feat: use Pink for controller ik tasks

[TomCC7]

Contribution path

• Small, safe change that does not need a tracking issue
• Linked issue or discussion: DIM-1272

Problem

Cartesian and keyboard EEF-twist control used a custom Pinocchio IK implementation. Not quite extensible.

Solution

Pink is now the sole Cartesian and EEF-twist control IK backend. Both task types share the Cartesian pipeline, re-anchor every solve to measured joint state, bound control dt once per task tick, enforce model and joint mappings, and hold measured position for expected solve failures.

All shipped manipulator teleop blueprints, including Piper, now use direct URDF/Xacro models with named end-effector frames. Pink remains optional: task modules import without it, while constructing a Pink task without the manipulation extra gives an actionable install instruction.

The legacy Pinocchio control IK fallback and all self-collision logic were removed from this control path.

How to Test

Run Piper keyboard teleop with the manipulation extra and robot connection configured:

uv run --extra manipulation dimos run keyboard-teleop-piper

AI assistance

OpenCode with GPT-5.6-terra was substantially involved in implementation, testing, review-response triage, and PR maintenance.

Checklist

• This PR is scoped to one clearly stated problem.
• I ran the relevant focused pytest, Ruff, mypy, blueprint-registry, and diff checks.
• I have reviewed and understood every line in this PR.
• I disclosed AI assistance above.
• I have read and approved the CLA.

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[codecov]

Codecov Report

❌ Patch coverage is 88.51351% with 85 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
...control/tasks/cartesian_ik_task/pink_control_ik.py	81.00%	31 Missing and 18 partials ⚠️
...ntrol/tasks/cartesian_ik_task/cartesian_ik_task.py	72.72%	15 Missing and 6 partials ⚠️
...mos/control/tasks/eef_twist_task/eef_twist_task.py	84.14%	9 Missing and 4 partials ⚠️
dimos/robot/manipulators/common/blueprints.py	86.66%	1 Missing and 1 partial ⚠️

@@            Coverage Diff             @@
##             main    #2992      +/-   ##
==========================================
- Coverage   75.47%   71.11%   -4.36%     
==========================================
  Files        1157     1216      +59     
  Lines      111292   126743   +15451     
  Branches    10073    13370    +3297     
==========================================
+ Hits        83998    90139    +6141     
- Misses      24404    33671    +9267     
- Partials     2890     2933      +43     

Flag	Coverage Δ
OS-ubuntu-24.04-arm	69.60% <87.07%> (+0.12%)	⬆️
OS-ubuntu-latest	71.64% <87.07%> (+0.11%)	⬆️
Py-3.10	71.64% <87.07%> (+0.11%)	⬆️
Py-3.11	71.64% <87.07%> (+0.11%)	⬆️
Py-3.12	71.63% <87.07%> (+0.10%)	⬆️
Py-3.13	71.63% <87.07%> (+0.11%)	⬆️
Py-3.14	71.63% <87.07%> (+0.11%)	⬆️
Py-3.14t	71.63% <87.07%> (+0.11%)	⬆️
SelfHosted-Large	29.60% <28.31%> (+<0.01%)	⬆️
SelfHosted-Linux	35.90% <28.45%> (-0.03%)	⬇️

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

Files with missing lines	Coverage Δ
.../tasks/cartesian_ik_task/test_cartesian_ik_task.py	100.00% <100.00%> (ø)
...ol/tasks/cartesian_ik_task/test_pink_control_ik.py	100.00% <100.00%> (ø)
...ontrol/tasks/eef_twist_task/test_eef_twist_task.py	100.00% <100.00%> (ø)
dimos/control/test_control.py	97.84% <ø> (+1.94%)	⬆️
dimos/robot/manipulators/a1z/blueprints/teleop.py	100.00% <100.00%> (ø)
dimos/robot/manipulators/a750/blueprints/teleop.py	100.00% <100.00%> (ø)
...os/robot/manipulators/openarm/blueprints/teleop.py	100.00% <100.00%> (ø)
...os/robot/manipulators/openyam/blueprints/teleop.py	100.00% <100.00%> (ø)
...imos/robot/manipulators/piper/blueprints/teleop.py	100.00% <ø> (ø)
dimos/robot/manipulators/xarm/blueprints/teleop.py	100.00% <100.00%> (ø)
... and 5 more

... and 198 files with indirect coverage changes

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