feat: manipulation planning group

[TomCC7]

Problem

Manipulation module currently can only support planning on single-arm robot. Current workaround is to plan in sequence. However, this is both inefficient and unsafe.

Closes DIM-XXX

Solution

Follows moveit/roboplan to introduce the concept of planning group.

How to Test

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[codecov]

Codecov Report

❌ Patch coverage is 91.43780% with 53 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/manipulation/planning/groups/discovery.py	78.65%	18 Missing and 17 partials ⚠️
dimos/manipulation/planning/groups/identifiers.py	78.26%	7 Missing and 3 partials ⚠️
dimos/manipulation/planning/groups/registry.py	91.83%	2 Missing and 2 partials ⚠️
dimos/manipulation/planning/groups/utils.py	95.45%	1 Missing and 2 partials ⚠️
dimos/manipulation/planning/groups/models.py	97.95%	1 Missing ⚠️

@@            Coverage Diff             @@
##             main    #2645      +/-   ##
==========================================
+ Coverage   71.10%   71.83%   +0.72%     
==========================================
  Files         897      897              
  Lines       80290    81196     +906     
  Branches     7183     7584     +401     
==========================================
+ Hits        57089    58325    +1236     
+ Misses      21319    20907     -412     
- Partials     1882     1964      +82     

Flag	Coverage Δ
OS-ubuntu-24.04-arm	64.01% <91.27%> (+0.50%)	⬆️
OS-ubuntu-latest	66.67% <91.43%> (+0.43%)	⬆️
Py-3.10	66.67% <91.43%> (+0.44%)	⬆️
Py-3.11	66.67% <91.43%> (+0.44%)	⬆️
Py-3.12	66.66% <91.43%> (+0.42%)	⬆️
Py-3.13	66.66% <91.43%> (+0.44%)	⬆️
Py-3.14	66.68% <91.43%> (+0.44%)	⬆️
Py-3.14t	66.66% <91.43%> (+0.43%)	⬆️
SelfHosted-Large	29.92% <28.43%> (-0.18%)	⬇️
SelfHosted-Linux	37.72% <29.47%> (+0.23%)	⬆️
SelfHosted-macOS	36.11% <29.47%> (-0.23%)	⬇️

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

Files with missing lines	Coverage Δ
...nipulation/planning/groups/test_planning_groups.py	100.00% <100.00%> (ø)
...s/manipulation/planning/kinematics/test_pink_ik.py	98.00% <100.00%> (+0.01%)	⬆️
...anipulation/planning/monitor/test_world_monitor.py	71.77% <100.00%> (+0.22%)	⬆️
dimos/manipulation/planning/spec/config.py	96.22% <100.00%> (+1.48%)	⬆️
dimos/manipulation/planning/spec/models.py	100.00% <100.00%> (ø)
dimos/manipulation/test_manipulation_module.py	98.63% <100.00%> (+<0.01%)	⬆️
dimos/manipulation/test_manipulation_unit.py	99.75% <100.00%> (+<0.01%)	⬆️
dimos/manipulation/test_planning_factory.py	97.91% <100.00%> (+0.02%)	⬆️
dimos/manipulation/test_roboplan_world.py	95.90% <100.00%> (+0.01%)	⬆️
dimos/manipulation/visualization/test_factory.py	73.45% <100.00%> (+0.23%)	⬆️
... and 11 more

... and 63 files with indirect coverage changes

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