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xarm-perception-sim-agent runs the xArm perception, planning, MuJoCo simulation, MCP server, and built-in agent together. It is simulation-only; This guide uses this blueprint to provide a walk-through of dimos’s agentic manipulation stack. See the manipulation capability overview for the underlying planning and perception stack.

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Prerequisites

Install the manipulation dependencies:
The built-in agent requires an OPENAI_API_KEY.

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Start and stop

Run in the foreground:
Or run it as a daemon:
Inspect and control the run from another terminal:
Use dimos log -f to follow the log while the run is active.

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Daily interaction

For normal interactive use, start the human-friendly terminal client:
It connects to the running agent so you can send prompts and read responses in one session.

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Try these prompts

Start with a non-motion state check:
Scan the scene for objects. This moves the arm to its observation pose:
Try basic motion commands:

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Debugging and testing interfaces

Use agent-send for one-shot LCM input when testing or diagnosing the agent:
The blueprint also includes an MCP server. Use these commands for direct server inspection and tool-level testing:
For example: