feat: add compliant joint trajectory task

[TomCC7]

Summary

• add composed control task support plus joint compliance/compliant trajectory tasks
• register compliant trajectory task and add xArm7 MuJoCo obstacle blueprint for manual testing
• document rigid vs compliant trajectory behavior, safety bounds, and verification commands

Validation

• uv run pytest dimos/control/test_composition.py dimos/control/tasks/compliance_task/test_compliance_task.py
• uv run ruff check dimos/control/task.py dimos/control/composition.py dimos/control/tasks/compliance_task dimos/control/test_composition.py dimos/robot/manipulators/common/blueprints.py dimos/robot/manipulators/xarm/config.py dimos/robot/manipulators/xarm/blueprints/simulation.py dimos/robot/all_blueprints.py
• uv run --group lint mypy dimos/control/task.py dimos/control/composition.py dimos/control/tasks/compliance_task/compliance_task.py dimos/control/tasks/compliance_task/compliant_trajectory_task.py dimos/control/tasks/compliance_task/__registry__.py dimos/control/test_composition.py dimos/control/tasks/compliance_task/test_compliance_task.py dimos/robot/manipulators/common/blueprints.py dimos/robot/manipulators/xarm/config.py dimos/robot/manipulators/xarm/blueprints/simulation.py
• openspec validate add-compliant-joint-trajectory-task
• CI=1 uv run pytest dimos/robot/test_all_blueprints_generation.py
• uv run --group lint doclinks docs/capabilities/manipulation/readme.md docs/development/conventions.md

Manual MuJoCo check

• uv run dimos --simulation run xarm7-compliant-obstacle-sim

Draft PR for review before marking ready.

[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
1918	1	1917	159

View the top 1 failed test(s) by shortest run time

dimos.robot.test_all_blueprints::test_blueprint_is_valid[xarm7-compliant-obstacle-sim]

Stack Traces | 3.12s run time

blueprint_name = 'xarm7-compliant-obstacle-sim'

    @pytest.mark.parametrize("blueprint_name", UBUNTU_BLUEPRINTS)
    def test_blueprint_is_valid(blueprint_name: str) -> None:
        """Validate blueprints that should import on the ubuntu-latest runner."""
>       _check_blueprint(blueprint_name)

blueprint_name = 'xarm7-compliant-obstacle-sim'

dimos/robot/test_all_blueprints.py:103: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/test_all_blueprints.py:79: in _check_blueprint
    blueprint = get_blueprint_by_name(blueprint_name)
        blueprint_name = 'xarm7-compliant-obstacle-sim'
        message    = "Failed to pull LFS file .../dimos/data/.lfs/xarm7.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/xarm7.tar.gz']' returned non-zero exit status 1."
dimos/robot/get_all_blueprints.py:47: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'xarm7_compliant_obstacle_sim'
        module_path = 'dimos.robot.manipulators.xarm.blueprints.simulation'
        name       = 'xarm7-compliant-obstacle-sim'
.../xarm/blueprints/simulation.py:44: in <module>
    address=str(XARM7_SIM_PATH),
        MujocoSimModule = <class 'dimos.simulation.engines.mujoco_sim_module.MujocoSimModule'>
        ObjectSceneRegistrationModule = <class 'dimos.perception.object_scene_registration.ObjectSceneRegistrationModule'>
        PickAndPlaceModule = <class 'dimos.manipulation.pick_and_place_module.PickAndPlaceModule'>
        RerunBridgeModule = <class 'dimos.visualization.rerun.bridge.RerunBridgeModule'>
        XARM7_SIM_HOME = [0.0, 0.0, 0.0, 0.0, 0.0, -0.7, ...]
        XARM7_SIM_PATH = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm7.tar.gz after 3 attempts: Command...ude', 'data/.lfs/xarm7.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffcd97ba70d0>
        __builtins__ = <builtins>
        __cached__ = '.../blueprints/__pycache__/simulation.cpython-312.pyc'
        __doc__    = 'Simulation xArm perception manipulation blueprints.'
        __file__   = '.../work/dimos/dimos/.../xarm/blueprints/simulation.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xffcd9645f9b0>
        __name__   = 'dimos.robot.manipulators.xarm.blueprints.simulation'
        __package__ = 'dimos.robot.manipulators.xarm.blueprints'
        __spec__   = ModuleSpec(name='dimos.robot.manipulators.xarm.blueprints.simulation', loader=<_frozen_importlib_external.SourceFileLo...ject at 0xffcd9645f9b0>, origin='.../work/dimos/dimos/.../xarm/blueprints/simulation.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xffce470c7880>
        compliant_trajectory_task = <function compliant_trajectory_task at 0xffcd9a66e840>
        coordinator = <function coordinator at 0xffcd9a66eac0>
        make_xarm7_model_config = <function make_xarm7_model_config at 0xffcd9a66f4c0>
        make_xarm_hardware = <function make_xarm_hardware at 0xffcd9a66efc0>
        math       = <module 'math' (built-in)>
        trajectory_task = <function trajectory_task at 0xffcd9a66c860>
        xarm7_compliance_obstacle_scene_path = <function xarm7_compliance_obstacle_scene_path at 0xffcd9a66ede0>
dimos/utils/data.py:369: in __str__
    return str(self._ensure_downloaded())
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm7.tar.gz after 3 attempts: Command...ude', 'data/.lfs/xarm7.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffcd97ba70d0>
dimos/utils/data.py:347: in _ensure_downloaded
    cache = get_data(filename)
        cache      = None
        filename   = 'xarm7/scene.xml'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm7.tar.gz after 3 attempts: Command...ude', 'data/.lfs/xarm7.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffcd97ba70d0>
dimos/utils/data.py:304: in get_data
    archive_path = _decompress_archive(_pull_lfs_archive(archive_name))
        archive_name = 'xarm7'
        data_dir   = PosixPath('.../dimos/dimos/data')
        file_path  = PosixPath('.../dimos/dimos/data/xarm7/scene.xml')
        name       = 'xarm7/scene.xml'
        nested_path = PosixPath('scene.xml')
        path_parts = ('xarm7', 'scene.xml')
dimos/utils/data.py:248: in _pull_lfs_archive
    _lfs_pull(file_path, repo_root)
        file_path  = PosixPath('.../dimos/data/.lfs/xarm7.tar.gz')
        filename   = 'xarm7'
        repo_root  = PosixPath('.../work/dimos/dimos')
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

file_path = PosixPath('.../dimos/data/.lfs/xarm7.tar.gz')
repo_root = PosixPath('.../work/dimos/dimos')

    def _lfs_pull(file_path: Path, repo_root: Path, *, retries: int = 2) -> None:
        relative_path = file_path.relative_to(repo_root)
    
        env = os.environ.copy()
        env["GIT_LFS_FORCE_PROGRESS"] = "1"
    
        last_err: subprocess.CalledProcessError | None = None
        for attempt in range(1, retries + 2):  # retries + 1 total attempts
            try:
                subprocess.run(
                    ["git", "lfs", "pull", "--include", str(relative_path)],
                    cwd=repo_root,
                    check=True,
                    env=env,
                )
                return
            except subprocess.CalledProcessError as e:
                last_err = e
                if attempt <= retries:
                    time.sleep(attempt)  # 1s, 2s backoff
    
>       raise RuntimeError(
            f"Failed to pull LFS file {file_path} after {retries + 1} attempts: {last_err}"
        )
E       RuntimeError: Failed to pull LFS file .../dimos/data/.lfs/xarm7.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/xarm7.tar.gz']' returned non-zero exit status 1.

attempt    = 3
env        = {'ACCEPT_EULA': 'Y', 'ACTIONS_ORCHESTRATION_ID': '690b3ce1-84a2-4786-bac5-22e47fa3d75b.tests.ubuntu-24_04-arm_3_14_fal...TIONS_RUNNER_ACTION_ARCHIVE_CACHE': '/opt/actionarchivecache', 'ACTIONS_RUNNER_RETURN_JOB_RESULT_FOR_HOSTED': '1', ...}
file_path  = PosixPath('.../dimos/data/.lfs/xarm7.tar.gz')
last_err   = CalledProcessError(1, ['git', 'lfs', 'pull', '--include', 'data/.lfs/xarm7.tar.gz'])
relative_path = PosixPath('data/.lfs/xarm7.tar.gz')
repo_root  = PosixPath('.../work/dimos/dimos')
retries    = 2

dimos/utils/data.py:216: RuntimeError

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