fix(bt): integrate BTManipulationModule, fix pickle/detection/Docker issues

- Add BTManipulationModule: slim ManipulationModule subclass for BT workflow
  with perception integration, GraspGen Docker, and MeshCat visualization
- Fix Pydantic pickle errors: change Iterable/Sequence to list in config
- Fix OSR __init__ to accept **kwargs for GlobalConfig passthrough
- Fix PointCloud2 pickle: strip cached Open3D bounding boxes in __getstate__
- Fix detect skill: accept prompts as keyword list instead of varargs
- Fix xArm adapter: add clean_error/motion_enable on connect, error logging
- Add langchain-core to Docker extras for module.py import
- Update all BT actions/conditions to use BTManipulationModule RPC names

Author: JalajShuklaSS

dimos/hardware/manipulators/xarm/adapter.py

@@ -20,11 +20,14 @@
 
 from __future__ import annotations
 
+import logging
 import math
 from typing import TYPE_CHECKING
 
 from xarm.wrapper import XArmAPI
 
+logger = logging.getLogger(__name__)
+
 if TYPE_CHECKING:
     from dimos.hardware.manipulators.registry import AdapterRegistry
 
@@ -74,6 +77,10 @@ def connect(self) -> bool:
                 print(f"ERROR: XArm at {self._ip} not reachable (connected=False)")
                 return False
 
+            # Clear any stale errors and enable motion before setting mode
+            self._arm.clean_error()
+            self._arm.motion_enable(enable=True)
+
             # Initialize to servo mode for high-frequency control
             self._arm.set_mode(_XARM_MODE_SERVO_CARTESIAN)  # Mode 1 = servo mode
             self._arm.set_state(0)
@@ -221,6 +228,12 @@ def write_joint_positions(
         # Use set_servo_angle_j for high-frequency servo control (100Hz+)
         # This only executes the last instruction, suitable for real-time control
         code: int = self._arm.set_servo_angle_j(angles, speed=100, mvacc=500)
+        if code != 0:
+            logger.error(
+                f"[XArm] set_servo_angle_j failed: code={code}, "
+                f"error_code={self._arm.error_code}, warn_code={self._arm.warn_code}, "
+                f"state={self._arm.state}, mode={self._arm.mode}"
+            )
         return code == 0
 
     def write_joint_velocities(self, velocities: list[float]) -> bool:

dimos/manipulation/blueprints.py

@@ -36,6 +36,7 @@
 from dimos.core.blueprints import autoconnect
 from dimos.core.transport import LCMTransport
 from dimos.hardware.sensors.camera.realsense.camera import realsense_camera
+from dimos.manipulation.bt.bt_manipulation_module import bt_manipulation_module
 from dimos.manipulation.bt.pick_place_module import PickPlaceModule
 from dimos.manipulation.manipulation_module import manipulation_module
 from dimos.manipulation.pick_and_place_module import pick_and_place_module
@@ -501,9 +502,52 @@ def _make_piper_config(
 For robot_name parameters, always omit or pass None (single-arm setup).
 """
 
-# BT Agent mode, DL grasps via GraspGen Docker (requires GPU + Docker build)
+# BT Agent mode — uses BTManipulationModule (no skills) + BT PickPlaceModule (skills only)
+# DL grasps via GraspGen Docker (requires GPU + Docker build)
+_bt_xarm_perception = (
+    autoconnect(
+        bt_manipulation_module(
+            robots=[
+                _make_xarm7_config(
+                    "arm",
+                    pitch=math.radians(45),
+                    joint_prefix="arm_",
+                    coordinator_task="traj_arm",
+                    add_gripper=True,
+                    gripper_hardware_id="arm",
+                    tf_extra_links=["link7"],
+                ),
+            ],
+            planning_timeout=10.0,
+            enable_viz=True,
+            graspgen_topk_num_grasps=400,
+            graspgen_save_visualization_data=True,
+        ),
+        realsense_camera(
+            base_frame_id="link7",
+            base_transform=_XARM_PERCEPTION_CAMERA_TRANSFORM,
+        ),
+        object_scene_registration_module(target_frame="world", prompt_mode=YoloePromptMode.PROMPT),
+        foxglove_bridge(
+            shm_channels=[
+                "/image#sensor_msgs.Image",
+                "/overlay#foxglove_msgs.ImageAnnotations",
+                "/pointcloud#sensor_msgs.PointCloud2",
+                "/lidar#sensor_msgs.PointCloud2",
+                "/map#sensor_msgs.PointCloud2",
+            ],
+        ),
+    )
+    .transports(
+        {
+            ("joint_state", JointState): LCMTransport("/coordinator/joint_state", JointState),
+        }
+    )
+    .global_config(viewer="foxglove")
+)
+
 bt_pick_place_agent = autoconnect(
-    xarm_perception,
+    _bt_xarm_perception,
     PickPlaceModule.blueprint(),
     Agent.blueprint(system_prompt=_BT_AGENT_SYSTEM_PROMPT),
 )

dimos/manipulation/bt/__init__.py

@@ -14,10 +14,16 @@
 
 """Behavior Tree based pick-and-place orchestration.
 
-Provides a robust, BT-driven PickPlaceModule that wraps PickAndPlaceModule RPCs
+Provides a robust, BT-driven PickPlaceModule that wraps BTManipulationModule RPCs
 with retry, recovery, grasp verification, and interruptible execution.
 """
 
+from dimos.manipulation.bt.bt_manipulation_module import BTManipulationModule, BTManipulationModuleConfig
 from dimos.manipulation.bt.pick_place_module import PickPlaceModule, PickPlaceModuleConfig
 
-__all__ = ["PickPlaceModule", "PickPlaceModuleConfig"]
+__all__ = [
+    "BTManipulationModule",
+    "BTManipulationModuleConfig",
+    "PickPlaceModule",
+    "PickPlaceModuleConfig",
+]

dimos/manipulation/bt/actions.py

@@ -14,7 +14,7 @@
 
 """BT action leaf nodes for pick-and-place orchestration.
 
-Each action wraps one or more PickAndPlaceModule / OSR / GraspGen RPC calls,
+Each action wraps one or more BTManipulationModule / OSR / GraspGen RPC calls,
 following the py_trees lifecycle: initialise() → update() → terminate().
 
 Long-running operations (trajectory execution, gripper settle) return RUNNING
@@ -81,11 +81,11 @@ def update(self) -> Status:
                 time.sleep(self.module.config.prompt_settle_time)
 
             self.module.get_rpc_calls(
-                "PickAndPlaceModule.refresh_obstacles"
+                "BTManipulationModule.refresh_obstacles"
             )(self.min_duration)
 
             detections = self.module.get_rpc_calls(
-                "PickAndPlaceModule.list_cached_detections"
+                "BTManipulationModule.list_cached_detections"
             )() or []
 
             self.bb.detections = detections
@@ -214,7 +214,7 @@ def initialise(self) -> None:
         def _run() -> None:
             try:
                 self._result = self.module.get_rpc_calls(
-                    "PickAndPlaceModule.generate_grasps"
+                    "BTManipulationModule.generate_grasps"
                 )(obj_pc, scene_pc, rpc_timeout=self.rpc_timeout)
             except Exception as e:
                 self._error = e
@@ -295,7 +295,7 @@ def update(self) -> Status:
         if not candidates:
             return Status.SUCCESS
         try:
-            self.module.get_rpc_calls("PickAndPlaceModule.visualize_grasps")(candidates)
+            self.module.get_rpc_calls("BTManipulationModule.visualize_grasps")(candidates)
         except Exception as e:
             logger.warning(f"[VisualizeGrasps] Visualization failed (non-fatal): {e}")
         return Status.SUCCESS
@@ -441,8 +441,8 @@ def update(self) -> Status:
                 f"[PlanToPose] Planning to {self.pose_key} "
                 f"({pose.position.x:.3f}, {pose.position.y:.3f}, {pose.position.z:.3f})"
             )
-            self.module.get_rpc_calls("PickAndPlaceModule.reset")()
-            result = self.module.get_rpc_calls("PickAndPlaceModule.plan_to_pose")(pose)
+            self.module.get_rpc_calls("BTManipulationModule.reset")()
+            result = self.module.get_rpc_calls("BTManipulationModule.plan_to_pose")(pose)
             if result:
                 return Status.SUCCESS
             self.bb.error_message = f"Error: Planning to {self.pose_key} failed"
@@ -466,8 +466,8 @@ def update(self) -> Status:
             if isinstance(joints, list):
                 joints = JointState(position=joints)
             logger.info(f"[PlanToJoints] Planning to {self.joints_key}")
-            self.module.get_rpc_calls("PickAndPlaceModule.reset")()
-            result = self.module.get_rpc_calls("PickAndPlaceModule.plan_to_joints")(joints)
+            self.module.get_rpc_calls("BTManipulationModule.reset")()
+            result = self.module.get_rpc_calls("BTManipulationModule.plan_to_joints")(joints)
             if result:
                 return Status.SUCCESS
             self.bb.error_message = f"Error: Joint planning to {self.joints_key} failed"
@@ -495,7 +495,7 @@ def __init__(
     def initialise(self) -> None:
         self._seen_executing = False
         try:
-            result = self.module.get_rpc_calls("PickAndPlaceModule.execute")()
+            result = self.module.get_rpc_calls("BTManipulationModule.execute")()
             self._execute_ok = bool(result)
         except Exception as e:
             logger.error(f"[ExecuteTrajectory] Execute call failed: {e}")
@@ -508,7 +508,7 @@ def update(self) -> Status:
             return Status.FAILURE
 
         try:
-            status = self.module.get_rpc_calls("PickAndPlaceModule.get_trajectory_status")()
+            status = self.module.get_rpc_calls("BTManipulationModule.get_trajectory_status")()
         except Exception as e:
             logger.warning(f"[ExecuteTrajectory] Status poll failed: {e}")
             status = None
@@ -541,7 +541,7 @@ def update(self) -> Status:
     def terminate(self, new_status: Status) -> None:
         if new_status == Status.INVALID:
             try:
-                self.module.get_rpc_calls("PickAndPlaceModule.cancel")()
+                self.module.get_rpc_calls("BTManipulationModule.cancel")()
                 logger.info("[ExecuteTrajectory] Cancelled trajectory on interrupt")
             except Exception as e:
                 logger.warning(f"[ExecuteTrajectory] Cancel on interrupt failed (best-effort): {e}")
@@ -566,7 +566,7 @@ def __init__(
 
     def initialise(self) -> None:
         try:
-            self.module.get_rpc_calls("PickAndPlaceModule.set_gripper")(self.position)
+            self.module.get_rpc_calls("BTManipulationModule.set_gripper")(self.position)
             self._command_sent = True
         except Exception as e:
             logger.error(f"[SetGripper] Command failed: {e}")
@@ -641,11 +641,11 @@ def update(self) -> Status:
 # --- Robot state actions ---
 
 class ResetRobot(ManipulationAction):
-    """Call PickAndPlaceModule.reset() to clear fault/abort state."""
+    """Call BTManipulationModule.reset() to clear fault/abort state."""
 
     def update(self) -> Status:
         try:
-            result = self.module.get_rpc_calls("PickAndPlaceModule.reset")()
+            result = self.module.get_rpc_calls("BTManipulationModule.reset")()
             if result:
                 logger.info("[ResetRobot] Reset succeeded")
                 return Status.SUCCESS
@@ -675,7 +675,7 @@ def initialise(self) -> None:
     def update(self) -> Status:
         if not self._cancel_sent:
             try:
-                self.module.get_rpc_calls("PickAndPlaceModule.cancel")()
+                self.module.get_rpc_calls("BTManipulationModule.cancel")()
                 logger.info("[CancelMotion] Cancel sent, waiting for settle")
             except Exception as e:
                 logger.warning(f"[CancelMotion] Cancel failed (best-effort): {e}")
@@ -734,7 +734,7 @@ def __init__(self, name: str, module: PickPlaceModule) -> None:
 
     def update(self) -> Status:
         try:
-            pos = float(self.module.get_rpc_calls("PickAndPlaceModule.get_gripper")())
+            pos = float(self.module.get_rpc_calls("BTManipulationModule.get_gripper")())
             threshold = self.module.config.gripper_grasp_threshold
             open_pos = self.module.config.gripper_open_position
             # Upper bound at 90% of open prevents false positive when gripper is wide open
@@ -778,7 +778,7 @@ def update(self) -> Status:
         lift_h = self._lift_height if self._lift_height is not None else self.module.config.lift_height
 
         try:
-            base_pose = self.module.get_rpc_calls("PickAndPlaceModule.get_ee_pose")()
+            base_pose = self.module.get_rpc_calls("BTManipulationModule.get_ee_pose")()
         except Exception as e:
             logger.warning(f"[ComputeLiftPose] get_ee_pose failed, falling back to current_grasp: {e}")
             base_pose = None
@@ -811,7 +811,7 @@ def update(self) -> Status:
         height = self._retreat_height if self._retreat_height is not None else self.module.config.lift_height
 
         try:
-            base_pose = self.module.get_rpc_calls("PickAndPlaceModule.get_ee_pose")()
+            base_pose = self.module.get_rpc_calls("BTManipulationModule.get_ee_pose")()
         except Exception as e:
             logger.warning(f"[ComputeLocalRetreatPose] get_ee_pose failed: {e}")
             base_pose = None