Task: Add meaningful manipulation tests

[mustafab0]

Problem

The manipulation module used a single flat joint namespace which broke when multiple robots were connected — joint names collided and state updates routed to the wrong robot. Blueprint configs also had redundant or None patterns, and drake_world.py had dead code left over from a removed model cache.

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Solution

Added unit tests for the two most critical pieces of new logic:

• _on_joint_state: routing, splitting, missing-joint handling, init capture, multi-robot correctness
• PickAndPlaceModule heuristics: object detection lookup, occlusion offset math, grasp orientation, place_back guard

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Breaking Changes

joint_name_mapping on RobotModelConfig now uses / as the prefix separator (e.g. left/joint1 instead of left_joint1). Existing blueprints in this repo are already updated. External code that constructs RobotModelConfig with custom joint_name_mapping dicts needs to adopt the new convention.

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How to Test

1. Run the unit tests: pytest dimos/manipulation/test_manipulation_unit.py dimos/manipulation/test_pick_and_place_unit.py -v
2. Run the full manipulation integration suite: pytest dimos/manipulation/ -v

[greptile-apps]

Greptile Summary

This PR adds unit tests for ManipulationModule._on_joint_state (routing, splitting, init-joint capture, multi-robot correctness) and PickAndPlaceModule heuristics (object lookup, occlusion-offset math, grasp orientation, place_back guard), and removes a now-redundant test_robot_config.py. The test structure is sound and the coverage of the new joint-namespace logic is meaningful.

Confidence Score: 5/5

Safe to merge — all remaining findings are P2 test quality improvements, not correctness blockers.

The PR is test-only. Both P2 findings (missing _init_joints in _make_module() and the weak norm-only quaternion assertion) are quality/fragility concerns rather than defects in the tests that exist today. No production code is changed.

No files require special attention.

Vulnerabilities

No security concerns identified. All files are test-only additions/deletions with no production code paths, credential handling, or external input processing.

Important Files Changed

Filename	Overview
dimos/manipulation/test_manipulation_unit.py	New unit tests for ManipulationModule covering state machine, robot selection, joint-name translation, execute, and the critical _on_joint_state routing; generally sound but _make_module() omits _init_joints initialization, leaving tests one refactor away from an AttributeError.
dimos/manipulation/test_pick_and_place_unit.py	New unit tests for PickAndPlaceModule covering object lookup, occlusion-offset math, grasp orientation, and place_back guard; the grasp-orientation near-object test only checks quaternion norm (always ~1), not the actual top-down orientation.

Sequence Diagram

sequenceDiagram
    participant Driver as JointState Driver
    participant MM as ManipulationModule
    participant Monitor as WorldMonitor

    Driver->>MM: _on_joint_state(aggregated_msg)
    MM->>MM: Build name-to-index map
    loop For each robot
        MM->>MM: get_coordinator_joint_names()
        alt All joints present
            MM->>MM: Extract sub-positions and sub-velocities
            MM->>Monitor: on_joint_state(sub_msg, robot_id)
            MM->>MM: Capture _init_joints on first call
        else Missing joints
            MM->>MM: Log warning and skip robot
        end
    end

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Comments Outside Diff (1)

1. dimos/manipulation/test_manipulation_unit.py, line 89-103 (link)

   _make_module() missing _init_joints initialization

   _on_joint_state unconditionally reads self._init_joints (line 286 of manipulation_module.py) after the early if self._world_monitor is None: return guard. Any future test that uses _make_module() directly (instead of _make_module_with_monitor) and calls _on_joint_state with a non-None world monitor will hit AttributeError: 'ManipulationModule' object has no attribute '_init_joints'. _make_module_with_monitor adds this attribute, but the base helper does not.

_{Reviews (1): Last reviewed commit: "deleted unnecessary robot config test" | Re-trigger Greptile}