Codecov Report

❌ Patch coverage is 83.42105% with 126 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

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  Lines       74420    75132     +712     
  Branches     6668     6717      +49     
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+ Hits        52077    52673     +596     
- Misses      20636    20728      +92     
- Partials     1707     1731      +24     

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Greptile Summary

This PR adds an optional VAMP planner backend for joint-space motion planning, alongside a mock-control Franka Panda catalog entry and panda-coordinator blueprint for testing. The implementation uses typed Pydantic config variants with discriminated unions for world/planner selection, strict stack validation to enforce VAMP world ↔ VAMP planner pairing, and lazy imports so the vamp-planner extra is only required when actually configured.

• VAMP backend: VampWorld wraps VAMP's native validity checking, FK, and environment APIs; VampPlanner is a thin adapter that delegates to VampWorld.plan_joint_path, which handles algorithm selection, optional simplification, and path validation.
• Loader: Official VAMP robot modules (panda, ur5, etc.) are imported directly; custom artifacts can be loaded from a directory or file path with the previous sys.path mutation issue now fixed via try/finally cleanup.
• Franka Panda catalog: Adds LFS-backed URDF/SRDF assets, explicit joint names and home config, and a panda-coordinator mock-control blueprint pairing ManipulationModule with ControlCoordinator.

Confidence Score: 4/5

Safe to merge with one fix in loader.py's file-based custom artifact path.

The file-based custom artifact loader adds the module to sys.modules before exec_module completes. If loading fails, the broken module object is permanently cached under the file's stem name. Any subsequent attempt to load that same stem — even after fixing the artifact — silently returns the broken object for the remainder of the process. This affects anyone using the CustomVampArtifactConfig file path variant; the official robot path is unaffected. The rest of the implementation is well-structured: lazy imports are correctly deferred, the previous truncation and sys.path cleanup issues are resolved, and the typed config/validation stack is clean.

dimos/manipulation/planning/vamp/loader.py — the file-based custom artifact branch needs a try/except around exec_module to remove the broken entry from sys.modules on failure.

Important Files Changed

_{Reviews (2): Last reviewed commit: "fix(manipulation): address Greptile VAMP..." | Re-trigger Greptile}