WIP: refactor manipulation planner interface+integrating roboplan

[TomCC7]

Problem

Need #2413

Closes DIM-XXX

Solution

How to Test

Contributor License Agreement

• I have read and approved the CLA.

[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
1876	1	1875	154

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/backends/__init__.py
E             - .../backends/drake/__init__.py
E             - .../backends/roboplan/__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/backends/__init__.py'), PosixPath('.../home/runner/...ke/__init__.py'), PosixPath('.../dimos/dimos/dimos/.../backends/roboplan/__init__.py')]
listing    = '  - .../planning/backends/__init__.py\n  - .../backends/drake/__init__.py\n  - .../backends/roboplan/__init__.py'

dimos/project/test_no_init_files.py:25: AssertionError

To view more test analytics, go to the Test Analytics Dashboard
_{📋 Got 3 mins? Take this short survey to help us improve Test Analytics.}