Land the manipulation grasp sprint PR stack

Goal

Land the manipulation grasp sprint as a five-PR stack that adds ranked GraspGenX proposals, proposal-based pick planning, connected motion validation, live visualization, and an xArm simulation path.

PR stack

Review and merge in order:

1. dimensionalOS/dimos#3367 — base: main
2. dimensionalOS/dimos#3363 — base: feat/grasp-02-provider
3. dimensionalOS/dimos#3364 — base: feat/grasp-02-pipeline
4. dimensionalOS/dimos#3365 — base: feat/grasp-03-connected-plans
5. dimensionalOS/dimos#3366 — base: feat/grasp-04-visualization

Each dependent PR should be reviewed against its immediate base branch. After its predecessor merges, retarget it to the next merged base as needed.

Scope

• Define ranked grasp proposal contracts and a GraspGenX provider boundary.
• Feed proposals into PickAndPlace with selection, obstacle suppression, diagnostics, and failure handling.
• Validate pre-grasp, grasp, and retreat as one connected motion sequence.
• Visualize candidates, the selected grasp, approach paths, and live execution state.
• Provide an xArm simulation scene, ground-truth object poses, calibration, obstacle handling, and live visualization wiring.
• Keep standalone verification demos and recorded fixtures out of the production stack.

Acceptance criteria

• All five PRs follow the repository PR template and link this issue.
• Each PR is reviewed against the correct immediate base.
• Focused provider-through-simulation tests pass.
• The generated blueprint registry is current.
• Ruff and git diff --check pass across the complete stack.
• The PRs merge in stack order without pulling in the legacy manip/grasp-sprint-july-26 branch.

Current verification

• 235 consolidated provider-through-simulation tests passed; 7 deselected.
• Blueprint registry: 102 passed; 3 optional-dependency skips; 42 deselected.
• Ruff passed across every changed Python file in the complete stack.
• git diff --check passed.

Synced from DIM-1401 by che

Review the five linked PRs in order, starting with #3367 against main and then each PR against its immediate base branch. Use the focused provider-through-simulation tests, blueprint registry checks, Ruff, and git diff --check named in the issue; done means the stack merges in order without the legacy branch and all acceptance criteria pass.