fix(manipulation): stabilize agentic xArm simulation by TomCC7 · Pull Request #2999 · dimensionalOS/dimos

TomCC7 · 2026-07-16T05:44:15Z

closes DIM-1161

Summary

configure the Luna-backed MCP agent through the OpenAI Responses API while retaining alternate model providers
run the MCP HTTP server in a dedicated worker so its listener stays responsive during simulation and planning work
align simulated wrist-camera transforms to the configured robot base using poses captured from the same MuJoCo frame
make scene registration timestamp-aware with bounded TF lookup and atomic depth/transform snapshots
start the simulated xArm from a collision-safe joint pose
preserve backend IK and planner failure details, and direct the agent to reset before retrying a planning failure
document the agentic simulation workflow, including humancli, safe prompts, and MCP debugging commands

Validation

uv run pytest dimos/agents/mcp/test_mcp_client_unit.py dimos/agents/mcp/test_mcp_server.py dimos/perception/test_object_scene_registration_temporal.py dimos/robot/manipulators/test_blueprints.py dimos/simulation/engines/test_mujoco_sim_module.py -q
uv run pytest dimos/manipulation/test_manipulation_unit.py dimos/robot/manipulators/test_blueprints.py -q
uv run ruff check on changed Python files
git diff --check

codecov · 2026-07-16T05:53:41Z

Codecov Report

❌ Patch coverage is 92.80576% with 20 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/manipulation/manipulation_module.py	50.00%	11 Missing ⚠️
dimos/simulation/engines/mujoco_engine.py	44.44%	5 Missing ⚠️
dimos/perception/object_scene_registration.py	77.77%	0 Missing and 2 partials ⚠️
dimos/simulation/engines/mujoco_sim_module.py	93.75%	0 Missing and 1 partial ⚠️
dimos/simulation/engines/test_mujoco_sim_module.py	98.41%	1 Missing ⚠️

@@            Coverage Diff             @@
##             main    #2999      +/-   ##
==========================================
+ Coverage   72.36%   72.55%   +0.19%     
==========================================
  Files        1024     1025       +1     
  Lines       92038    92256     +218     
  Branches     8420     8425       +5     
==========================================
+ Hits        66600    66939     +339     
+ Misses      23167    23015     -152     
- Partials     2271     2302      +31

Flag	Coverage Δ
OS-ubuntu-24.04-arm	`65.63% <92.41%> (+0.22%)`	⬆️
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SelfHosted-Linux	`37.32% <24.10%> (-0.04%)`	⬇️
SelfHosted-macOS	`36.19% <24.10%> (-0.05%)`	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
dimos/agents/mcp/mcp_client.py	`83.49% <100.00%> (+1.53%)`	⬆️
dimos/agents/mcp/test_mcp_client_unit.py	`93.28% <100.00%> (+1.77%)`	⬆️
dimos/agents/mcp/test_mcp_server.py	`100.00% <100.00%> (ø)`
dimos/manipulation/test_manipulation_unit.py	`99.76% <100.00%> (+0.01%)`	⬆️
...ception/test_object_scene_registration_temporal.py	`100.00% <100.00%> (ø)`
dimos/robot/manipulators/common/agent_prompts.py	`100.00% <ø> (ø)`
dimos/robot/manipulators/test_blueprints.py	`100.00% <100.00%> (ø)`
...s/robot/manipulators/xarm/blueprints/simulation.py	`100.00% <100.00%> (ø)`
dimos/robot/manipulators/xarm/config.py	`85.18% <100.00%> (+2.20%)`	⬆️
dimos/simulation/engines/mujoco_sim_module.py	`38.78% <93.75%> (+3.00%)`	⬆️
... and 4 more

... and 8 files with indirect coverage changes

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leshy · 2026-07-16T08:27:17Z

https://github.com/dimensionalOS/dimos/blob/main/docs/usage/data_streams/temporal_alignment.md if helpful

mintlify · 2026-07-16T18:18:56Z

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mintlify · 2026-07-16T18:19:54Z

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…c/chore/manip-agent-api

Co-authored-by: Paul Nechifor <paul@nechifor.net> Co-authored-by: cc <55869557+TomCC7@users.noreply.github.com>

@Dreamsorcerer

* fix: better save path for nav recordings (dimensionalOS#2796) * feat(transport): rust zenoh support and api refactor (dimensionalOS#2753) * feat(arduino): add ArduinoModule with full arduino sim (and real arduino) support (dimensionalOS#1879) * Swastika/docs chore/cleanup and fix links (dimensionalOS#2832) * Velocity API (dimensionalOS#2859) * holonomic trajectory controller (dimensionalOS#2697) Co-authored-by: danvi <bogdan@dimensionalos.com> Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> Co-authored-by: leshy <lesh@sysphere.org> * fix(config): merge nested module overrides (dimensionalOS#2829) * fix(mls-planner): macOS fix, link pyo3 cdylib (dimensionalOS#2836) * revert(voxels): drop unused time_window mode from VoxelGrid (dimensionalOS#2845) * Revert "feat(arduino): add ArduinoModule with full arduino sim (and r… (dimensionalOS#2868) * feat: external blueprint registration (dimensionalOS#2517) * Fix test_basic_deployment in CI (dimensionalOS#2767) * Run CI on merge queue (dimensionalOS#2936) * fix: disallow unused _ variables (dimensionalOS#2928) * Add Galaxea A1Z arm in simulation (dimensionalOS#2947) Co-authored-by: cc <cc7@duck.com> Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> Co-authored-by: cc <55869557+TomCC7@users.noreply.github.com> * Initial xArm6 WorldBelief perception stack (dimensionalOS#2665) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> * feat(g1-groot): navigation on the real G1 (Point-LIO + raytracing costmap) (dimensionalOS#2861) Co-authored-by: Jeff Hykin <jeff.hykin@gmail.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> * Swastika/docs/navigation relocalization (dimensionalOS#2764) Co-authored-by: Cursor <cursoragent@cursor.com> * docs(teleop): rename Hosted Teleop page to Remote Teleop (dimensionalOS#2967) * feat(hosted-teleop): Go2 teleoperation over Cloudflare broker (dimensionalOS#2798) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> Co-authored-by: spomichter <pomichterstash@gmail.com> Co-authored-by: Sam Bull <git@sambull.org> Co-authored-by: Paul Nechifor <paul@nechifor.net> * DimSim scene editing/authoring in JS + moving inside dimos (dimensionalOS#2187) Co-authored-by: Paul Nechifor <paul@nechifor.net> Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: Copilot Autofix powered by AI <62310815+github-advanced-security[bot]@users.noreply.github.com> Co-authored-by: Claude Opus 4.8 (1M context) <noreply@anthropic.com> * fix(unitree): marshal stop_movement zero-twist onto the loop thread (dimensionalOS#2977) * chore: bump version to 0.0.14b1 (beta pre-release) (dimensionalOS#2971) * add latency graph and description to hosted teleop page (dimensionalOS#2982) * docs(hosted-teleop): operator how-to + config/architecture refresh (dimensionalOS#2945) Co-authored-by: stash <pomichterstash@gmail.com> * serve LFS media via dimos-docs-assets so it renders on mintlify (dimensionalOS#2973) * style(docs): fix trailing whitespace breaking lint on main (dimensionalOS#2991) * add dimTELE banner (dimensionalOS#2984) Co-authored-by: stash <pomichterstash@gmail.com> * feat: blueprint namespaces (dimensionalOS#2725) * fix: delete dead dimsim code (dimensionalOS#2980) Co-authored-by: leshy <lesh@sysphere.org> * fix: run all tests locally (dimensionalOS#2995) * add gitHub community files for contributors and AI-assisted development (dimensionalOS#2347) * fix: large file (dimensionalOS#3003) * Fix/ivan/3d planner voxel colors (dimensionalOS#2983) * feat: ban `__new__` (dimensionalOS#3009) * fix: remove removed cibuildwheel enable group breaking release builds (dimensionalOS#3007) * [Backport release/0.0.14b1] fix: remove removed cibuildwheel enable group breaking release builds (dimensionalOS#3013) Co-authored-by: stash <pomichterstash@gmail.com> * build(deps): bump the actions group across 1 directory with 6 updates (dimensionalOS#3056) Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> * fix(manipulation): stabilize agentic xArm simulation (dimensionalOS#2999) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> Co-authored-by: Paul Nechifor <paul@nechifor.net> * fewer fields (dimensionalOS#3052) * Build all GC Roots into Cachix (dimensionalOS#2866) * Control coordinator refactor to add declarative task (dimensionalOS#2959) Co-authored-by: Paul Nechifor <paul@nechifor.net> Co-authored-by: leshy <lesh@sysphere.org> * feat(hosted-teleop): Arm hosted teleoperation over the Cloudflare broker (dimensionalOS#3004) * feat(control): removes frozen set of input streams - now Any Input stream can be routed to the control coordinator (dimensionalOS#3110) * chore: add OpenYAM URDF support (dimensionalOS#3049) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> * feat: add Viser robot mesh display options (dimensionalOS#3112) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> * add links to cards (dimensionalOS#3065) * [Tests] Add unit tests for SequentialIds (dimensionalOS#3060) * feat(web): PR 1 - Deno (dimensionalOS#3042) * Ivan/feat/go2zenoh (dimensionalOS#3141) * feat: Piper teleop polishing (dimensionalOS#3101) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> * feat(hosted-teleop): auto-select operator view via robot_type broker config (dimensionalOS#3144) * chore: remove get_project_root (dimensionalOS#3131) * Add backport label to Dependabot PRs and check docker weekly (dimensionalOS#3067) * fix memory issues DIM-1326 (dimensionalOS#3149) Co-authored-by: danvi <bogdan@dimensionalos.com> * docs(drone): fix dead pre-built RosettaDrone APK link (dimensionalOS#2546) Co-authored-by: Paul Nechifor <paul@nechifor.net> * feat: manipulation planning group (dimensionalOS#2645) Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> * Go2 holonomic Pose tracker trajectory controller (dimensionalOS#2948) Co-authored-by: Ivan Nikolic <lesh@sysphere.org> * feat(web): PR 2 - Relay (dimensionalOS#3043) * ai disclose rule update (dimensionalOS#3028) * Replace httpx with aiohttp (dimensionalOS#2974) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> Co-authored-by: Paul Nechifor <paul@nechifor.net> * fix(memory2): recorder ingress reception_ts + poseless streams (dimensionalOS#2927) * ci: smoke-build a wheel on PRs touching release build config (dimensionalOS#3008) * Fix typos and grammar (dimensionalOS#2726) Co-authored-by: mintlify[bot] <109931778+mintlify[bot]@users.noreply.github.com> Co-authored-by: Paul Nechifor <paul@nechifor.net> * feat: visualize manipulation obstacles (dimensionalOS#3108) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> * feat(web): PR 3 - Python client (dimensionalOS#3044) * feat(web): PR 4 - E2E (dimensionalOS#3045) * Swastika/chore/readme update (dimensionalOS#3027) * Persist dependencies on disk (dimensionalOS#3167) * ci: label first-time contributor PRs (dimensionalOS#3171) * Add @Dreamsorcerer as global codeowner (dimensionalOS#3165) * feat(m20): integrate official MuJoCo model * docs(m20): add official MuJoCo integration guide * docs(m20): add English guide and fidelity review * docs(m20): make English guide primary * docs(m20): document lateral and yaw limitation * docs(m20): add MuJoCo test matrix * docs(m20): consolidate test matrix into guides * docs(m20): clarify guide reading order * fix(memory2): preserve recorder ingress timing * fix(memory2): avoid undefined frame in pose warning * fix(config): merge nested module overrides (dimensionalOS#2829) (cherry picked from commit 66ce423) * style: format Zenoh service --------- Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: Andrew Lauer <69774903+aclauer@users.noreply.github.com> Co-authored-by: Jeff Hykin <jeff.hykin@gmail.com> Co-authored-by: Swastika <44317853+swstica@users.noreply.github.com> Co-authored-by: Dan Vi <bogwi@tutamail.com> Co-authored-by: danvi <bogdan@dimensionalos.com> Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> Co-authored-by: leshy <lesh@sysphere.org> Co-authored-by: cc <55869557+TomCC7@users.noreply.github.com> Co-authored-by: Paul Nechifor <paul@nechifor.net> Co-authored-by: Sam Bull <git@sambull.org> Co-authored-by: Krishna_Hundekari <113392023+KrishnaH96@users.noreply.github.com> Co-authored-by: cc <cc7@duck.com> Co-authored-by: Jheng-Yi Lin <75511000+jhengyilin@users.noreply.github.com> Co-authored-by: Pim Van den Bosch <49974392+Nabla7@users.noreply.github.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: stash <pomichterstash@gmail.com> Co-authored-by: ruthwikdasyam <63036454+ruthwikdasyam@users.noreply.github.com> Co-authored-by: Viswajit <39920874+Viswa4599@users.noreply.github.com> Co-authored-by: Copilot Autofix powered by AI <62310815+github-advanced-security[bot]@users.noreply.github.com> Co-authored-by: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Co-authored-by: dimos-release-bot[bot] <4143859+dimos-release-bot[bot]@users.noreply.github.com> Co-authored-by: Mustafa Bhadsorawala <39084056+mustafab0@users.noreply.github.com> Co-authored-by: 起岚 <155608604+xiaoyaoqilan@users.noreply.github.com> Co-authored-by: Daniel Eneh <72442267+Danny024@users.noreply.github.com> Co-authored-by: mintlify[bot] <109931778+mintlify[bot]@users.noreply.github.com>

@Dreamsorcerer

* fix: better save path for nav recordings (dimensionalOS#2796) * feat(transport): rust zenoh support and api refactor (dimensionalOS#2753) * feat(arduino): add ArduinoModule with full arduino sim (and real arduino) support (dimensionalOS#1879) * Swastika/docs chore/cleanup and fix links (dimensionalOS#2832) * Velocity API (dimensionalOS#2859) * holonomic trajectory controller (dimensionalOS#2697) Co-authored-by: danvi <bogdan@dimensionalos.com> Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> Co-authored-by: leshy <lesh@sysphere.org> * fix(config): merge nested module overrides (dimensionalOS#2829) * fix(mls-planner): macOS fix, link pyo3 cdylib (dimensionalOS#2836) * revert(voxels): drop unused time_window mode from VoxelGrid (dimensionalOS#2845) * Revert "feat(arduino): add ArduinoModule with full arduino sim (and r… (dimensionalOS#2868) * feat: external blueprint registration (dimensionalOS#2517) * Fix test_basic_deployment in CI (dimensionalOS#2767) * Run CI on merge queue (dimensionalOS#2936) * fix: disallow unused _ variables (dimensionalOS#2928) * Add Galaxea A1Z arm in simulation (dimensionalOS#2947) Co-authored-by: cc <cc7@duck.com> Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> Co-authored-by: cc <55869557+TomCC7@users.noreply.github.com> * Initial xArm6 WorldBelief perception stack (dimensionalOS#2665) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> * feat(g1-groot): navigation on the real G1 (Point-LIO + raytracing costmap) (dimensionalOS#2861) Co-authored-by: Jeff Hykin <jeff.hykin@gmail.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> * Swastika/docs/navigation relocalization (dimensionalOS#2764) Co-authored-by: Cursor <cursoragent@cursor.com> * docs(teleop): rename Hosted Teleop page to Remote Teleop (dimensionalOS#2967) * feat(hosted-teleop): Go2 teleoperation over Cloudflare broker (dimensionalOS#2798) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> Co-authored-by: spomichter <pomichterstash@gmail.com> Co-authored-by: Sam Bull <git@sambull.org> Co-authored-by: Paul Nechifor <paul@nechifor.net> * DimSim scene editing/authoring in JS + moving inside dimos (dimensionalOS#2187) Co-authored-by: Paul Nechifor <paul@nechifor.net> Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: Copilot Autofix powered by AI <62310815+github-advanced-security[bot]@users.noreply.github.com> Co-authored-by: Claude Opus 4.8 (1M context) <noreply@anthropic.com> * fix(unitree): marshal stop_movement zero-twist onto the loop thread (dimensionalOS#2977) * chore: bump version to 0.0.14b1 (beta pre-release) (dimensionalOS#2971) * add latency graph and description to hosted teleop page (dimensionalOS#2982) * docs(hosted-teleop): operator how-to + config/architecture refresh (dimensionalOS#2945) Co-authored-by: stash <pomichterstash@gmail.com> * serve LFS media via dimos-docs-assets so it renders on mintlify (dimensionalOS#2973) * style(docs): fix trailing whitespace breaking lint on main (dimensionalOS#2991) * add dimTELE banner (dimensionalOS#2984) Co-authored-by: stash <pomichterstash@gmail.com> * feat: blueprint namespaces (dimensionalOS#2725) * fix: delete dead dimsim code (dimensionalOS#2980) Co-authored-by: leshy <lesh@sysphere.org> * fix: run all tests locally (dimensionalOS#2995) * add gitHub community files for contributors and AI-assisted development (dimensionalOS#2347) * fix: large file (dimensionalOS#3003) * Fix/ivan/3d planner voxel colors (dimensionalOS#2983) * feat: ban `__new__` (dimensionalOS#3009) * fix: remove removed cibuildwheel enable group breaking release builds (dimensionalOS#3007) * [Backport release/0.0.14b1] fix: remove removed cibuildwheel enable group breaking release builds (dimensionalOS#3013) Co-authored-by: stash <pomichterstash@gmail.com> * build(deps): bump the actions group across 1 directory with 6 updates (dimensionalOS#3056) Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> * fix(manipulation): stabilize agentic xArm simulation (dimensionalOS#2999) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> Co-authored-by: Paul Nechifor <paul@nechifor.net> * fewer fields (dimensionalOS#3052) * Build all GC Roots into Cachix (dimensionalOS#2866) * Control coordinator refactor to add declarative task (dimensionalOS#2959) Co-authored-by: Paul Nechifor <paul@nechifor.net> Co-authored-by: leshy <lesh@sysphere.org> * feat(hosted-teleop): Arm hosted teleoperation over the Cloudflare broker (dimensionalOS#3004) * feat(control): removes frozen set of input streams - now Any Input stream can be routed to the control coordinator (dimensionalOS#3110) * chore: add OpenYAM URDF support (dimensionalOS#3049) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> * feat: add Viser robot mesh display options (dimensionalOS#3112) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> * add links to cards (dimensionalOS#3065) * [Tests] Add unit tests for SequentialIds (dimensionalOS#3060) * feat(web): PR 1 - Deno (dimensionalOS#3042) * Ivan/feat/go2zenoh (dimensionalOS#3141) * feat: Piper teleop polishing (dimensionalOS#3101) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> * feat(hosted-teleop): auto-select operator view via robot_type broker config (dimensionalOS#3144) * chore: remove get_project_root (dimensionalOS#3131) * Add backport label to Dependabot PRs and check docker weekly (dimensionalOS#3067) * fix memory issues DIM-1326 (dimensionalOS#3149) Co-authored-by: danvi <bogdan@dimensionalos.com> * docs(drone): fix dead pre-built RosettaDrone APK link (dimensionalOS#2546) Co-authored-by: Paul Nechifor <paul@nechifor.net> * feat: manipulation planning group (dimensionalOS#2645) Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> * Go2 holonomic Pose tracker trajectory controller (dimensionalOS#2948) Co-authored-by: Ivan Nikolic <lesh@sysphere.org> * feat(web): PR 2 - Relay (dimensionalOS#3043) * ai disclose rule update (dimensionalOS#3028) * Replace httpx with aiohttp (dimensionalOS#2974) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> Co-authored-by: Paul Nechifor <paul@nechifor.net> * fix(memory2): recorder ingress reception_ts + poseless streams (dimensionalOS#2927) * ci: smoke-build a wheel on PRs touching release build config (dimensionalOS#3008) * Fix typos and grammar (dimensionalOS#2726) Co-authored-by: mintlify[bot] <109931778+mintlify[bot]@users.noreply.github.com> Co-authored-by: Paul Nechifor <paul@nechifor.net> * feat: visualize manipulation obstacles (dimensionalOS#3108) Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> * feat(web): PR 3 - Python client (dimensionalOS#3044) * feat(web): PR 4 - E2E (dimensionalOS#3045) * Swastika/chore/readme update (dimensionalOS#3027) * Persist dependencies on disk (dimensionalOS#3167) * ci: label first-time contributor PRs (dimensionalOS#3171) * Add @Dreamsorcerer as global codeowner (dimensionalOS#3165) * feat: add RoboPlan multi-robot planning (dimensionalOS#3155) --------- Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: Andrew Lauer <69774903+aclauer@users.noreply.github.com> Co-authored-by: Jeff Hykin <jeff.hykin@gmail.com> Co-authored-by: Swastika <44317853+swstica@users.noreply.github.com> Co-authored-by: Dan Vi <bogwi@tutamail.com> Co-authored-by: danvi <bogdan@dimensionalos.com> Co-authored-by: autofix-ci[bot] <114827586+autofix-ci[bot]@users.noreply.github.com> Co-authored-by: leshy <lesh@sysphere.org> Co-authored-by: cc <55869557+TomCC7@users.noreply.github.com> Co-authored-by: Paul Nechifor <paul@nechifor.net> Co-authored-by: Sam Bull <git@sambull.org> Co-authored-by: Krishna_Hundekari <113392023+KrishnaH96@users.noreply.github.com> Co-authored-by: cc <cc7@duck.com> Co-authored-by: Jheng-Yi Lin <75511000+jhengyilin@users.noreply.github.com> Co-authored-by: Pim Van den Bosch <49974392+Nabla7@users.noreply.github.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: stash <pomichterstash@gmail.com> Co-authored-by: ruthwikdasyam <63036454+ruthwikdasyam@users.noreply.github.com> Co-authored-by: Viswajit <39920874+Viswa4599@users.noreply.github.com> Co-authored-by: Copilot Autofix powered by AI <62310815+github-advanced-security[bot]@users.noreply.github.com> Co-authored-by: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Co-authored-by: dimos-release-bot[bot] <4143859+dimos-release-bot[bot]@users.noreply.github.com> Co-authored-by: Mustafa Bhadsorawala <39084056+mustafab0@users.noreply.github.com> Co-authored-by: 起岚 <155608604+xiaoyaoqilan@users.noreply.github.com> Co-authored-by: Daniel Eneh <72442267+Danny024@users.noreply.github.com> Co-authored-by: mintlify[bot] <109931778+mintlify[bot]@users.noreply.github.com>

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fix(manipulation): harden agentic xarm simulation

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test(manipulation): cover agent skill task submission

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fix(manipulation): stabilize agentic xArm simulation - #2999

fix(manipulation): stabilize agentic xArm simulation#2999
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