feat(manipulation): simplify RoboPlan joint paths

[TomCC7]

Contribution path

• Small, safe change that does not need a tracking issue
• Linked issue or discussion: N/A

Problem

RoboPlan returns valid native joint-space RRT paths without applying its optional collision-aware shortcutting pass. The DimOS adapter did not expose the shortcutting settings, so users could not enable, tune, or disable path simplification through planner configuration.

Solution

Configure RoboPlan path shortcutting on the existing RoboPlanWorld class and apply it before converting native paths to DimOS joint states.

• Enable shortcutting by default with RoboPlan-compatible typed settings under planner.path_shortcutting.
• Forward all settings to PathShortcuttingOptions.
• Preserve the original valid RRT path if shortcutting raises an error, returns an empty path, or changes either endpoint.
• Keep configuration fixed once the world is finalized.
• Document the current dynamic CLI syntax.

The implementation keeps the existing planner class and runs shortcutting under the scene lock used by native planning.

How to Test

uv run dimos run dual-xarm6-planner-coordinator and see how path got simpler now

AI assistance

OpenAI Codex with GPT-5 assisted substantially with implementation, unit tests, review cleanup, and PR text.

Checklist

• I have read and approved the CLA.

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Project	Status	Preview	Updated (UTC)
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[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ All tests successful. No failed tests found.

@@            Coverage Diff             @@
##             main    #3325      +/-   ##
==========================================
+ Coverage   75.46%   75.48%   +0.02%     
==========================================
  Files        1157     1157              
  Lines      111276   111390     +114     
  Branches    10073    10078       +5     
==========================================
+ Hits        83971    84085     +114     
- Misses      24417    24418       +1     
+ Partials     2888     2887       -1     

Flag	Coverage Δ
OS-ubuntu-24.04-arm	69.49% <100.00%> (+0.02%)	⬆️
OS-ubuntu-latest	71.54% <100.00%> (+0.02%)	⬆️
Py-3.10	71.53% <100.00%> (+0.03%)	⬆️
Py-3.11	71.53% <100.00%> (+0.02%)	⬆️
Py-3.12	71.53% <100.00%> (+0.02%)	⬆️
Py-3.13	71.53% <100.00%> (+0.03%)	⬆️
Py-3.14	71.54% <100.00%> (+0.02%)	⬆️
Py-3.14t	71.53% <100.00%> (+0.02%)	⬆️
SelfHosted-Large	29.59% <24.80%> (-0.01%)	⬇️
SelfHosted-Linux	35.91% <25.58%> (-0.03%)	⬇️

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

Files with missing lines	Coverage Δ
dimos/manipulation/planning/factory.py	77.77% <100.00%> (+2.46%)	⬆️
dimos/manipulation/planning/planners/config.py	100.00% <100.00%> (ø)
...imos/manipulation/planning/planners/test_config.py	100.00% <100.00%> (ø)
...imos/manipulation/planning/world/roboplan_world.py	81.40% <100.00%> (+0.99%)	⬆️
dimos/manipulation/test_planning_factory.py	98.01% <100.00%> (-0.02%)	⬇️
dimos/manipulation/test_roboplan_world.py	98.54% <100.00%> (+0.12%)	⬆️

... and 3 files with indirect coverage changes

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