipulation_unit.py	100.00% <100.00%> (+0.24%)	⬆️
...os/manipulation/test_plan_execution_reservation.py	100.00% <100.00%> (ø)
dimos/manipulation/visualization/factory.py	88.23% <100.00%> (+19.48%)	⬆️
...imos/manipulation/visualization/viser/animation.py	100.00% <100.00%> (ø)
... and 23 more

... and 12 files with indirect coverage changes

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[greptile-apps]

Greptile Summary

This PR adds group-aware manipulation planning and Viser controls. The main changes are:

• Group-native target editing, planning, preview, and execution in the Viser panel.
• Shared-clock generated plans split into robot-local execution trajectories.
• Scoped preview animation state for Viser and Drake visualizations.
• Updated blueprint naming and Viser defaults for the dual xArm coordinator.

Confidence Score: 4/5

This is close, but these issues should be fixed before merging.

• Explicit plan execution can send the same trajectory more than once.
• The cancel fallback can leave a preview ghost running after the operator presses Cancel.

dimos/manipulation/manipulation_module.py and dimos/manipulation/visualization/operator.py

Important Files Changed

Filename	Overview
dimos/manipulation/manipulation_module.py	Adds generated-plan materialization, freshness checks, and explicit-plan execution, but the explicit path can dispatch the same plan more than once.
dimos/manipulation/visualization/operator.py	Adds the UI-neutral manipulation facade, but the cancel fallback can leave an active preview running.
dimos/manipulation/visualization/viser/gui.py	Adds group-aware panel state, target evaluation, planning, preview, and execution flows.
dimos/manipulation/visualization/viser/scene.py	Adds per-robot preview animation generations and scoped preview visibility updates.

_{Reviews (10): Last reviewed commit: "fix: address manipulation visualization ..." | Re-trigger Greptile}