Task: Create base manipulation module

dimos/core/blueprints.py

@@ -63,9 +63,16 @@ def create(
         streams: list[StreamRef] = []
         module_refs: list[ModuleRef] = []
 
-        # Use get_type_hints() to properly resolve string annotations.
+        # Resolve annotations using namespaces from the full MRO chain so that
+        # In/Out behind TYPE_CHECKING + `from __future__ import annotations` work.
+        # Iterate reversed MRO so the most specific class's namespace wins when
+        # parent modules shadow names (e.g. spec.perception.Image vs sensor_msgs.Image).
+        globalns: dict[str, Any] = {}
+        for c in reversed(module.__mro__):
+            if c.__module__ in sys.modules:
+                globalns.update(sys.modules[c.__module__].__dict__)
         try:
-            all_annotations = get_type_hints(module)
+            all_annotations = get_type_hints(module, globalns=globalns)
         except Exception:
             # Fallback to raw annotations if get_type_hints fails.
             all_annotations = {}

dimos/manipulation/__init__.py

@@ -20,10 +20,18 @@
     ManipulationState,
     manipulation_module,
 )
+from dimos.manipulation.pick_and_place_module import (
+    PickAndPlaceModule,
+    PickAndPlaceModuleConfig,
+    pick_and_place_module,
+)
 
 __all__ = [
     "ManipulationModule",
     "ManipulationModuleConfig",
     "ManipulationState",
+    "PickAndPlaceModule",
+    "PickAndPlaceModuleConfig",
     "manipulation_module",
+    "pick_and_place_module",
 ]

dimos/manipulation/manipulation_blueprints.py

@@ -33,6 +33,7 @@
 from dimos.core.transport import LCMTransport
 from dimos.hardware.sensors.camera.realsense import realsense_camera
 from dimos.manipulation.manipulation_module import manipulation_module
+from dimos.manipulation.pick_and_place_module import pick_and_place_module
 from dimos.manipulation.planning.spec import RobotModelConfig
 from dimos.msgs.geometry_msgs import PoseStamped, Quaternion, Transform, Vector3
 from dimos.msgs.sensor_msgs import JointState
@@ -328,6 +329,43 @@ def _make_piper_config(
 )
 
 
+# XArm7 planner + LLM agent for testing base ManipulationModule skills
+# No perception — uses the base module's planning + gripper skills only.
+# Usage: dimos run coordinator-mock, then dimos run xarm7-planner-coordinator-agent
+_BASE_MANIPULATION_AGENT_SYSTEM_PROMPT = """\
+You are a robotic manipulation assistant controlling an xArm7 robot arm.
+
+Available skills:
+- get_robot_state: Get current joint positions, end-effector pose, and gripper state.
+- move_to_pose: Move end-effector to ABSOLUTE x, y, z (meters) with optional roll, pitch, yaw (radians).
+- move_to_joints: Move to a joint configuration (comma-separated radians).
+- open_gripper / close_gripper / set_gripper: Control the gripper.
+- go_home: Move to the home/observe position.
+- go_init: Return to the startup position.
+- reset: Clear a FAULT state and return to IDLE. Use this when a motion fails.
+
+COORDINATE SYSTEM (world frame, meters):
+- X axis = forward (away from the robot base)
+- Y axis = left
+- Z axis = up
+- Z=0 is the robot base level; typical working height is Z = 0.2-0.5
+
+CRITICAL WORKFLOW for relative movement requests (e.g. "move 20cm forward"):
+1. Call get_robot_state to get the current EE pose.
+2. Add the requested offset to the CURRENT position. Example: if EE is at \
+(0.3, 0.0, 0.4) and user says "move 20cm forward", target is (0.5, 0.0, 0.4).
+3. Call move_to_pose with the computed ABSOLUTE target.
+NEVER pass only the offset as coordinates — that would send the robot to near-origin.
+
+ERROR RECOVERY: If a motion fails or the state becomes FAULT, call reset before retrying.
+"""
+
+xarm7_planner_coordinator_agent = autoconnect(
+    xarm7_planner_coordinator,
+    Agent.blueprint(system_prompt=_BASE_MANIPULATION_AGENT_SYSTEM_PROMPT),
+)
+
+
 # XArm7 with eye-in-hand RealSense camera for perception-based manipulation
 # TF chain: world → link7 (ManipulationModule) → camera_link (RealSense)
 # Usage: dimos run coordinator-mock, then dimos run xarm-perception
@@ -338,7 +376,7 @@ def _make_piper_config(
 
 xarm_perception = (
     autoconnect(
-        manipulation_module(
+        pick_and_place_module(
             robots=[
                 _make_xarm7_config(
                     "arm",
@@ -375,22 +413,30 @@ def _make_piper_config(
 _MANIPULATION_AGENT_SYSTEM_PROMPT = """\
 You are a robotic manipulation assistant controlling an xArm7 robot arm.
 
-Use ONLY these ManipulationModule skills for manipulation tasks:
+Available skills:
+- get_robot_state: Get current joint positions, end-effector pose, and gripper state.
 - scan_objects: Scan scene and list detected objects with 3D positions. Always call this first.
 - pick: Pick up an object by name. Requires scan_objects first.
 - place: Place a held object at x, y, z position.
 - place_back: Place a held object back at its original pick position.
 - pick_and_place: Pick an object and place it at a target location.
-- move_to_pose: Move end-effector to x, y, z with optional roll, pitch, yaw.
+- move_to_pose: Move end-effector to ABSOLUTE x, y, z (meters) with optional roll, pitch, yaw (radians).
 - move_to_joints: Move to a joint configuration (comma-separated radians).
 - open_gripper / close_gripper / set_gripper: Control the gripper.
 - go_home: Move to the home/observe position.
 - go_init: Return to the startup position.
 - get_scene_info: Get full robot state, detected objects, and scene info.
+- reset: Clear a FAULT state and return to IDLE.
+- clear_perception_obstacles: Clear detected obstacles from the planning world. \
+Use when planning fails with COLLISION_AT_START.
+
+COORDINATE SYSTEM (world frame, meters): X=forward, Y=left, Z=up. Z=0 is robot base.
+
+ERROR RECOVERY: If planning fails with COLLISION_AT_START, call clear_perception_obstacles \
+then reset, then retry. Detected objects may overlap the robot's current position.
 
-Do NOT use the 'detect' or 'select' skills — use scan_objects instead.
-For robot_name parameters, always omit or pass None (single-arm setup).
 After pick or place, return to init with go_init unless another action follows immediately.
+Do NOT use the 'detect' or 'select' skills — use scan_objects instead.
 """
 
 xarm_perception_agent = autoconnect(
@@ -405,6 +451,7 @@ def _make_piper_config(
     "dual_xarm6_planner",
     "xarm6_planner_only",
     "xarm7_planner_coordinator",
+    "xarm7_planner_coordinator_agent",
     "xarm_perception",
     "xarm_perception_agent",
 ]