Task: Created a how to readme for integrating new robotic arms with DimOS

[mustafab0]

Problem

No documentation exists for integrating a new robot arm with DimOS. Contributors must reverse-engineer the adapter pattern from existing implementations.

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Solution

Added docs/how-to-add-new-manipulator.md — a step-by-step guide covering the full integration path: writing a ManipulatorAdapter Protocol adapter, creating a robot folder with blueprints under dimos/robot/, optional URDF/planning integration, blueprint registration, and testing. Includes a complete annotated adapter skeleton and a quick-reference checklist.

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Breaking Changes

None

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How to Test

1. Open docs/how-to-add-new-manipulator.md and read through the guide
2. Verify code examples match the actual Protocol in dimos/hardware/manipulators/spec.py
3. Verify blueprint patterns match existing examples in dimos/control/blueprints.py and dimos/robot/unitree_webrtc/

closes DIM-389

[greptile-apps]

Greptile Overview

Greptile Summary

Added comprehensive how-to guide for integrating new manipulator arms with DimOS. Covers the complete integration path from writing a ManipulatorAdapter Protocol adapter through creating blueprints and testing.

• Complete annotated adapter skeleton with all required Protocol methods
• Clear explanation of the Protocol-based adapter pattern (no inheritance needed)
• Step-by-step blueprint creation examples matching existing patterns in dimos/control/blueprints.py
• Optional URDF/Drake planning integration guide
• Auto-discovery registry pattern correctly documented
• Testing strategies including mock adapters, unit tests, and integration tests
• Quick reference checklist for implementation

Code examples verified against:

• dimos/hardware/manipulators/spec.py:92-251 (ManipulatorAdapter Protocol)
• dimos/hardware/manipulators/xarm/adapter.py (reference implementation)
• dimos/control/blueprints.py:44-97 (coordinator blueprint patterns)
• dimos/hardware/manipulators/registry.py:78-93 (auto-discovery mechanism)

Confidence Score: 5/5

• This PR is safe to merge - documentation-only change with verified accuracy
• Documentation is comprehensive, accurate, and well-structured. All code examples match the actual Protocol implementation in spec.py:92-251. Blueprint patterns correctly mirror existing examples in dimos/control/blueprints.py. Auto-discovery registry pattern is accurately explained. No code changes, only documentation addition.
• No files require special attention

Important Files Changed

Filename	Overview
docs/how-to-add-new-manipulator.md	New comprehensive guide for integrating robot arms with DimOS - accurate code examples, clear structure, matches existing patterns

[greptile-apps]

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[jeff-hykin]

Looks great! Super involved process but I think thats the nature of the beast right now, (and maybe forever.)

Two minor things:

• I think this should go under docs/development/adding_a_custom_arm.md (underscores in the name to be consistent)
• the name change from unitree_webrtc to just unitree (mentioned above)

[jeff-hykin]

I want to write a very similar doc for adding robots and sensor support. If we had all those that would be a huge step in documentation.