diff --git a/dimos/e2e_tests/test_manipulation_module.py b/dimos/e2e_tests/test_manipulation_module.py
deleted file mode 100644
index 858955a5c7..0000000000
--- a/dimos/e2e_tests/test_manipulation_module.py
+++ /dev/null
@@ -1,456 +0,0 @@
-# Copyright 2025-2026 Dimensional Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-"""
-Integration tests for ManipulationModule.
-
-These tests verify the full planning stack with Drake backend.
-They require Drake to be installed and will be skipped otherwise.
-"""
-
-from __future__ import annotations
-
-import importlib.util
-import os
-from unittest.mock import MagicMock
-
-import pytest
-
-from dimos.manipulation.manipulation_module import (
-    ManipulationModule,
-    ManipulationState,
-)
-from dimos.manipulation.planning.spec import RobotModelConfig
-from dimos.msgs.geometry_msgs import Pose, PoseStamped, Quaternion, Vector3
-from dimos.msgs.sensor_msgs import JointState
-from dimos.utils.data import get_data
-
-# =============================================================================
-# Helper Functions
-# =============================================================================
-
-
-def _drake_available() -> bool:
-    """Check if Drake is available."""
-    return importlib.util.find_spec("pydrake") is not None
-
-
-def _xarm_urdf_available() -> bool:
-    """Check if xarm URDF is available."""
-    try:
-        desc_path = get_data("xarm_description")
-        urdf_path = desc_path / "urdf/xarm_device.urdf.xacro"
-        return urdf_path.exists()
-    except Exception:
-        return False
-
-
-def _get_xarm7_config() -> RobotModelConfig:
-    """Create XArm7 robot config for testing."""
-    desc_path = get_data("xarm_description")
-    return RobotModelConfig(
-        name="test_arm",
-        urdf_path=desc_path / "urdf/xarm_device.urdf.xacro",
-        base_pose=PoseStamped(position=Vector3(), orientation=Quaternion()),
-        joint_names=["joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "joint7"],
-        end_effector_link="link7",
-        base_link="link_base",
-        package_paths={"xarm_description": desc_path},
-        xacro_args={"dof": "7", "limited": "true"},
-        auto_convert_meshes=True,
-        max_velocity=1.0,
-        max_acceleration=2.0,
-        joint_name_mapping={
-            "arm_joint1": "joint1",
-            "arm_joint2": "joint2",
-            "arm_joint3": "joint3",
-            "arm_joint4": "joint4",
-            "arm_joint5": "joint5",
-            "arm_joint6": "joint6",
-            "arm_joint7": "joint7",
-        },
-        coordinator_task_name="traj_arm",
-    )
-
-
-# =============================================================================
-# Fixtures
-# =============================================================================
-
-
-@pytest.fixture
-def xarm7_config():
-    """Create XArm7 config fixture."""
-    return _get_xarm7_config()
-
-
-@pytest.fixture
-def joint_state_zeros():
-    """Create a JointState message with zeros for XArm7."""
-    return JointState(
-        name=[
-            "arm_joint1",
-            "arm_joint2",
-            "arm_joint3",
-            "arm_joint4",
-            "arm_joint5",
-            "arm_joint6",
-            "arm_joint7",
-        ],
-        position=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
-        velocity=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
-        effort=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
-    )
-
-
-# =============================================================================
-# Integration Tests (require Drake + URDF)
-# =============================================================================
-
-
-@pytest.mark.skipif(not _drake_available(), reason="Drake not installed")
-@pytest.mark.skipif(not _xarm_urdf_available(), reason="XArm URDF not available")
-@pytest.mark.skipif(bool(os.getenv("CI")), reason="Skip in CI - requires LFS data")
-class TestManipulationModuleIntegration:
-    """Integration tests for ManipulationModule with real Drake backend."""
-
-    def test_module_initialization(self, xarm7_config):
-        """Test module initializes with real Drake world."""
-        # Create module instance directly (without going through blueprints)
-        # Module __init__ takes config fields as kwargs, not a config object
-        module = ManipulationModule(
-            robots=[xarm7_config],
-            planning_timeout=10.0,
-            enable_viz=False,  # No viz for tests
-        )
-
-        # Mock the joint_state port to avoid needing real transport
-        module.joint_state = None
-
-        # Start to trigger planning initialization
-        module.start()
-
-        try:
-            assert module._state == ManipulationState.IDLE
-            assert module._world_monitor is not None
-            assert module._planner is not None
-            assert module._kinematics is not None
-            assert "test_arm" in module._robots
-        finally:
-            module.stop()
-
-    def test_joint_state_sync(self, xarm7_config, joint_state_zeros):
-        """Test joint state synchronization to Drake world."""
-        module = ManipulationModule(
-            robots=[xarm7_config],
-            planning_timeout=10.0,
-            enable_viz=False,
-        )
-        module.joint_state = None
-        module.start()
-
-        try:
-            # Manually send joint state
-            module._on_joint_state(joint_state_zeros)
-
-            # Verify state is synchronized
-            joints = module.get_current_joints()
-            assert joints is not None
-            assert len(joints) == 7
-            # All zeros
-            assert all(abs(j) < 0.01 for j in joints)
-        finally:
-            module.stop()
-
-    def test_collision_check(self, xarm7_config, joint_state_zeros):
-        """Test collision checking at a configuration."""
-        module = ManipulationModule(
-            robots=[xarm7_config],
-            planning_timeout=10.0,
-            enable_viz=False,
-        )
-        module.joint_state = None
-        module.start()
-
-        try:
-            # Sync state first
-            module._on_joint_state(joint_state_zeros)
-
-            # Check that zero config is collision-free
-            is_free = module.is_collision_free([0.0] * 7)
-            assert is_free is True
-        finally:
-            module.stop()
-
-    def test_plan_to_joints(self, xarm7_config, joint_state_zeros):
-        """Test planning to a joint configuration."""
-        module = ManipulationModule(
-            robots=[xarm7_config],
-            planning_timeout=10.0,
-            enable_viz=False,
-        )
-        module.joint_state = None
-        module.start()
-
-        try:
-            # Sync state first
-            module._on_joint_state(joint_state_zeros)
-
-            # Plan to a small motion
-            target = [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
-            success = module.plan_to_joints(target)
-
-            assert success is True
-            assert module._state == ManipulationState.COMPLETED
-            assert module.has_planned_path() is True
-
-            # Verify trajectory was generated
-            assert "test_arm" in module._planned_trajectories
-            traj = module._planned_trajectories["test_arm"]
-            assert len(traj.points) > 1
-            assert traj.duration > 0
-        finally:
-            module.stop()
-
-    def test_add_and_remove_obstacle(self, xarm7_config, joint_state_zeros):
-        """Test adding and removing obstacles."""
-        module = ManipulationModule(
-            robots=[xarm7_config],
-            planning_timeout=10.0,
-            enable_viz=False,
-        )
-        module.joint_state = None
-        module.start()
-
-        try:
-            # Sync state
-            module._on_joint_state(joint_state_zeros)
-
-            # Add a box obstacle
-            pose = Pose(
-                position=Vector3(0.5, 0.0, 0.3),
-                orientation=Quaternion(),  # default is identity (w=1)
-            )
-            obstacle_id = module.add_obstacle("test_box", pose, "box", [0.1, 0.1, 0.1])
-
-            assert obstacle_id != ""
-            assert obstacle_id is not None
-
-            # Remove it
-            removed = module.remove_obstacle(obstacle_id)
-            assert removed is True
-        finally:
-            module.stop()
-
-    def test_robot_info(self, xarm7_config):
-        """Test getting robot information."""
-        module = ManipulationModule(
-            robots=[xarm7_config],
-            planning_timeout=10.0,
-            enable_viz=False,
-        )
-        module.joint_state = None
-        module.start()
-
-        try:
-            # Get robot info
-            info = module.get_robot_info()
-
-            assert info is not None
-            assert info["name"] == "test_arm"
-            assert len(info["joint_names"]) == 7
-            assert info["end_effector_link"] == "link7"
-            assert info["coordinator_task_name"] == "traj_arm"
-            assert info["has_joint_name_mapping"] is True
-        finally:
-            module.stop()
-
-    def test_ee_pose(self, xarm7_config, joint_state_zeros):
-        """Test getting end-effector pose."""
-        module = ManipulationModule(
-            robots=[xarm7_config],
-            planning_timeout=10.0,
-            enable_viz=False,
-        )
-        module.joint_state = None
-        module.start()
-
-        try:
-            # Sync state
-            module._on_joint_state(joint_state_zeros)
-
-            # Get EE pose
-            pose = module.get_ee_pose()
-
-            assert pose is not None
-            # At zero config, EE should be at some position
-            assert hasattr(pose, "x")
-            assert hasattr(pose, "y")
-            assert hasattr(pose, "z")
-        finally:
-            module.stop()
-
-    def test_trajectory_name_translation(self, xarm7_config, joint_state_zeros):
-        """Test that trajectory joint names are translated for coordinator."""
-        module = ManipulationModule(
-            robots=[xarm7_config],
-            planning_timeout=10.0,
-            enable_viz=False,
-        )
-        module.joint_state = None
-        module.start()
-
-        try:
-            # Sync state
-            module._on_joint_state(joint_state_zeros)
-
-            # Plan a motion
-            success = module.plan_to_joints([0.05] * 7)
-            assert success is True
-
-            # Get the trajectory
-            traj = module._planned_trajectories["test_arm"]
-            robot_config = module._robots["test_arm"][1]
-
-            # Translate it
-            translated = module._translate_trajectory_to_coordinator(traj, robot_config)
-
-            # Verify names are translated
-            for name in translated.joint_names:
-                assert name.startswith("arm_")  # Should have arm_ prefix
-        finally:
-            module.stop()
-
-
-# =============================================================================
-# Coordinator Integration Tests (mocked coordinator)
-# =============================================================================
-
-
-@pytest.mark.skipif(not _drake_available(), reason="Drake not installed")
-@pytest.mark.skipif(not _xarm_urdf_available(), reason="XArm URDF not available")
-@pytest.mark.skipif(bool(os.getenv("CI")), reason="Skip in CI - requires LFS data")
-class TestCoordinatorIntegration:
-    """Test coordinator integration with mocked RPC client."""
-
-    def test_execute_with_mock_coordinator(self, xarm7_config, joint_state_zeros):
-        """Test execute sends trajectory to coordinator."""
-        module = ManipulationModule(
-            robots=[xarm7_config],
-            planning_timeout=10.0,
-            enable_viz=False,
-        )
-        module.joint_state = None
-        module.start()
-
-        try:
-            # Sync state
-            module._on_joint_state(joint_state_zeros)
-
-            # Plan a motion
-            success = module.plan_to_joints([0.05] * 7)
-            assert success is True
-
-            # Mock the coordinator client
-            mock_client = MagicMock()
-            mock_client.execute_trajectory.return_value = True
-            module._coordinator_client = mock_client
-
-            # Execute
-            result = module.execute()
-
-            assert result is True
-            assert module._state == ManipulationState.COMPLETED
-
-            # Verify coordinator was called
-            mock_client.execute_trajectory.assert_called_once()
-            call_args = mock_client.execute_trajectory.call_args
-            task_name, trajectory = call_args[0]
-
-            assert task_name == "traj_arm"
-            assert len(trajectory.points) > 1
-            # Joint names should be translated
-            assert all(n.startswith("arm_") for n in trajectory.joint_names)
-        finally:
-            module.stop()
-
-    def test_execute_rejected_by_coordinator(self, xarm7_config, joint_state_zeros):
-        """Test handling of coordinator rejection."""
-        module = ManipulationModule(
-            robots=[xarm7_config],
-            planning_timeout=10.0,
-            enable_viz=False,
-        )
-        module.joint_state = None
-        module.start()
-
-        try:
-            # Sync state
-            module._on_joint_state(joint_state_zeros)
-
-            # Plan a motion
-            module.plan_to_joints([0.05] * 7)
-
-            # Mock coordinator to reject
-            mock_client = MagicMock()
-            mock_client.execute_trajectory.return_value = False
-            module._coordinator_client = mock_client
-
-            # Execute
-            result = module.execute()
-
-            assert result is False
-            assert module._state == ManipulationState.FAULT
-            assert "rejected" in module._error_message.lower()
-        finally:
-            module.stop()
-
-    def test_state_transitions_during_execution(self, xarm7_config, joint_state_zeros):
-        """Test state transitions during plan and execute."""
-        module = ManipulationModule(
-            robots=[xarm7_config],
-            planning_timeout=10.0,
-            enable_viz=False,
-        )
-        module.joint_state = None
-        module.start()
-
-        try:
-            # Initial state
-            assert module._state == ManipulationState.IDLE
-
-            # Sync state
-            module._on_joint_state(joint_state_zeros)
-
-            # Plan - should go through PLANNING -> COMPLETED
-            module.plan_to_joints([0.05] * 7)
-            assert module._state == ManipulationState.COMPLETED
-
-            # Reset works from COMPLETED
-            module.reset()
-            assert module._state == ManipulationState.IDLE
-
-            # Plan again
-            module.plan_to_joints([0.05] * 7)
-
-            # Mock coordinator
-            mock_client = MagicMock()
-            mock_client.execute_trajectory.return_value = True
-            module._coordinator_client = mock_client
-
-            # Execute - should go to EXECUTING then COMPLETED
-            module.execute()
-            assert module._state == ManipulationState.COMPLETED
-        finally:
-            module.stop()
diff --git a/dimos/manipulation/test_manipulation_module.py b/dimos/manipulation/test_manipulation_module.py
new file mode 100644
index 0000000000..d2c2a347c9
--- /dev/null
+++ b/dimos/manipulation/test_manipulation_module.py
@@ -0,0 +1,293 @@
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""
+Integration tests for ManipulationModule.
+
+These tests verify the full planning stack with Drake backend.
+They require Drake to be installed and will be skipped otherwise.
+"""
+
+from __future__ import annotations
+
+import importlib.util
+from unittest.mock import MagicMock
+
+import pytest
+
+from dimos.manipulation.manipulation_module import (
+    ManipulationModule,
+    ManipulationState,
+)
+from dimos.manipulation.planning.spec import RobotModelConfig
+from dimos.msgs.geometry_msgs import Pose, PoseStamped, Quaternion, Vector3
+from dimos.msgs.sensor_msgs import JointState
+from dimos.utils.data import get_data
+
+
+def _drake_available() -> bool:
+    return importlib.util.find_spec("pydrake") is not None
+
+
+def _xarm_urdf_available() -> bool:
+    try:
+        desc_path = get_data("xarm_description")
+        urdf_path = desc_path / "urdf/xarm_device.urdf.xacro"
+        return urdf_path.exists()
+    except Exception:
+        return False
+
+
+def _get_xarm7_config() -> RobotModelConfig:
+    """Create XArm7 robot config for testing."""
+    desc_path = get_data("xarm_description")
+    return RobotModelConfig(
+        name="test_arm",
+        urdf_path=desc_path / "urdf/xarm_device.urdf.xacro",
+        base_pose=PoseStamped(position=Vector3(), orientation=Quaternion()),
+        joint_names=["joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "joint7"],
+        end_effector_link="link7",
+        base_link="link_base",
+        package_paths={"xarm_description": desc_path},
+        xacro_args={"dof": "7", "limited": "true"},
+        auto_convert_meshes=True,
+        max_velocity=1.0,
+        max_acceleration=2.0,
+        joint_name_mapping={
+            "arm_joint1": "joint1",
+            "arm_joint2": "joint2",
+            "arm_joint3": "joint3",
+            "arm_joint4": "joint4",
+            "arm_joint5": "joint5",
+            "arm_joint6": "joint6",
+            "arm_joint7": "joint7",
+        },
+        coordinator_task_name="traj_arm",
+    )
+
+
+@pytest.fixture
+def xarm7_config():
+    return _get_xarm7_config()
+
+
+@pytest.fixture
+def joint_state_zeros():
+    """Create a JointState message with zeros for XArm7."""
+    return JointState(
+        name=[
+            "arm_joint1",
+            "arm_joint2",
+            "arm_joint3",
+            "arm_joint4",
+            "arm_joint5",
+            "arm_joint6",
+            "arm_joint7",
+        ],
+        position=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+        velocity=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+        effort=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+    )
+
+
+@pytest.fixture
+def module(xarm7_config):
+    """Create a started ManipulationModule with ports disabled."""
+    mod = ManipulationModule(
+        robots=[xarm7_config],
+        planning_timeout=10.0,
+        enable_viz=False,
+    )
+    mod.joint_state = None
+    mod.objects = None
+    mod.start()
+    yield mod
+    mod.stop()
+
+
+@pytest.mark.skipif(not _drake_available(), reason="Drake not installed")
+@pytest.mark.skipif(not _xarm_urdf_available(), reason="XArm URDF not available")
+class TestManipulationModuleIntegration:
+    """Integration tests for ManipulationModule with real Drake backend."""
+
+    def test_module_initialization(self, module):
+        """Test module initializes with real Drake world."""
+        assert module._state == ManipulationState.IDLE
+        assert module._world_monitor is not None
+        assert module._planner is not None
+        assert module._kinematics is not None
+        assert "test_arm" in module._robots
+
+    def test_joint_state_sync(self, module, joint_state_zeros):
+        """Test joint state synchronization to Drake world."""
+        module._on_joint_state(joint_state_zeros)
+
+        joints = module.get_current_joints()
+        assert joints is not None
+        assert len(joints) == 7
+        assert all(abs(j) < 0.01 for j in joints)
+
+    def test_collision_check(self, module, joint_state_zeros):
+        """Test collision checking at a configuration."""
+        module._on_joint_state(joint_state_zeros)
+
+        is_free = module.is_collision_free([0.0] * 7)
+        assert is_free is True
+
+    def test_plan_to_joints(self, module, joint_state_zeros):
+        """Test planning to a joint configuration."""
+        module._on_joint_state(joint_state_zeros)
+
+        target = [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        success = module.plan_to_joints(target)
+
+        assert success is True
+        assert module._state == ManipulationState.COMPLETED
+        assert module.has_planned_path() is True
+
+        assert "test_arm" in module._planned_trajectories
+        traj = module._planned_trajectories["test_arm"]
+        assert len(traj.points) > 1
+        assert traj.duration > 0
+
+    def test_add_and_remove_obstacle(self, module, joint_state_zeros):
+        """Test adding and removing obstacles."""
+        module._on_joint_state(joint_state_zeros)
+
+        pose = Pose(
+            position=Vector3(0.5, 0.0, 0.3),
+            orientation=Quaternion(),  # default is identity (w=1)
+        )
+        obstacle_id = module.add_obstacle("test_box", pose, "box", [0.1, 0.1, 0.1])
+
+        assert obstacle_id != ""
+        assert obstacle_id is not None
+
+        removed = module.remove_obstacle(obstacle_id)
+        assert removed is True
+
+    def test_robot_info(self, module):
+        """Test getting robot information."""
+        info = module.get_robot_info()
+
+        assert info is not None
+        assert info["name"] == "test_arm"
+        assert len(info["joint_names"]) == 7
+        assert info["end_effector_link"] == "link7"
+        assert info["coordinator_task_name"] == "traj_arm"
+        assert info["has_joint_name_mapping"] is True
+
+    def test_ee_pose(self, module, joint_state_zeros):
+        """Test getting end-effector pose."""
+        module._on_joint_state(joint_state_zeros)
+
+        pose = module.get_ee_pose()
+
+        assert pose is not None
+        assert hasattr(pose, "x")
+        assert hasattr(pose, "y")
+        assert hasattr(pose, "z")
+
+    def test_trajectory_name_translation(self, module, joint_state_zeros):
+        """Test that trajectory joint names are translated for coordinator."""
+        module._on_joint_state(joint_state_zeros)
+
+        success = module.plan_to_joints([0.05] * 7)
+        assert success is True
+
+        traj = module._planned_trajectories["test_arm"]
+        robot_config = module._robots["test_arm"][1]
+
+        translated = module._translate_trajectory_to_coordinator(traj, robot_config)
+
+        for name in translated.joint_names:
+            assert name.startswith("arm_")  # Should have arm_ prefix
+
+
+@pytest.mark.skipif(not _drake_available(), reason="Drake not installed")
+@pytest.mark.skipif(not _xarm_urdf_available(), reason="XArm URDF not available")
+class TestCoordinatorIntegration:
+    """Test coordinator integration with mocked RPC client."""
+
+    def test_execute_with_mock_coordinator(self, module, joint_state_zeros):
+        """Test execute sends trajectory to coordinator."""
+        module._on_joint_state(joint_state_zeros)
+
+        success = module.plan_to_joints([0.05] * 7)
+        assert success is True
+
+        # Mock the coordinator client
+        mock_client = MagicMock()
+        mock_client.task_invoke.return_value = True
+        module._coordinator_client = mock_client
+
+        result = module.execute()
+
+        assert result is True
+        assert module._state == ManipulationState.COMPLETED
+
+        # Verify coordinator was called
+        mock_client.task_invoke.assert_called_once()
+        call_args = mock_client.task_invoke.call_args
+        task_name, method_name, kwargs = call_args[0]
+
+        assert task_name == "traj_arm"
+        assert method_name == "execute"
+        trajectory = kwargs["trajectory"]
+        assert len(trajectory.points) > 1
+        # Joint names should be translated
+        assert all(n.startswith("arm_") for n in trajectory.joint_names)
+
+    def test_execute_rejected_by_coordinator(self, module, joint_state_zeros):
+        """Test handling of coordinator rejection."""
+        module._on_joint_state(joint_state_zeros)
+
+        module.plan_to_joints([0.05] * 7)
+
+        # Mock coordinator to reject
+        mock_client = MagicMock()
+        mock_client.task_invoke.return_value = False
+        module._coordinator_client = mock_client
+
+        result = module.execute()
+
+        assert result is False
+        assert module._state == ManipulationState.FAULT
+        assert "rejected" in module._error_message.lower()
+
+    def test_state_transitions_during_execution(self, module, joint_state_zeros):
+        """Test state transitions during plan and execute."""
+        assert module._state == ManipulationState.IDLE
+
+        module._on_joint_state(joint_state_zeros)
+
+        # Plan - should go through PLANNING -> COMPLETED
+        module.plan_to_joints([0.05] * 7)
+        assert module._state == ManipulationState.COMPLETED
+
+        # Reset works from COMPLETED
+        module.reset()
+        assert module._state == ManipulationState.IDLE
+
+        # Plan again
+        module.plan_to_joints([0.05] * 7)
+
+        # Mock coordinator
+        mock_client = MagicMock()
+        mock_client.task_invoke.return_value = True
+        module._coordinator_client = mock_client
+
+        # Execute - should go to EXECUTING then COMPLETED
+        module.execute()
+        assert module._state == ManipulationState.COMPLETED