Task: Create base manipulation module

.github/workflows/docker.yml

@@ -212,70 +212,9 @@ jobs:
     uses: ./.github/workflows/tests.yml
     secrets: inherit
     with:
-      cmd: "pytest && pytest -m ros" # run tests that depend on ros as well
+      cmd: "pytest --durations=0 -m 'not (tool or mujoco)'"
       dev-image: ros-dev:${{ (needs.check-changes.outputs.python == 'true' || needs.check-changes.outputs.dev == 'true' || needs.check-changes.outputs.ros == 'true') && needs.ros-dev.result == 'success' && needs.check-changes.outputs.branch-tag || 'dev' }}
 
-  run-tests:
-    needs: [check-changes, dev]
-    if: ${{
-      always() &&
-      needs.check-changes.result == 'success' &&
-      (needs.check-changes.outputs.tests == 'true' ||
-       needs.check-changes.outputs.python == 'true' ||
-       needs.check-changes.outputs.dev == 'true')
-      }}
-    uses: ./.github/workflows/tests.yml
-    secrets: inherit
-    with:
-      cmd: "pytest"
-      dev-image: dev:${{ (needs.check-changes.outputs.python == 'true' || needs.check-changes.outputs.dev == 'true') && needs.dev.result == 'success' && needs.check-changes.outputs.branch-tag || 'dev' }}
-
-  # we run in parallel with normal tests for speed
-  run-heavy-tests:
-    needs: [check-changes, dev]
-    if: ${{
-      always() &&
-      needs.check-changes.result == 'success' &&
-      (needs.check-changes.outputs.tests == 'true' ||
-       needs.check-changes.outputs.python == 'true' ||
-       needs.check-changes.outputs.dev == 'true')
-      }}
-    uses: ./.github/workflows/tests.yml
-    secrets: inherit
-    with:
-      cmd: "pytest -m heavy"
-      dev-image: dev:${{ (needs.check-changes.outputs.python == 'true' || needs.check-changes.outputs.dev == 'true') && needs.dev.result == 'success' && needs.check-changes.outputs.branch-tag || 'dev' }}
-
-  run-lcm-tests:
-    needs: [check-changes, dev]
-    if: ${{
-      always() &&
-      needs.check-changes.result == 'success' &&
-      (needs.check-changes.outputs.tests == 'true' ||
-       needs.check-changes.outputs.python == 'true' ||
-       needs.check-changes.outputs.dev == 'true')
-      }}
-    uses: ./.github/workflows/tests.yml
-    secrets: inherit
-    with:
-      cmd: "pytest -m lcm"
-      dev-image: dev:${{ (needs.check-changes.outputs.python == 'true' || needs.check-changes.outputs.dev == 'true') && needs.dev.result == 'success' && needs.check-changes.outputs.branch-tag || 'dev' }}
-
-  run-integration-tests:
-    needs: [check-changes, dev]
-    if: ${{
-      always() &&
-      needs.check-changes.result == 'success' &&
-      (needs.check-changes.outputs.tests == 'true' ||
-       needs.check-changes.outputs.python == 'true' ||
-       needs.check-changes.outputs.dev == 'true')
-      }}
-    uses: ./.github/workflows/tests.yml
-    secrets: inherit
-    with:
-      cmd: "pytest -m integration"
-      dev-image: dev:${{ (needs.check-changes.outputs.python == 'true' || needs.check-changes.outputs.dev == 'true') && needs.dev.result == 'success' && needs.check-changes.outputs.branch-tag || 'dev' }}
-
   run-mypy:
     needs: [check-changes, ros-dev]
     if: ${{
@@ -292,43 +231,8 @@ jobs:
       cmd: "MYPYPATH=/opt/ros/humble/lib/python3.10/site-packages mypy dimos"
       dev-image: ros-dev:${{ (needs.check-changes.outputs.python == 'true' || needs.check-changes.outputs.dev == 'true' || needs.check-changes.outputs.ros == 'true') && needs.ros-dev.result == 'success' && needs.check-changes.outputs.branch-tag || 'dev' }}
 
-  # Run module tests directly to avoid pytest forking issues
-  # run-module-tests:
-  #   needs: [check-changes, dev]
-  #   if: ${{
-  #     always() &&
-  #     needs.check-changes.result == 'success' &&
-  #     ((needs.dev.result == 'success') ||
-  #     (needs.dev.result == 'skipped' &&
-  #     needs.check-changes.outputs.tests == 'true'))
-  #     }}
-  #   runs-on: [self-hosted, x64, 16gb]
-  #   container:
-  #     image: ghcr.io/dimensionalos/dev:${{ needs.check-changes.outputs.dev == 'true' && needs.dev.result == 'success' && needs.check-changes.outputs.branch-tag || 'dev' }}
-  #   steps:
-  #     - name: Fix permissions
-  #       run: |
-  #         sudo chown -R $USER:$USER ${{ github.workspace }} || true
-  #
-  #     - uses: actions/checkout@v4
-  #       with:
-  #         lfs: true
-  #
-  #     - name: Configure Git LFS
-  #       run: |
-  #         git config --global --add safe.directory '*'
-  #         git lfs install
-  #         git lfs fetch
-  #         git lfs checkout
-  #
-  #     - name: Run module tests
-  #       env:
-  #         CI: "true"
-  #       run: |
-  #         /entrypoint.sh bash -c "pytest -m module"
-
   ci-complete:
-    needs: [check-changes, ros, python, ros-python, dev, ros-dev, run-tests, run-heavy-tests, run-lcm-tests, run-integration-tests, run-ros-tests, run-mypy]
+    needs: [check-changes, ros, python, ros-python, dev, ros-dev, run-ros-tests, run-mypy]
     runs-on: [self-hosted, Linux]
     if: always()
     steps:

.gitignore

@@ -69,3 +69,5 @@ yolo11n.pt
 
 CLAUDE.MD
 /assets/teleop_certs/
+
+/.mcp.json

README.md

@@ -107,7 +107,7 @@ Dimensional is agent native -- "vibecode" your robots in natural language and bu
       🟥 <a href="dimos/robot/unitree/b1">Unitree B1</a><br>
     </td>
     <td align="center" width="20%">
-      🟨 <a href="docs/todo.md">Unitree G1</a><br>
+      🟨 <a href="docs/platforms/humanoid/g1/index.md">Unitree G1</a><br>
     </td>
     <td align="center" width="20%">
       🟥 <a href="docs/todo.md">Xarm</a><br>

bin/gen-diagrams

@@ -0,0 +1,32 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+REPO_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+cd "$REPO_ROOT"
+
+# if md-babel-py doesnt exist
+if [ -z "$(command -v "md-babel-py")" ]; then
+    # if nix doesnt exist
+    if [ -z "$(command -v "nix")" ]; then
+        echo "Error: md-babel-py required for running gen-diagrams." >&2
+        echo "       Either install nix or install md-babel-py" >&2
+        echo "       https://github.com/leshy/md-babel-py" >&2
+        exit 1
+    # use nix if local command doesn't exist
+    else
+        md-babel-py() {
+            nix run github:leshy/md-babel-py -- "$@"
+        }
+    fi
+fi
+
+diagram_langs="asymptote,pikchr,openscad,diagon"
+if [[ "$#" -gt 0 ]]; then
+    for arg in "$@"; do
+        md-babel-py run "$arg" --lang "$diagram_langs"
+    done
+else
+    while IFS= read -r file; do
+        md-babel-py run "$file" --lang "$diagram_langs"
+    done < <(find ./docs -type f -name '*.md' | sort)
+fi

bin/pytest-slow

@@ -3,4 +3,4 @@
 set -euo pipefail
 
 . .venv/bin/activate
-exec pytest "$@" -m 'not (tool or module or neverending or mujoco)' dimos
+exec pytest "$@" -m 'not (tool or mujoco)' dimos

dimos/agents/agent.py

@@ -46,9 +46,8 @@ class AgentConfig(ModuleConfig):
     model_fixture: str | None = None
 
 
-class Agent(Module):
-    default_config: type[AgentConfig] = AgentConfig
-    config: AgentConfig
+class Agent(Module[AgentConfig]):
+    default_config = AgentConfig
     agent: Out[BaseMessage]
     human_input: In[str]
     agent_idle: Out[bool]

dimos/agents/conftest.py

@@ -31,11 +31,6 @@
 FIXTURE_DIR = Path(__file__).parent / "fixtures"
 
 
-@pytest.fixture
-def fixture_dir() -> Path:
-    return FIXTURE_DIR
-
-
 @pytest.fixture
 def agent_setup(request):
     coordinator = None

dimos/agents/mcp/README.md

@@ -0,0 +1,55 @@
+# DimOS MCP Server
+
+Expose DimOS robot skills to Claude Code via Model Context Protocol.
+
+## Setup
+
+```bash
+uv sync --extra base --extra unitree
+```
+
+Add to Claude Code (one command)
+
+```bash
+claude mcp add --transport http --scope project dimos http://localhost:9990/mcp
+```
+
+Verify that it was added:
+
+```bash
+claude mcp list
+```
+
+## MCP Inspector
+
+If you want to inspect the server manually, you can use MCP Inspector.
+
+Install it:
+
+```bash
+npx -y @modelcontextprotocol/inspector
+```
+
+It will open a browser window.
+
+Change **Transport Type** to "Streamable HTTP", change **URL** to `http://localhost:9990/mcp`, and **Connection Type** to "Direct". Then click on "Connect".
+
+## Usage
+
+**Terminal 1** - Start DimOS:
+```bash
+uv run dimos run unitree-go2-agentic-mcp
+```
+
+**Claude Code** - Use robot skills:
+```
+> move forward 1 meter
+> go to the kitchen
+> tag this location as "desk"
+```
+
+## How It Works
+
+1. `McpServer` in the blueprint starts a FastAPI server on port 9990
+2. Claude Code connects directly to `http://localhost:9990/mcp`
+3. Skills are exposed as MCP tools (e.g., `relative_move`, `navigate_with_text`)

dimos/agents/mcp/conftest.py

@@ -0,0 +1,103 @@
+# Copyright 2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+from pathlib import Path
+from threading import Event
+
+from dotenv import load_dotenv
+from langchain_core.messages.base import BaseMessage
+import pytest
+
+from dimos.agents.agent_test_runner import AgentTestRunner
+from dimos.agents.mcp.mcp_client import McpClient
+from dimos.agents.mcp.mcp_server import McpServer
+from dimos.core.blueprints import autoconnect
+from dimos.core.global_config import global_config
+from dimos.core.transport import pLCMTransport
+
+load_dotenv()
+
+FIXTURE_DIR = Path(__file__).parent / "fixtures"
+
+
+@pytest.fixture
+def agent_setup(request):
+    coordinator = None
+    transports: list[pLCMTransport] = []
+    unsubs: list = []
+    recording = bool(os.getenv("RECORD"))
+
+    def fn(
+        *,
+        blueprints,
+        messages: list[BaseMessage],
+        dask: bool = False,
+        system_prompt: str | None = None,
+        fixture: str | None = None,
+    ) -> list[BaseMessage]:
+        history: list[BaseMessage] = []
+        finished_event = Event()
+
+        agent_transport: pLCMTransport = pLCMTransport("/agent")
+        finished_transport: pLCMTransport = pLCMTransport("/finished")
+        transports.extend([agent_transport, finished_transport])
+
+        def on_message(msg: BaseMessage) -> None:
+            history.append(msg)
+
+        unsubs.append(agent_transport.subscribe(on_message))
+        unsubs.append(finished_transport.subscribe(lambda _: finished_event.set()))
+
+        # Derive fixture path from test name if not explicitly provided.
+        if fixture is not None:
+            fixture_path = FIXTURE_DIR / fixture
+        else:
+            fixture_path = FIXTURE_DIR / f"{request.node.name}.json"
+
+        client_kwargs: dict = {"system_prompt": system_prompt}
+
+        if recording or fixture_path.exists():
+            client_kwargs["model_fixture"] = str(fixture_path)
+
+        blueprint = autoconnect(
+            *blueprints,
+            McpServer.blueprint(),
+            McpClient.blueprint(**client_kwargs),
+            AgentTestRunner.blueprint(messages=messages),
+        )
+
+        global_config.update(
+            viewer_backend="none",
+            dask=dask,
+        )
+
+        nonlocal coordinator
+        coordinator = blueprint.build()
+
+        if not finished_event.wait(60):
+            raise TimeoutError("Timed out waiting for agent to finish processing messages.")
+
+        return history
+
+    yield fn
+
+    if coordinator is not None:
+        coordinator.stop()
+
+    for transport in transports:
+        transport.stop()
+
+    for unsub in unsubs:
+        unsub()

dimos/agents/mcp/fixtures/test_can_call_again_on_error[False].json

@@ -0,0 +1,34 @@
+{
+  "responses": [
+    {
+      "content": "",
+      "tool_calls": [
+        {
+          "name": "register_user",
+          "args": {
+            "name": "Paul"
+          },
+          "id": "call_NrrizXSIFaeCLuG9i05IwDy3",
+          "type": "tool_call"
+        }
+      ]
+    },
+    {
+      "content": "",
+      "tool_calls": [
+        {
+          "name": "register_user",
+          "args": {
+            "name": "paul"
+          },
+          "id": "call_2QPx4GsL61Xjrggbq7afXTjn",
+          "type": "tool_call"
+        }
+      ]
+    },
+    {
+      "content": "The user named 'paul' has been registered successfully.",
+      "tool_calls": []
+    }
+  ]
+}