Task: Create base manipulation module

[mustafab0]

Problem

ManipulationModule is a 1600-line monolith mixing core planning infrastructure with pick/place behaviors, GraspGen integration, and perception subscriptions. This makes it impossible to use the planner without pulling in perception and grasp generation dependencies.

Additionally, _BlueprintAtom.create in blueprints.py fails to resolve In/Out port annotations for modules using from __future__ import annotations with TYPE_CHECKING guards (e.g. RealSenseCamera), silently breaking autoconnect transport wiring.

Issue: DIM-451

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Solution

Split ManipulationModule into a base class and a PickAndPlaceModule subclass:

• ManipulationModule (base): Core planning infrastructure, motion execution, gripper control, state machine. Skills: move_to_pose, move_to_joints, go_home, go_init, get_robot_state, reset.
• PickAndPlaceModule(ManipulationModule): Adds perception integration (objects port, obstacle monitor, scan_objects, get_scene_info), GraspGen, and long-horizon skills (pick, place, place_back, pick_and_place, clear_perception_obstacles).

PickAndPlaceModuleConfig extends ManipulationModuleConfig with GraspGen fields. Only xarm_perception and xarm_perception_agent blueprints switch to pick_and_place_module; all other blueprints use the base manipulation_module unchanged.

New blueprints: xarm7_planner_coordinator_agent for testing base module with an LLM agent.

Bug fixes:

• move_to_pose now preserves current EE orientation when roll/pitch/yaw are omitted (previously forced identity quaternion).
• reset changed from @rpc to @skill so agents can clear faults.
• clear_perception_obstacles changed from @rpc to @skill for agent recovery from COLLISION_AT_START.
• _BlueprintAtom.create now uses reversed-MRO namespace resolution for get_type_hints, fixing autoconnect transport wiring for all modules with from __future__ import annotations.

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Breaking Changes

None. ManipulationModule retains all base skills and RPCs. PickAndPlaceModule is a drop-in replacement where perception/pick-place is needed. Both are exported from dimos.manipulation.

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How to Test

1. Test base agent: dimos run coordinator-mock then dimos run xarm7-planner-coordinator-agent
2. Test perception agent: dimos run coordinator-mock then dimos run xarm-perception-agent

closes DIM-451

[greptile-apps]

Too many files changed for review. (127 files found, 100 file limit)

In general, to fix this kind of issue, keep detailed exception information (messages, stack traces, internal paths, SQL, etc.) in server-side logs only, and return a generic, non-sensitive error message to clients. Ideally, include only high-level context that is safe to expose and, if needed, a correlation ID that lets operators look up the detailed error in logs.

For this specific code, the problematic part is the except block in _handle_tools_call. It both logs the exception (good) and then returns a JSON-RPC result whose text includes the full exception string (bad). We should keep the logging as is, but change the returned message so that it does not interpolate e. Instead, we can use a generic message like "Error running tool '<name>'. Check server logs for details." or even simpler, "Error running tool.". This preserves existing functionality from the client’s perspective (they still get an error and know which tool failed), while avoiding disclosure of internal exception messages.

Concretely:

• In dimos/agents/mcp/mcp_server.py, in _handle_tools_call, replace:
  • return _jsonrpc_result_text(req_id, f"Error running tool '{name}': {e}")
• With:
  • return _jsonrpc_result_text(req_id, f"Error running tool '{name}'. Please check server logs for details.")
    (or similar wording that excludes e).

No new methods or imports are needed: we continue to use logger.exception, _jsonrpc_result_text, and existing utilities.