> ## Documentation Index
> Fetch the complete documentation index at: https://dimensional-mustafa-task-control-autotune.mintlify.site/llms.txt
> Use this file to discover all available pages before exploring further.

# Agentic xArm Simulation

`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](/docs/capabilities/manipulation/) for
the underlying planning and perception stack.

## Prerequisites

Install the manipulation dependencies:

```bash theme={null}
uv sync --extra manipulation --inexact
```

The built-in agent requires an `OPENAI_API_KEY`.

## Start and stop

Run in the foreground:

```bash theme={null}
uv run dimos run xarm-perception-sim-agent
```

Or run it as a daemon:

```bash theme={null}
uv run dimos run xarm-perception-sim-agent --daemon
```

Inspect and control the run from another terminal:

```bash theme={null}
uv run dimos status
uv run dimos log
uv run dimos stop
```

Use `dimos log -f` to follow the log while the run is active.

## Daily interaction

For normal interactive use, start the human-friendly terminal client:

```bash theme={null}
uv run dimos humancli
```

It connects to the running agent so you can send prompts and read responses in
one session.

### Try these prompts

Start with a non-motion state check:

```text theme={null}
Report the current robot state without moving.
```

Scan the scene for objects. This moves the arm to its observation pose:

```text theme={null}
Scan for objects.
```

Try basic motion commands:

```text theme={null}
Move 10 cm to the left.
```

```text theme={null}
Move 10 cm above the detected object's pose.
```

## Debugging and testing interfaces

Use `agent-send` for one-shot LCM input when testing or diagnosing the agent:

```bash theme={null}
uv run dimos agent-send "Report the current robot state and visible objects; do not move the arm or gripper."
```

The blueprint also includes an MCP server. Use these commands for direct
server inspection and tool-level testing:

```bash theme={null}
uv run dimos mcp status
uv run dimos mcp list-tools
```

For example:

```bash theme={null}
uv run dimos mcp call get_robot_state
uv run dimos mcp call look
uv run dimos mcp call scan_objects
```