fix(manip): sync the pick/place gripper on feedback and verify the grasp

[mustafab0]

The defect

dimos/manipulation/pick_and_place_module.py synchronized the gripper with wall-clock sleeps, and nothing anywhere verified a grasp:

line	sleep	what it was waiting for
:543	time.sleep(0.5)	pre-grasp open
:561	time.sleep(1.5)	# Wait for gripper to close
:652	time.sleep(1.0)	release at place

Open-loop timing means a slow close gets truncated and a fast one wastes time. Worse, a missed grasp sailed straight on to the lift.

The mechanism

Gripper readback is measured, not an echo of the command

Each sleep is now a deadline poll that settles the readback, matching the house style of PlanExecutionManager.wait (dimos/manipulation/execution_manager.py:212)

Tests

• test_grasp_verification.py (13) — the poll helper against a mocked readback with an injected clock: settle, stall band, timeout, never-travelled, late readback, band edges, config validation.

[codecov]

Codecov Report

❌ Patch coverage is 80.97166% with 47 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/manipulation/pick_and_place_module.py	11.76%	45 Missing ⚠️
dimos/manipulation/grasp_verification.py	97.61%	1 Missing and 1 partial ⚠️

@@            Coverage Diff             @@
##             main    #3701      +/-   ##
==========================================
+ Coverage   77.98%   78.00%   +0.01%     
==========================================
  Files        1296     1298       +2     
  Lines      124870   125110     +240     
  Branches    10901    10930      +29     
==========================================
+ Hits        97383    97586     +203     
- Misses      24315    24353      +38     
+ Partials     3172     3171       -1     

Flag	Coverage Δ
OS-ubuntu-24.04-arm	73.06% <80.97%> (+0.01%)	⬆️
OS-ubuntu-latest	74.88% <80.97%> (+0.01%)	⬆️
Py-3.10	74.87% <80.97%> (+0.01%)	⬆️
Py-3.11	74.87% <80.97%> (+0.01%)	⬆️
Py-3.12	74.87% <80.97%> (+0.01%)	⬆️
Py-3.13	74.87% <80.97%> (+0.01%)	⬆️
Py-3.14	74.87% <80.97%> (+0.01%)	⬆️
Py-3.14t	74.87% <80.97%> (+0.01%)	⬆️
SelfHosted-Large	29.91% <28.34%> (+<0.01%)	⬆️
SelfHosted-Linux	35.05% <28.34%> (-0.01%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
dimos/manipulation/planning/spec/config.py	96.22% <100.00%> (+0.14%)	⬆️
dimos/manipulation/skill_errors.py	100.00% <ø> (ø)
dimos/manipulation/test_grasp_verification.py	100.00% <100.00%> (ø)
dimos/manipulation/grasp_verification.py	97.61% <97.61%> (ø)
dimos/manipulation/pick_and_place_module.py	29.05% <11.76%> (-2.31%)	⬇️

... and 2 files with indirect coverage changes

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[greptile-apps]

Greptile Summary

This change replaces fixed gripper delays with feedback-based settlement, adds grasp verification, and reports gripper command failures more clearly.

A settled gripper readback is currently accepted as a completed opening without confirming that the jaws reached the requested open position. If the gripper stalls partway open, pick and place can continue with partially closed jaws, potentially interfering with approach, release, or retraction.

T-Rex validation blocked

The deterministic partial-opening reproduction could not execute the gripper method because the Python package filelock was missing. The script failed during module import before reaching the simulated accepted command and settled partial-open feedback path.

Confidence Score: 4/5

Do not merge until opening completion verifies that the settled gripper position is sufficiently close to the requested open position.

The affected success path accepts any available settled readback without comparing it with the configured open target. The dedicated runtime reproduction was blocked before the method could run, but the control flow establishes the incomplete-opening path.

Files Needing Attention: dimos/manipulation/pick_and_place_module.py, especially the settled-feedback success branch in _open_gripper.

T-Rex Logs

What T-Rex did

• An automated deterministic reproduction was prepared to issue an open command to 1.000 with a feedback sequence of 0.700, 0.800, 0.800, 0.800, but the run failed during module import due to ModuleNotFoundError: No module named 'filelock', so the open path could not be exercised and no runtime result was observed.
• T-Rex produced a proof for a posted P1 finding, and the details are documented in the corresponding review comment.

_{Ran code and verified through T-Rex}

_{Reviews (1): Last reviewed commit: "fix(manip): sync the pick/place gripper ..." | Re-trigger Greptile}