diff --git a/src/rai_core/rai/tools/ros2/manipulation/custom.py b/src/rai_core/rai/tools/ros2/manipulation/custom.py
index 08c45b955..f3d801152 100644
--- a/src/rai_core/rai/tools/ros2/manipulation/custom.py
+++ b/src/rai_core/rai/tools/ros2/manipulation/custom.py
@@ -454,3 +454,16 @@ def _run(self):
             return "Arm successfully reset."
         else:
             return "Failed to reset the arm."
+
+
+# GetGrabbingPointTool is only imported for type checking above (to avoid a
+# circular import), so Pydantic cannot resolve the "GetGrabbingPointTool"
+# annotation on GetObjectPositionsTool by itself. Resolve it here once the real
+# class can be imported. If rai_perception is not installed, the tool stays
+# unresolved, as before.
+try:
+    from rai_perception.tools import GetGrabbingPointTool  # noqa: F811
+
+    GetObjectPositionsTool.model_rebuild()
+except ImportError:
+    pass
diff --git a/tests/tools/ros2/test_manipulation_custom.py b/tests/tools/ros2/test_manipulation_custom.py
index 15613e253..bd2709e62 100644
--- a/tests/tools/ros2/test_manipulation_custom.py
+++ b/tests/tools/ros2/test_manipulation_custom.py
@@ -420,3 +420,13 @@ def test_objects_detected(
             camera_info_topic="/camera/rgb/camera_info",
             object_name="cup",
         )
+
+
+def test_get_object_positions_tool_model_is_fully_defined():
+    """Regression test: the forward reference to GetGrabbingPointTool must resolve.
+
+    Building the tool with model_construct() skips this check, so look at the
+    Pydantic completeness flag directly.
+    """
+    pytest.importorskip("rai_perception.tools")
+    assert GetObjectPositionsTool.__pydantic_complete__