Feature: Add gripper control for control coordinator

dimos/control/coordinator.py

@@ -493,6 +493,38 @@ def task_invoke(
 
             return getattr(task, method)(**kwargs)
 
+    # =========================================================================
+    # Gripper
+    # =========================================================================
+
+    @rpc
+    def set_gripper_position(self, hardware_id: str, position: float) -> bool:
+        """Set gripper position on a specific hardware device.
+
+        Args:
+            hardware_id: ID of the hardware with the gripper
+            position: Gripper position in meters
+        """
+        with self._hardware_lock:
+            hw = self._hardware.get(hardware_id)
+            if hw is None:
+                logger.warning(f"Hardware '{hardware_id}' not found for gripper command")
+                return False
+            return hw.adapter.write_gripper_position(position)
+
+    @rpc
+    def get_gripper_position(self, hardware_id: str) -> float | None:
+        """Get gripper position from a specific hardware device.
+
+        Args:
+            hardware_id: ID of the hardware with the gripper
+        """
+        with self._hardware_lock:
+            hw = self._hardware.get(hardware_id)
+            if hw is None:
+                return None
+            return hw.adapter.read_gripper_position()
+
     # =========================================================================
     # Lifecycle
     # =========================================================================

dimos/control/hardware_interface.py

@@ -70,6 +70,11 @@ def __init__(
         self._warned_unknown_joints: set[str] = set()
         self._current_mode: ControlMode | None = None
 
+    @property
+    def adapter(self) -> ManipulatorAdapter:
+        """The underlying hardware adapter."""
+        return self._adapter
+
     @property
     def hardware_id(self) -> HardwareId:
         """Unique ID for this hardware."""

dimos/hardware/manipulators/xarm/adapter.py

@@ -351,8 +351,9 @@ def write_gripper_position(self, position: float) -> bool:
         if not self._arm:
             return False
 
+        self._arm.set_gripper_enable(True)
         pos_mm = position * M_TO_MM
-        code: int = self._arm.set_gripper_position(pos_mm)
+        code: int = self._arm.set_gripper_position(pos_mm, wait=True)
         return code == 0
 
     # =========================================================================

dimos/manipulation/manipulation_module.py

@@ -514,7 +514,9 @@ def get_robot_info(self, robot_name: RobotName | None = None) -> dict[str, objec
 
     def _get_coordinator_client(self) -> RPCClient | None:
         """Get or create coordinator RPC client (lazy init)."""
-        if not any(c.coordinator_task_name for _, c, _ in self._robots.values()):
+        if not any(
+            c.coordinator_task_name or c.gripper_hardware_id for _, c, _ in self._robots.values()
+        ):
             return None
         if self._coordinator_client is None:
             from dimos.control.coordinator import ControlCoordinator
@@ -650,6 +652,76 @@ def remove_obstacle(self, obstacle_id: str) -> bool:
             return False
         return self._world_monitor.remove_obstacle(obstacle_id)
 
+    # =========================================================================
+    # Gripper RPC Methods
+    # =========================================================================
+
+    def _get_gripper_hardware_id(self, robot_name: RobotName | None = None) -> str | None:
+        """Get gripper hardware ID for a robot."""
+        robot = self._get_robot(robot_name)
+        if robot is None:
+            return None
+        _, _, config, _ = robot
+        if not config.gripper_hardware_id:
+            logger.warning(f"No gripper_hardware_id configured for '{config.name}'")
+            return None
+        return config.gripper_hardware_id
+
+    @rpc
+    def set_gripper(self, position: float, robot_name: RobotName | None = None) -> bool:
+        """Set gripper position in meters.
+
+        Args:
+            position: Gripper position in meters
+            robot_name: Robot to control (required if multiple robots configured)
+        """
+        hw_id = self._get_gripper_hardware_id(robot_name)
+        if hw_id is None:
+            return False
+        client = self._get_coordinator_client()
+        if client is None:
+            logger.error("No coordinator client for gripper control")
+            return False
+        return bool(client.set_gripper_position(hw_id, position))
+
+    @rpc
+    def get_gripper(self, robot_name: RobotName | None = None) -> float | None:
+        """Get gripper position in meters.
+
+        Args:
+            robot_name: Robot to query (required if multiple robots configured)
+        """
+        hw_id = self._get_gripper_hardware_id(robot_name)
+        if hw_id is None:
+            return None
+        client = self._get_coordinator_client()
+        if client is None:
+            return None
+        result = client.get_gripper_position(hw_id)
+        return float(result) if result is not None else None
+
+    @rpc
+    def open_gripper(self, robot_name: RobotName | None = None) -> bool:
+        """Open gripper fully (0.85m opening).
+
+        Args:
+            robot_name: Robot to control (required if multiple robots configured)
+        """
+        return bool(self.set_gripper(0.85, robot_name))
+
+    @rpc
+    def close_gripper(self, robot_name: RobotName | None = None) -> bool:
+        """Close gripper fully.
+
+        Args:
+            robot_name: Robot to control (required if multiple robots configured)
+        """
+        return bool(self.set_gripper(0.0, robot_name))
+
+    # =========================================================================
+    # Lifecycle
+    # =========================================================================
+
     @rpc
     def stop(self) -> None:
         """Stop the manipulation module."""

dimos/manipulation/planning/examples/manipulation_client.py

@@ -223,6 +223,43 @@ def remove(self, obstacle_id: str) -> bool:
         """Remove obstacle."""
         return cast("bool", self._call("remove_obstacle", obstacle_id))
 
+    # =========================================================================
+    # Gripper Methods
+    # =========================================================================
+
+    def set_gripper(self, position: float, robot_name: str | None = None) -> bool:
+        """Set gripper position in meters.
+
+        Args:
+            position: Gripper position in meters
+            robot_name: Robot to control (required if multiple robots configured)
+        """
+        return cast("bool", self._call("set_gripper", position, robot_name=robot_name))
+
+    def get_gripper(self, robot_name: str | None = None) -> float | None:
+        """Get gripper position in meters.
+
+        Args:
+            robot_name: Robot to query (required if multiple robots configured)
+        """
+        return cast("float | None", self._call("get_gripper", robot_name=robot_name))
+
+    def open_gripper(self, robot_name: str | None = None) -> bool:
+        """Open gripper fully.
+
+        Args:
+            robot_name: Robot to control (required if multiple robots configured)
+        """
+        return cast("bool", self._call("open_gripper", robot_name=robot_name))
+
+    def close_gripper(self, robot_name: str | None = None) -> bool:
+        """Close gripper fully.
+
+        Args:
+            robot_name: Robot to control (required if multiple robots configured)
+        """
+        return cast("bool", self._call("close_gripper", robot_name=robot_name))
+
     # =========================================================================
     # Utility Methods
     # =========================================================================
@@ -289,6 +326,11 @@ def main() -> None:
         "sphere": c.sphere,
         "cylinder": c.cylinder,
         "remove": c.remove,
+        # Gripper methods
+        "set_gripper": c.set_gripper,
+        "get_gripper": c.get_gripper,
+        "open_gripper": c.open_gripper,
+        "close_gripper": c.close_gripper,
         # Utility methods
         "collision": c.collision,
         "reset": c.reset,
@@ -321,6 +363,12 @@ def main() -> None:
   cylinder("name", x, y, z, radius, length)         # Add cylinder
   remove("obstacle_id")                             # Remove obstacle
 
+Gripper:
+  open_gripper()              # Open gripper fully
+  close_gripper()             # Close gripper fully
+  set_gripper(0.05)           # Set gripper position (meters)
+  get_gripper()               # Get gripper position (meters)
+
 Utility:
   collision([0.1, ...])   # Check if config is collision-free
   reset()                 # Reset to IDLE state

dimos/manipulation/planning/spec/config.py

@@ -73,6 +73,7 @@ class RobotModelConfig:
     # Coordinator integration
     joint_name_mapping: dict[str, str] = field(default_factory=dict)
     coordinator_task_name: str | None = None
+    gripper_hardware_id: str | None = None
 
     def get_urdf_joint_name(self, coordinator_name: str) -> str:
         """Translate coordinator joint name to URDF joint name."""