WIP: feat(manipulation): add VAMP planner backend

[TomCC7]

Problem

DimOS manipulation planning is currently centered on the Drake world plus RRT-Connect stack. We need an optional VAMP backend for fast joint-space planning, plus a mock-control Franka Panda target for testing and future benchmarking against an official VAMP robot.

Closes N/A

Solution

• Add typed nested world/planner config variants for Drake/RRT-Connect and VAMP.
• Add strict stack validation so VAMP world and VAMP planner are paired explicitly, while preserving Drake defaults.
• Add lazy optional VAMP integration:
  • VampWorld loads official or user-prepared artifacts, handles native validity/FK/environment conversion, and reports unsupported capabilities clearly.
  • VampPlanner handles VAMP algorithm selection, joint-space planning, optional simplification, and path validation.
• Add a mock-control Franka Panda catalog, LFS-backed robot description asset, and panda-coordinator blueprint for planning tests/benchmarks.
• Add manipulation planning docs, OpenSpec artifacts, and tests covering config parsing, pairing validation, fake VAMP modules, Panda catalog conversion, and blueprint registration.

Design notes:

• VAMP is intentionally world + planner only, not a kinematics backend.
• VAMP Jacobian support is not faked; unsupported capabilities raise clear errors.
• vamp-planner is optional and lazy-imported behind the new vamp extra.
• This PR also includes the OpenSpec schema/init files used to capture the change plan.

How to Test

uv run pytest dimos/robot/manipulators/franka/test_blueprints.py dimos/robot/catalog/test_franka.py dimos/manipulation/test_manipulation_unit.py dimos/manipulation/planning/vamp/test_vamp_backend.py -q
CI=1 uv run pytest dimos/robot/test_all_blueprints_generation.py -q
uv run doclinks --root . --check docs/usage/manipulation_planning.md docs/usage/README.md
openspec validate add-vamp-planning-backend

Manual mock Panda/VAMP smoke path:

uv run --extra manipulation --extra vamp dimos run panda-coordinator --daemon \
  -o manipulationmodule.world.backend=vamp \
  -o manipulationmodule.world.artifact.mode=official \
  -o manipulationmodule.world.artifact.robot=panda \
  -o manipulationmodule.planner.backend=vamp \
  -o manipulationmodule.planner.algorithm=rrtc

Contributor License Agreement

• I have read and approved the CLA.

[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
1902	1	1901	155

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             - .../planning/vamp/__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/.../planning/vamp/__init__.py')]
listing    = '  - .../planning/vamp/__init__.py'

dimos/project/test_no_init_files.py:25: AssertionError

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