feat: integrate GraspGenX grasp proposals

[TomCC7]

Summary

• add a lean TCP-frame grasp candidate protocol and direct in-process GraspGenX adapter with sweep-volume gripper configuration
• add a deterministic CUDA-backed YCB banana demo with ranked YAML output and replayable Rerun recordings
• add generic coordinator-owned one-shot module lifecycle support and offline-safe GraspGenX packaging
• visualize the top five candidates as score-colored planar fork profiles, with rank one visible by default

Dependency note

The optional graspgenx extra intentionally resolves the shared environment to Torch 2.6 and torchvision 0.21, with validated compatibility overrides documented in the change.

Verification

• 60 focused tests passed; 1 deselected
• blueprint registry generation passed under CI=1
• Ruff check and format check passed
• git diff --check passed
• real RTX 3090 inference produced 100 finite, descending world-frame candidates
• generated RRD passed rerun rrd verify; planar fork visualization was manually confirmed readable in a fresh viewer

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[codecov]

Codecov Report

❌ Patch coverage is 81.62544% with 260 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/manipulation/graspgenx_demo/visualization.py	66.28%	71 Missing and 17 partials ⚠️
dimos/manipulation/grasping/grasp_gen_x.py	82.15%	24 Missing and 14 partials ⚠️
dimos/manipulation/graspgenx_demo/fixture.py	59.52%	17 Missing and 17 partials ⚠️
dimos/manipulation/graspgenx_demo/demo.py	73.17%	21 Missing and 12 partials ⚠️
dimos/manipulation/graspgenx_demo/test_demo.py	86.54%	22 Missing and 1 partial ⚠️
dimos/manipulation/grasping/test_grasp_gen_x.py	92.46%	15 Missing ⚠️
dimos/manipulation/graspgenx_demo/extractor.py	57.57%	7 Missing and 7 partials ⚠️
dimos/manipulation/graspgenx_demo/output.py	76.47%	4 Missing and 4 partials ⚠️
dimos/msgs/manipulation_msgs/GraspCandidate.py	70.58%	4 Missing and 1 partial ⚠️
dimos/manipulation/graspgenx_demo/__main__.py	91.30%	1 Missing and 1 partial ⚠️

@@            Coverage Diff             @@
##             main    #3157      +/-   ##
==========================================
+ Coverage   73.84%   73.95%   +0.10%     
==========================================
  Files        1099     1117      +18     
  Lines      102539   104026    +1487     
  Branches     9402     9532     +130     
==========================================
+ Hits        75720    76929    +1209     
- Misses      24131    24332     +201     
- Partials     2688     2765      +77     

Flag	Coverage Δ
OS-ubuntu-24.04-arm	67.55% <81.48%> (+0.20%)	⬆️
OS-ubuntu-latest	69.50% <81.48%> (+0.17%)	⬆️
Py-3.10	69.49% <81.48%> (+0.17%)	⬆️
Py-3.11	69.48% <81.48%> (+0.16%)	⬆️
Py-3.12	69.49% <81.48%> (+0.17%)	⬆️
Py-3.13	69.50% <81.48%> (+0.18%)	⬆️
Py-3.14	69.49% <81.48%> (+0.17%)	⬆️
Py-3.14t	69.49% <81.48%> (+0.17%)	⬆️
SelfHosted-Large	29.71% <26.14%> (-0.06%)	⬇️
SelfHosted-macOS	35.29% <26.29%> (-0.13%)	⬇️

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

Files with missing lines	Coverage Δ
dimos/manipulation/graspgenx_demo/test_fixture.py	100.00% <100.00%> (ø)
.../manipulation/graspgenx_demo/test_visualization.py	100.00% <100.00%> (ø)
dimos/manipulation/grasping/grasp_gen_spec.py	100.00% <100.00%> (ø)
dimos/manipulation/grasping/grasping.py	69.69% <100.00%> (ø)
...mos/manipulation/grasping/legacy_grasp_gen_spec.py	100.00% <100.00%> (ø)
...imos/manipulation/grasping/test_grasping_legacy.py	100.00% <100.00%> (ø)
...imos/msgs/manipulation_msgs/GraspCandidateArray.py	100.00% <100.00%> (ø)
dimos/robot/all_blueprints.py	100.00% <ø> (ø)
dimos/manipulation/graspgenx_demo/__main__.py	91.30% <91.30%> (ø)
dimos/msgs/manipulation_msgs/GraspCandidate.py	70.58% <70.58%> (ø)
... and 8 more

... and 6 files with indirect coverage changes

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Project	Status	Preview	Updated (UTC)
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