feat(manipulation): add RoboPlan-native OInK backend

[TomCC7]

Contribution path

• No linked issue. The repository includes the OpenSpec change
  add-roboplan-oink-kinematics.

Problem

RoboPlan-backed manipulation stacks implicitly use Pink for inverse kinematics.
This separates IK from the RoboPlan scene, planning-group mappings, collision
state, and native model semantics.

Solution

• Make RoboPlanWorld implement KinematicsSpec with bundled
  roboplan.optimal_ik.
• Select RoboPlan OInK when a RoboPlan world omits kinematics configuration,
  while retaining Pink as the default for other worlds and as an explicit
  override.
• Support world-frame single-target, multi-target, auxiliary, disjoint
  same-robot, and composite multi-robot requests.
• Reuse one request-local OInK instance across bounded attempts, validate
  convergence independently, check optional composite endpoint collisions, and
  restore the shared scene in finally.
• Add focused unit coverage, pinned RoboPlan integration coverage, user docs,
  ADRs, and the complete OpenSpec design record.

The first version intentionally omits a self-collision barrier and persistent
OInK caching. Client-level simulation QA remains deferred and is recorded as
the sole unchecked OpenSpec task.

How to Test

uv sync --extra manipulation --inexact
uv run pytest dimos/manipulation/test_roboplan_oink_integration.py -q
uv run pytest dimos/manipulation -q

Latest local results:

• Focused change suite: 122 passed
• Full manipulation suite: 347 passed, 12 deselected
• Ruff, mypy, documentation checks, OpenSpec validation, and git diff --check
  passed

AI assistance

Codex with GPT-5 helped explore the design, implement the change, write tests
and documentation, and prepare this PR. The author should review every line
before merge.

Checklist

• I have read and approved the CLA.

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[codecov]

Codecov Report

❌ Patch coverage is 86.74033% with 72 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/manipulation/planning/world/roboplan_oink.py	81.15%	19 Missing and 17 partials ⚠️
...mos/manipulation/test_roboplan_oink_integration.py	41.17%	20 Missing ⚠️
...imos/manipulation/planning/world/roboplan_world.py	68.42%	8 Missing and 4 partials ⚠️
dimos/manipulation/test_roboplan_world.py	99.12%	0 Missing and 2 partials ⚠️
dimos/manipulation/planning/factory.py	92.30%	0 Missing and 1 partial ⚠️
dimos/manipulation/planning/kinematics/config.py	75.00%	0 Missing and 1 partial ⚠️

@@            Coverage Diff             @@
##             main    #3230      +/-   ##
==========================================
+ Coverage   74.90%   74.95%   +0.05%     
==========================================
  Files        1114     1116       +2     
  Lines      106086   106610     +524     
  Branches     9665     9718      +53     
==========================================
+ Hits        79461    79914     +453     
- Misses      23816    23865      +49     
- Partials     2809     2831      +22     

Flag	Coverage Δ
OS-ubuntu-24.04-arm	68.59% <86.55%> (+0.09%)	⬆️
OS-ubuntu-latest	70.59% <86.55%> (+0.07%)	⬆️
Py-3.10	70.59% <86.55%> (+0.08%)	⬆️
Py-3.11	70.59% <86.55%> (+0.08%)	⬆️
Py-3.12	70.59% <86.55%> (+0.07%)	⬆️
Py-3.13	70.59% <86.55%> (+0.07%)	⬆️
Py-3.14	70.60% <86.55%> (+0.07%)	⬆️
Py-3.14t	70.59% <86.55%> (+0.07%)	⬆️
SelfHosted-Large	29.31% <20.38%> (-0.02%)	⬇️
SelfHosted-Linux	35.88% <21.01%> (-0.06%)	⬇️
SelfHosted-macOS	34.97% <21.01%> (-0.06%)	⬇️

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Files with missing lines	Coverage Δ
dimos/manipulation/manipulation_module.py	55.46% <100.00%> (ø)
...imos/manipulation/planning/world/roboplan_model.py	83.53% <ø> (-0.14%)	⬇️
dimos/manipulation/test_manipulation_unit.py	100.00% <100.00%> (ø)
dimos/manipulation/test_planning_factory.py	98.41% <100.00%> (+0.49%)	⬆️
dimos/manipulation/planning/factory.py	79.31% <92.30%> (+4.95%)	⬆️
dimos/manipulation/planning/kinematics/config.py	87.87% <75.00%> (+1.67%)	⬆️
dimos/manipulation/test_roboplan_world.py	98.49% <99.12%> (+0.26%)	⬆️
...imos/manipulation/planning/world/roboplan_world.py	75.92% <68.42%> (-1.26%)	⬇️
...mos/manipulation/test_roboplan_oink_integration.py	41.17% <41.17%> (ø)
dimos/manipulation/planning/world/roboplan_oink.py	81.15% <81.15%> (ø)

... and 2 files with indirect coverage changes

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