feat: new openarm adapter

[TomCC7]

Solution

Adds an opt-in openarm_rs manipulator adapter for OpenArm hardware using the Rust-backed can-motor-control Python binding.

The existing openarm adapter remains the default production path. openarm_rs is selected explicitly through hardware config or the new OpenArm RS blueprints, and is intended for binding-backed bring-up, state monitoring, MIT command validation, gravity compensation, and trajectory-control validation.

This also updates manipulator adapter discovery to use lightweight __registry__.py manifests, so listing available adapters does not import unselected hardware SDKs or optional bindings.

User-facing behavior

• adapter_type="openarm" continues to use the existing in-tree SocketCAN OpenArm adapter.
• adapter_type="openarm_rs" selects the Rust-backed OpenArm adapter.
• Missing can_motor_control now fails only when openarm_rs is selected/connected, with a clear install hint.
• Adapter listing remains healthy in partial installs.
• The OpenArm RS path defaults to CAN-FD and supports staged validation before active trajectory control.

How to Test

uv run pytest \
  dimos/hardware/manipulators/test_registry.py \
  dimos/hardware/manipulators/openarm_rs/test_adapter.py \
  dimos/hardware/manipulators/damiao/test_base_adapter.py -q

uv run mypy \
  dimos/hardware/manipulators/damiao/base_adapter.py \
  dimos/hardware/manipulators/openarm_rs/test_adapter.py
For hardware bring-up:
dimos run coordinator-openarm-rs
dimos run coordinator-openarm-rs-hold-test

[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
1866	1	1865	153

View the top 1 failed test(s) by shortest run time

dimos.project.test_no_init_files::test_no_init_files

Stack Traces | 0.017s run time

def test_no_init_files():
        dimos_dir = DIMOS_PROJECT_ROOT / "dimos"
        init_files = sorted(dimos_dir.rglob("__init__.py"))
        # The root dimos/__init__.py is allowed for the porcelain lazy import.
        init_files = [f for f in init_files if f != dimos_dir / "__init__.py"]
        if init_files:
            listing = "\n".join(f"  - {f.relative_to(dimos_dir)}" for f in init_files)
>           raise AssertionError(
                f"Found __init__.py files in dimos/:\n{listing}\n\n"
                "__init__.py files are not allowed because they lead to unnecessary "
                "extraneous imports. Everything should be imported straight from the "
                "source module."
            )
E           AssertionError: Found __init__.py files in dimos/:
E             - .../tasks/current_position_hold_task/__init__.py
E             - .../manipulators/damiao/__init__.py
E             - .../manipulators/openarm_rs/__init__.py
E           
E           __init__.py files are not allowed because they lead to unnecessary extraneous imports. Everything should be imported straight from the source module.

dimos_dir  = PosixPath('.../dimos/dimos/dimos')
init_files = [PosixPath('.../dimos/dimos/dimos/.../tasks/current_position_hold_task/__init__.py'), PosixPath('/ho...rs/damiao/__init__.py'), PosixPath('.../dimos/dimos/dimos/.../manipulators/openarm_rs/__init__.py')]
listing    = '  - .../tasks/current_position_hold_task/__init__.py\n  - .../manipulators/damiao/__init__.py\n  - .../manipulators/openarm_rs/__init__.py'

dimos/project/test_no_init_files.py:25: AssertionError

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