feat(manipulation): add grasp proposal pick pipeline

[TomCC7]

Contribution path

• OpenSpec change: add-grasp-pipeline-skill
• No tracking issue was provided.

Problem

GraspGenX can propose grasps, but the manipulation stack did not carry a proposal through object resolution, collision-aware feasibility checks, physical execution, and grasp verification.

Solution

• Route pick through object point-cloud validation, ranked GraspGenX proposals, and pre-grasp/grasp/retreat feasibility checks.
• Execute an explicit prepare, approach, grasp, close, verify, and retreat transaction with phase-specific failures and a single-active-pick guard.
• Suppress only the target object's collision geometry during the transaction and restore it on every exit path.
• Add dedicated xarm-graspgenx and xarm-graspgenx-agent blueprints while preserving explicit heuristic fallback in existing xArm stacks.
• Add xArm gripper/TCP geometry, agent guidance, capability documentation, and OpenSpec artifacts.

The closure-position verification path is implemented, but it remains disabled in the hardware blueprint until the xArm threshold is calibrated. GPU startup and guarded physical-xArm scenarios also remain open in the OpenSpec checklist.

How to Test

Run the feature on a GPU-equipped xArm host:

uv run dimos run xarm-graspgenx-agent

Validation completed locally:

.venv/bin/pytest -p no:rerunfailures dimos/manipulation/test_pick_and_place_unit.py dimos/manipulation/planning/monitor/test_world_obstacle_suppression.py dimos/robot/manipulators/test_blueprints.py -q
CI=1 .venv/bin/pytest -p no:rerunfailures dimos/robot/test_all_blueprints_generation.py -q
.venv/bin/pytest -p no:rerunfailures dimos/manipulation -q --ignore=dimos/manipulation/planning/examples/test_manipulation_client.py
.venv/bin/mypy dimos/manipulation/pick_and_place_module.py dimos/manipulation/planning/monitor/world_monitor.py dimos/manipulation/planning/monitor/world_obstacle_monitor.py dimos/manipulation/skill_errors.py dimos/robot/manipulators/common/agent_prompts.py dimos/robot/manipulators/xarm/blueprints/agentic.py dimos/robot/manipulators/xarm/blueprints/graspgenx.py dimos/robot/manipulators/xarm/blueprints/perception.py dimos/robot/manipulators/xarm/blueprints/simulation.py dimos/robot/manipulators/xarm/grasp_config.py
openspec validate add-grasp-pipeline-skill --strict

Results: 78 focused tests passed; 415 broader manipulation tests passed with 13 skipped and 12 deselected. Ruff formatting and lint checks passed.

AI assistance

Codex with GPT-5 implemented the change, wrote tests and documentation, and ran validation. The author should review and understand every line before merging.

Checklist

• I have read and approved the CLA.

[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
3276	1	3275	177

View the top 1 failed test(s) by shortest run time

dimos.codebase_checks.test_no_init_files::test_no_init_files

Stack Traces | 0.021s run time

def test_no_init_files():
        dimos_dir = DIMOS_PROJECT_ROOT / "dimos"
        init_files = sorted(dimos_dir.rglob("__init__.py"))
        # The root dimos/__init__.py is allowed for the porcelain lazy import.
        init_files = [f for f in init_files if f != dimos_dir / "__init__.py"]
        if init_files:
            listing = "\n".join(f"  - {f.relative_to(dimos_dir)}" for f in init_files)
>           raise AssertionError(
                f"Found __init__.py files in dimos/:\n{listing}\n\n"
                "__init__.py files are not allowed because they lead to unnecessary "
                "extraneous imports. Everything should be imported straight from the "
                "source module."
            )
E           AssertionError: Found __init__.py files in dimos/:
E             - manipulation/demo_grasp_pipeline/__init__.py
E           
E           __init__.py files are not allowed because they lead to unnecessary extraneous imports. Everything should be imported straight from the source module.

dimos_dir  = PosixPath('.../dimos/dimos/dimos')
init_files = [PosixPath('.../dimos/dimos/dimos/manipulation/demo_grasp_pipeline/__init__.py')]
listing    = '  - manipulation/demo_grasp_pipeline/__init__.py'

dimos/codebase_checks/test_no_init_files.py:25: AssertionError

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