Agentic xArm Pick and Place

xarm-grasp-sim-agent runs xArm7 MuJoCo simulation, ground-truth object geometry, GraspGenX, planning, MCP, and the built-in agent together.

uv sync --extra manipulation --extra graspgenx --inexact
uv run dimos run xarm-grasp-sim-agent --daemon

The real box-filling product is:

uv run dimos run xarm-box-filling --daemon

Both products expose the same generic workflow: scan_objects, select_object, pick_selected, and place_at. A scan creates a numbered snapshot; selection pins its exact object and provider proposals; picking performs fresh feasibility checks and requires gripper feedback before reporting success. All public positions and geometry are in world.

The box-filling module derives from the generic module and adds select_destination_container and place_in_destination. Those application skills compute opening fit and release clearance without leaking box policy into the generic API.

The planner checks collision-free preparation and pre-grasp motion. Straight TCP contact, retreat, place-lower, and place-retract legs intentionally bypass collision queries while retaining sequential IK, joint limits, timing, and execution checks. A target-aware collision policy is a later safety extension.

After the gripper closes, failures never reopen it automatically because an object may be held. Missing feedback and an empty-close reading are failures.