feat(manipulation): UFactory Lite 6 support

[leshy]

The Lite 6 speaks the xArm SDK

New blueprints: coordinator-lite6, lite6-planner-coordinator, keyboard-teleop-lite6. Address comes from --lite6-ip

[codecov]

Codecov Report

❌ Patch coverage is 98.43750% with 1 line in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/hardware/manipulators/xarm/adapter.py	93.75%	0 Missing and 1 partial ⚠️

@@            Coverage Diff             @@
##             main    #4053      +/-   ##
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+ Coverage   79.54%   79.56%   +0.01%     
==========================================
  Files        1492     1494       +2     
  Lines      141416   141583     +167     
  Branches    12122    13009     +887     
==========================================
+ Hits       112487   112648     +161     
- Misses      25508    25512       +4     
- Partials     3421     3423       +2     

Components	Coverage Δ
Tests	95.36% <100.00%> (+<0.01%)	⬆️

Flag	Coverage Δ
OS-ubuntu-24.04-arm	75.17% <89.06%> (+0.03%)	⬆️
OS-ubuntu-latest	75.99% <89.06%> (+0.01%)	⬆️
Py-3.10	75.77% <89.06%> (+0.02%)	⬆️
Py-3.11	75.97% <89.06%> (+0.02%)	⬆️
Py-3.12	75.98% <89.06%> (+0.02%)	⬆️
SelfHosted-Large	30.62% <43.75%> (+0.01%)	⬆️
SelfHosted-Linux	36.66% <56.25%> (+0.01%)	⬆️
SelfHosted-macOS	37.00% <56.25%> (+<0.01%)	⬆️

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

Files with missing lines	Coverage Δ
dimos/core/global_config.py	90.62% <100.00%> (+0.07%)	⬆️
dimos/hardware/manipulators/xarm/test_adapter.py	100.00% <100.00%> (ø)
dimos/robot/all_blueprints.py	100.00% <ø> (ø)
dimos/robot/manipulators/xarm/blueprints/basic.py	100.00% <100.00%> (ø)
dimos/robot/manipulators/xarm/blueprints/teleop.py	100.00% <100.00%> (ø)
dimos/robot/manipulators/xarm/config.py	93.25% <100.00%> (+0.48%)	⬆️
dimos/robot/manipulators/xarm/test_model_config.py	100.00% <100.00%> (ø)
dimos/hardware/manipulators/xarm/adapter.py	52.04% <93.75%> (+3.36%)	⬆️

... and 5 files with indirect coverage changes

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[greptile-apps]

Confidence Score: 4/5

Not safe to merge until the Lite 6 gripper command cache is reset across reconnects.

Findings

1.  Reset Lite 6 cache ▶

Summary

• This PR adds UFACTORY Lite 6 support through the existing xArm integration, including configuration, blueprints, robot-description selection, and gripper support. One reconnect defect remains: a newly connected Lite 6 controller does not receive the first gripper command when it matches the command sent before reconnecting.

_{Reviews (1) · Last reviewed commit: "feat(manipulation): UFactory Lite 6 supp..."}