From 2ba7d93922230f0d46587d61d9a978ebf001ea74 Mon Sep 17 00:00:00 2001 From: Ruthwik Date: Tue, 3 Mar 2026 15:07:02 -0800 Subject: [PATCH 01/10] fix: ignore packages from repo root only --- .gitignore | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.gitignore b/.gitignore index 4045db012e..1240a210ef 100644 --- a/.gitignore +++ b/.gitignore @@ -36,8 +36,8 @@ __pycache__ # node env (used by devcontainers cli) node_modules -package.json -package-lock.json +/package.json +/package-lock.json # Ignore build artifacts dist/ From c1ac23a038dd34033ec0881b952ccd46558b5506 Mon Sep 17 00:00:00 2001 From: Ruthwik Date: Tue, 3 Mar 2026 15:08:35 -0800 Subject: [PATCH 02/10] feat: openclaw MCP bridge plugin --- dimos/web/plugin_openclaw/index.ts | 211 + .../web/plugin_openclaw/openclaw.plugin.json | 19 + dimos/web/plugin_openclaw/package.json | 16 + dimos/web/plugin_openclaw/pnpm-lock.yaml | 7065 +++++++++++++++++ 4 files changed, 7311 insertions(+) create mode 100644 dimos/web/plugin_openclaw/index.ts create mode 100644 dimos/web/plugin_openclaw/openclaw.plugin.json create mode 100644 dimos/web/plugin_openclaw/package.json create mode 100644 dimos/web/plugin_openclaw/pnpm-lock.yaml diff --git a/dimos/web/plugin_openclaw/index.ts b/dimos/web/plugin_openclaw/index.ts new file mode 100644 index 0000000000..6d30c716f6 --- /dev/null +++ b/dimos/web/plugin_openclaw/index.ts @@ -0,0 +1,211 @@ +import { execFileSync } from "node:child_process"; +import type { OpenClawPluginApi } from "openclaw/plugin-sdk"; +import { Type } from "@sinclair/typebox"; +import type { AnyAgentTool } from "openclaw/agents/tools/common.js"; + +const DEFAULT_HOST = "127.0.0.1"; +const DEFAULT_PORT = 9990; +const CALL_TIMEOUT_MS = 30_000; + +interface McpToolDef { + name: string; + description: string; + inputSchema: Record; +} + +function getHost(pluginConfig?: Record): string { + if (pluginConfig && typeof pluginConfig.mcpHost === "string" && pluginConfig.mcpHost) { + return pluginConfig.mcpHost; + } + return DEFAULT_HOST; +} + +function getPort(pluginConfig?: Record): number { + if (pluginConfig && typeof pluginConfig.mcpPort === "number") { + return pluginConfig.mcpPort; + } + return DEFAULT_PORT; +} + +function mcpUrl(host: string, port: number): string { + return `http://${host}:${port}/mcp`; +} + +/** Send a JSON-RPC request to the DimOS MCP HTTP server. */ +async function rpc( + url: string, + method: string, + params?: Record, + timeoutMs: number = CALL_TIMEOUT_MS, +): Promise { + const body = { + jsonrpc: "2.0", + id: 1, + method, + ...(params ? { params } : {}), + }; + const controller = new AbortController(); + const timer = setTimeout(() => controller.abort(), timeoutMs); + try { + const res = await fetch(url, { + method: "POST", + headers: { "Content-Type": "application/json" }, + body: JSON.stringify(body), + signal: controller.signal, + }); + if (!res.ok) { + throw new Error(`HTTP ${res.status}: ${await res.text()}`); + } + const json = (await res.json()) as { result?: unknown; error?: { message: string } }; + if (json.error) { + throw new Error(json.error.message); + } + return json.result; + } finally { + clearTimeout(timer); + } +} + +/** Convert a JSON Schema properties object into a TypeBox Type.Object schema. */ +function jsonSchemaToTypebox( + inputSchema?: Record, +): ReturnType { + if (!inputSchema) { + return Type.Object({}); + } + + const properties = (inputSchema.properties ?? {}) as Record>; + const required = new Set((inputSchema.required ?? []) as string[]); + const tbProps: Record = {}; + + for (const [key, prop] of Object.entries(properties)) { + const desc = typeof prop.description === "string" ? prop.description : undefined; + let inner; + switch (prop.type) { + case "number": + case "integer": + inner = Type.Number({ description: desc }); + break; + case "boolean": + inner = Type.Boolean({ description: desc }); + break; + case "array": + inner = Type.Array(Type.Unknown(), { description: desc }); + break; + case "object": + inner = Type.Record(Type.String(), Type.Unknown(), { description: desc }); + break; + default: + inner = Type.String({ description: desc }); + break; + } + tbProps[key] = required.has(key) ? inner : Type.Optional(inner); + } + + // @ts-expect-error -- heterogeneous property map built dynamically + return Type.Object(tbProps); +} + +/** + * Discover MCP tools synchronously by sending HTTP requests to the DimOS MCP server. + * Uses a child process so we can block the main thread during plugin registration. + */ +function discoverToolsSync(host: string, port: number): McpToolDef[] { + const url = mcpUrl(host, port); + const script = ` +const http = require('http'); +function post(body) { + return new Promise((resolve, reject) => { + const data = JSON.stringify(body); + const req = http.request(${JSON.stringify(url)}, { + method: 'POST', + headers: { 'Content-Type': 'application/json', 'Content-Length': Buffer.byteLength(data) }, + }, (res) => { + let buf = ''; + res.on('data', d => buf += d); + res.on('end', () => { + if (res.statusCode !== 200) { reject(new Error('HTTP ' + res.statusCode + ': ' + buf)); return; } + resolve(JSON.parse(buf)); + }); + }); + req.on('error', reject); + req.write(data); + req.end(); + }); +} +(async () => { + await post({jsonrpc:'2.0',id:1,method:'initialize',params:{protocolVersion:'2024-11-05',capabilities:{},clientInfo:{name:'openclaw-dimos',version:'0.0.1'}}}); + const res = await post({jsonrpc:'2.0',id:2,method:'tools/list',params:{}}); + process.stdout.write(JSON.stringify(res.result.tools)); +})().catch(e => { process.stderr.write(e.message); process.exit(1); }); +`; + const result = execFileSync("node", ["-e", script], { + timeout: 10_000, + encoding: "utf-8", + }); + return JSON.parse(result); +} + +/** Call an MCP tool via HTTP POST to the DimOS server. */ +async function callTool( + host: string, + port: number, + name: string, + args: Record, +): Promise { + const url = mcpUrl(host, port); + const result = (await rpc(url, "tools/call", { name, arguments: args })) as { + content?: Array<{ type: string; text?: string }>; + }; + const content = result?.content; + if (Array.isArray(content)) { + return ( + content + .filter((c) => c.type === "text") + .map((c) => c.text) + .join("\n") || "OK" + ); + } + return JSON.stringify(content) || "OK"; +} + +export default { + id: "dimos", + name: "Dimos MCP Bridge", + description: "Exposes tools from the dimos MCP server as OpenClaw agent tools", + + register(api: OpenClawPluginApi) { + const host = getHost(api.pluginConfig); + const port = getPort(api.pluginConfig); + + let mcpTools: McpToolDef[]; + try { + mcpTools = discoverToolsSync(host, port); + api.logger.info(`dimos: discovered ${mcpTools.length} tool(s) from ${host}:${port}`); + } catch (err) { + api.logger.error(`dimos: failed to discover tools from ${host}:${port}: ${err}`); + return; + } + + for (const mcpTool of mcpTools) { + const parameters = jsonSchemaToTypebox(mcpTool.inputSchema); + const tool: AnyAgentTool = { + name: mcpTool.name, + label: mcpTool.name, + description: mcpTool.description || "", + parameters, + async execute( + _toolCallId: string, + params: Record, + ): Promise<{ content: Array<{ type: "text"; text: string }>; details: unknown }> { + const text = await callTool(host, port, mcpTool.name, params); + return { + content: [{ type: "text" as const, text }], + details: { tool: mcpTool.name, params }, + }; + }, + }; + api.registerTool(tool, { name: mcpTool.name }); + } + }, +}; diff --git a/dimos/web/plugin_openclaw/openclaw.plugin.json b/dimos/web/plugin_openclaw/openclaw.plugin.json new file mode 100644 index 0000000000..1005ad4e60 --- /dev/null +++ b/dimos/web/plugin_openclaw/openclaw.plugin.json @@ -0,0 +1,19 @@ +{ + "id": "dimos", + "name": "Dimensional MCP Bridge", + "description": "Exposes tools from the dimos MCP server as OpenClaw agent tools", + "configSchema": { + "type": "object", + "additionalProperties": false, + "properties": { + "mcpHost": { + "type": "string", + "description": "DimOS MCP server host (defaults to '127.0.0.1')" + }, + "mcpPort": { + "type": "number", + "description": "DimOS MCP server port (defaults to 9990)" + } + } + } +} diff --git a/dimos/web/plugin_openclaw/package.json b/dimos/web/plugin_openclaw/package.json new file mode 100644 index 0000000000..957a485459 --- /dev/null +++ b/dimos/web/plugin_openclaw/package.json @@ -0,0 +1,16 @@ +{ + "name": "@openclaw/dimos", + "version": "0.0.1", + "description": "Exposes dimos MCP tools to the OpenClaw agent", + "type": "module", + "dependencies": {}, + "devDependencies": {}, + "peerDependencies": { + "openclaw": ">=2026.1.26" + }, + "openclaw": { + "extensions": [ + "./index.ts" + ] + } +} diff --git a/dimos/web/plugin_openclaw/pnpm-lock.yaml b/dimos/web/plugin_openclaw/pnpm-lock.yaml new file mode 100644 index 0000000000..246a6b6e69 --- /dev/null +++ b/dimos/web/plugin_openclaw/pnpm-lock.yaml @@ -0,0 +1,7065 @@ +lockfileVersion: '9.0' + +settings: + autoInstallPeers: true + excludeLinksFromLockfile: false + +importers: + + .: + dependencies: + openclaw: + specifier: '>=2026.1.26' + version: 2026.2.12(@modelcontextprotocol/sdk@1.26.0(zod@4.3.6))(@napi-rs/canvas@0.1.90)(@types/express@5.0.6)(hono@4.11.7)(node-llama-cpp@3.15.1)(signal-polyfill@0.2.2) + +packages: + + '@agentclientprotocol/sdk@0.14.1': + resolution: {integrity: sha512-b6r3PS3Nly+Wyw9U+0nOr47bV8tfS476EgyEMhoKvJCZLbgqoDFN7DJwkxL88RR0aiOqOYV1ZnESHqb+RmdH8w==} + peerDependencies: + zod: 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3.2.0 + get-caller-file: 2.0.5 + require-directory: 2.1.1 + string-width: 4.2.3 + y18n: 5.0.8 + yargs-parser: 21.1.1 + + yoctocolors@2.1.2: {} + + zod-to-json-schema@3.25.1(zod@3.25.76): + dependencies: + zod: 3.25.76 + + zod-to-json-schema@3.25.1(zod@4.3.6): + dependencies: + zod: 4.3.6 + + zod@3.25.76: {} + + zod@4.3.6: {} From 9976f751f9ea9ff10f8c95d618cbd150343a88c4 Mon Sep 17 00:00:00 2001 From: Ruthwik Date: Tue, 3 Mar 2026 15:09:04 -0800 Subject: [PATCH 03/10] docs: readme update --- dimos/agents/mcp/README.md | 67 +++++++++++++++++++++++++++++--------- 1 file changed, 51 insertions(+), 16 deletions(-) diff --git a/dimos/agents/mcp/README.md b/dimos/agents/mcp/README.md index f9e887beb1..3db260440c 100644 --- a/dimos/agents/mcp/README.md +++ b/dimos/agents/mcp/README.md @@ -1,6 +1,6 @@ # DimOS MCP Server -Expose DimOS robot skills to Claude Code via Model Context Protocol. +Expose DimOS robot skills via Model Context Protocol. Supports OpenClaw and Claude Code as clients. ## Setup @@ -8,48 +8,83 @@ Expose DimOS robot skills to Claude Code via Model Context Protocol. uv sync --extra base --extra unitree ``` -Add to Claude Code (one command) +Start DimOS with MCP: ```bash -claude mcp add --transport http --scope project dimos http://localhost:9990/mcp +uv run dimos run unitree-go2-agentic-mcp ``` -Verify that it was added: +This starts the MCP server on `http://localhost:9990/mcp`. + +## OpenClaw + +The OpenClaw plugin lives at `dimos/web/plugin_openclaw/`. It bridges DimOS MCP tools into the OpenClaw agent system. + +From the plugin directory: ```bash -claude mcp list +cd dimos/web/plugin_openclaw +pnpm install +# set ANTHROPIC_API_KEY and OPENCLAW_GATEWAY_TOKEN in .env +pnpm openclaw plugins install -l . +pnpm openclaw config set plugins.entries.dimos.enabled true +pnpm openclaw config set gateway.mode local ``` -## MCP Inspector +Run the gateway (with DimOS MCP already running): -If you want to inspect the server manually, you can use MCP Inspector. +```bash +pnpm openclaw gateway run --port 18789 --verbose +``` + +You should see `dimos: discovered 13 tool(s)` confirming the plugin loaded. -Install it: +Send commands: ```bash -npx -y @modelcontextprotocol/inspector +pnpm openclaw agent --session-id dimos-test --message "move forward 1 meter" ``` -It will open a browser window. +Or use the interactive TUI: -Change **Transport Type** to "Streamable HTTP", change **URL** to `http://localhost:9990/mcp`, and **Connection Type** to "Direct". Then click on "Connect". +```bash +pnpm openclaw tui +``` + +## Claude Code -## Usage +Add the MCP server: -**Terminal 1** - Start DimOS: ```bash -uv run dimos run unitree-go2-agentic-mcp +claude mcp add --transport http --scope project dimos http://localhost:9990/mcp +``` + +Verify: + +```bash +claude mcp list ``` -**Claude Code** - Use robot skills: +Use robot skills: + ``` > move forward 1 meter > go to the kitchen > tag this location as "desk" ``` +## MCP Inspector + +For manual inspection, use MCP Inspector: + +```bash +npx -y @modelcontextprotocol/inspector +``` + +Change **Transport Type** to "Streamable HTTP", **URL** to `http://localhost:9990/mcp`, and **Connection Type** to "Direct". Click "Connect". + ## How It Works 1. `McpServer` in the blueprint starts a FastAPI server on port 9990 -2. Claude Code connects directly to `http://localhost:9990/mcp` +2. Clients (Claude Code, OpenClaw) connect to `http://localhost:9990/mcp` 3. Skills are exposed as MCP tools (e.g., `relative_move`, `navigate_with_text`) From fbd951631baf4a4c075f417ffff12c4c52100714 Mon Sep 17 00:00:00 2001 From: Ruthwik Date: Tue, 3 Mar 2026 17:54:22 -0800 Subject: [PATCH 04/10] Misc: instructions for plugin install --- dimos/agents/mcp/README.md | 100 ++++++++++++++++++++++++++++--------- 1 file changed, 76 insertions(+), 24 deletions(-) diff --git a/dimos/agents/mcp/README.md b/dimos/agents/mcp/README.md index 3db260440c..38b06f0e18 100644 --- a/dimos/agents/mcp/README.md +++ b/dimos/agents/mcp/README.md @@ -1,68 +1,126 @@ -# DimOS MCP Server +# DimOS MCP Server with OpenClaw -Expose DimOS robot skills via Model Context Protocol. Supports OpenClaw and Claude Code as clients. +The OpenClaw plugin lives at `dimos/web/plugin_openclaw/`. It bridges DimOS MCP tools into the OpenClaw agent system. + +## How It Works + +1. DimOS starts a FastAPI MCP server on port 9990, exposing robot skills as JSON-RPC tools +2. The OpenClaw plugin discovers these tools on startup and registers them with the OpenClaw agent +3. User sends natural language commands via OpenClaw, which the agent translates into MCP tool calls +4. Flow: User → OpenClaw Agent → Plugin → HTTP/JSON-RPC → DimOS MCP → Robot + +## Prerequisites + +If you haven't cloned and installed DimOS yet, follow the [main README](../../README.md) first. + +Install pnpm: + +```bash +curl -fsSL https://get.pnpm.io/install.sh | sh - +``` + +## Terminal 1 — DimOS MCP server -## Setup +Install dependencies: ```bash uv sync --extra base --extra unitree ``` -Start DimOS with MCP: +For hardware (set `ROBOT_IP` in your environment): ```bash +export ROBOT_IP= uv run dimos run unitree-go2-agentic-mcp ``` -This starts the MCP server on `http://localhost:9990/mcp`. +For simulation: -## OpenClaw +```bash +uv run dimos --simulation run unitree-go2-agentic-mcp +``` -The OpenClaw plugin lives at `dimos/web/plugin_openclaw/`. It bridges DimOS MCP tools into the OpenClaw agent system. +## Terminal 2 — OpenClaw gateway -From the plugin directory: +First time only — install and configure the plugin: ```bash cd dimos/web/plugin_openclaw pnpm install -# set ANTHROPIC_API_KEY and OPENCLAW_GATEWAY_TOKEN in .env pnpm openclaw plugins install -l . pnpm openclaw config set plugins.entries.dimos.enabled true pnpm openclaw config set gateway.mode local ``` -Run the gateway (with DimOS MCP already running): +Set your API keys (first time only): ```bash +echo "ANTHROPIC_API_KEY=" >> ~/.openclaw/.env +echo "OPENCLAW_GATEWAY_TOKEN=" >> ~/.openclaw/.env +``` + +Start the gateway: + +```bash +cd dimos/web/plugin_openclaw pnpm openclaw gateway run --port 18789 --verbose ``` You should see `dimos: discovered 13 tool(s)` confirming the plugin loaded. -Send commands: +## Terminal 3 — Send commands ```bash +cd dimos/web/plugin_openclaw pnpm openclaw agent --session-id dimos-test --message "move forward 1 meter" ``` Or use the interactive TUI: ```bash +cd dimos/web/plugin_openclaw pnpm openclaw tui ``` -## Claude Code +# DimOS MCP Server with Claude Code -Add the MCP server: +## How It Works + +1. DimOS starts a FastAPI MCP server on port 9990, exposing robot skills as JSON-RPC tools +2. Claude Code connects directly to the MCP server over HTTP +3. User sends natural language commands, which Claude translates into MCP tool calls + +## Prerequisites + +If you haven't cloned and installed DimOS yet, follow the [main README](../../README.md) first. + +## Terminal 1 — DimOS MCP server + +Install dependencies: ```bash -claude mcp add --transport http --scope project dimos http://localhost:9990/mcp +uv sync --extra base --extra unitree ``` -Verify: +For hardware (set `ROBOT_IP` in your environment): ```bash -claude mcp list +export ROBOT_IP= +uv run dimos run unitree-go2-agentic-mcp +``` + +For simulation: + +```bash +uv run dimos --simulation run unitree-go2-agentic-mcp +``` + +## Terminal 2 — Claude Code + +Add the MCP server (one-time): + +```bash +claude mcp add --transport http --scope project dimos http://localhost:9990/mcp ``` Use robot skills: @@ -73,18 +131,12 @@ Use robot skills: > tag this location as "desk" ``` -## MCP Inspector +# MCP Inspector -For manual inspection, use MCP Inspector: +For manual inspection: ```bash npx -y @modelcontextprotocol/inspector ``` Change **Transport Type** to "Streamable HTTP", **URL** to `http://localhost:9990/mcp`, and **Connection Type** to "Direct". Click "Connect". - -## How It Works - -1. `McpServer` in the blueprint starts a FastAPI server on port 9990 -2. Clients (Claude Code, OpenClaw) connect to `http://localhost:9990/mcp` -3. Skills are exposed as MCP tools (e.g., `relative_move`, `navigate_with_text`) From 55715ed95d45a7ac4f739515aed1fb99f351af45 Mon Sep 17 00:00:00 2001 From: Ruthwik Date: Tue, 3 Mar 2026 17:54:43 -0800 Subject: [PATCH 05/10] docs - openclaw through main readme --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index e07d623300..53b3a56761 100644 --- a/README.md +++ b/README.md @@ -65,7 +65,7 @@ Dimensional is agent native -- "vibecode" your robots in natural language and bu

Agentive Control, MCP

- "hey Robot, go find the kitchen"
Watch video + "hey Robot, go find the kitchen"
Watch video
Control with OpenClaw

Spatial Memory

From b02e1e30c2dc1d4327341908474c736511855029 Mon Sep 17 00:00:00 2001 From: Ruthwik Date: Tue, 3 Mar 2026 19:03:57 -0800 Subject: [PATCH 06/10] fix: yaml file generates after every pnpm install --- .gitignore | 1 + dimos/web/plugin_openclaw/pnpm-lock.yaml | 7065 ---------------------- pyproject.toml | 1 + 3 files changed, 2 insertions(+), 7065 deletions(-) delete mode 100644 dimos/web/plugin_openclaw/pnpm-lock.yaml diff --git a/.gitignore b/.gitignore index 1240a210ef..bca7c2193f 100644 --- a/.gitignore +++ b/.gitignore @@ -38,6 +38,7 @@ __pycache__ node_modules /package.json /package-lock.json +pnpm-lock.yaml # Ignore build artifacts dist/ diff --git a/dimos/web/plugin_openclaw/pnpm-lock.yaml b/dimos/web/plugin_openclaw/pnpm-lock.yaml deleted file mode 100644 index 246a6b6e69..0000000000 --- a/dimos/web/plugin_openclaw/pnpm-lock.yaml +++ /dev/null @@ -1,7065 +0,0 @@ -lockfileVersion: '9.0' - -settings: - autoInstallPeers: true - excludeLinksFromLockfile: false - -importers: - - .: - 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y18n: 5.0.8 - yargs-parser: 20.2.9 - - yargs@17.7.2: - dependencies: - cliui: 8.0.1 - escalade: 3.2.0 - get-caller-file: 2.0.5 - require-directory: 2.1.1 - string-width: 4.2.3 - y18n: 5.0.8 - yargs-parser: 21.1.1 - - yoctocolors@2.1.2: {} - - zod-to-json-schema@3.25.1(zod@3.25.76): - dependencies: - zod: 3.25.76 - - zod-to-json-schema@3.25.1(zod@4.3.6): - dependencies: - zod: 4.3.6 - - zod@3.25.76: {} - - zod@4.3.6: {} diff --git a/pyproject.toml b/pyproject.toml index cb4607ced5..507fd1c58a 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -414,6 +414,7 @@ max_size_kb = 50 ignore = [ "uv.lock", "*/package-lock.json", + "*/pnpm-lock.yaml", "dimos/dashboard/dimos.rbl", "dimos/web/dimos_interface/themes.json", "dimos/manipulation/manipulation_module.py", From 899c0a51d860928b450612d5e760b635f7c58075 Mon Sep 17 00:00:00 2001 From: ruthwikdasyam Date: Tue, 3 Mar 2026 22:11:26 -0800 Subject: [PATCH 07/10] fix: openclaw integration with dimos Co-authored-by: Miguel Villa Floran --- dimos/web/plugin_openclaw/index.ts | 12 ++++++++++++ dimos/web/plugin_openclaw/package.json | 4 +++- 2 files changed, 15 insertions(+), 1 deletion(-) diff --git a/dimos/web/plugin_openclaw/index.ts b/dimos/web/plugin_openclaw/index.ts index 6d30c716f6..8aa4d349a9 100644 --- a/dimos/web/plugin_openclaw/index.ts +++ b/dimos/web/plugin_openclaw/index.ts @@ -136,6 +136,7 @@ function post(body) { (async () => { await post({jsonrpc:'2.0',id:1,method:'initialize',params:{protocolVersion:'2024-11-05',capabilities:{},clientInfo:{name:'openclaw-dimos',version:'0.0.1'}}}); const res = await post({jsonrpc:'2.0',id:2,method:'tools/list',params:{}}); + if (!res.result || !Array.isArray(res.result.tools)) { process.stderr.write('Unexpected response: ' + JSON.stringify(res)); process.exit(1); } process.stdout.write(JSON.stringify(res.result.tools)); })().catch(e => { process.stderr.write(e.message); process.exit(1); }); `; @@ -146,6 +147,9 @@ function post(body) { return JSON.parse(result); } +/** Track whether we have sent an initialize handshake from the main process. */ +let initialized = false; + /** Call an MCP tool via HTTP POST to the DimOS server. */ async function callTool( host: string, @@ -154,6 +158,14 @@ async function callTool( args: Record, ): Promise { const url = mcpUrl(host, port); + if (!initialized) { + await rpc(url, "initialize", { + protocolVersion: "2024-11-05", + capabilities: {}, + clientInfo: { name: "openclaw-dimos", version: "0.0.1" }, + }); + initialized = true; + } const result = (await rpc(url, "tools/call", { name, arguments: args })) as { content?: Array<{ type: string; text?: string }>; }; diff --git a/dimos/web/plugin_openclaw/package.json b/dimos/web/plugin_openclaw/package.json index 957a485459..06c6c6b9b6 100644 --- a/dimos/web/plugin_openclaw/package.json +++ b/dimos/web/plugin_openclaw/package.json @@ -3,7 +3,9 @@ "version": "0.0.1", "description": "Exposes dimos MCP tools to the OpenClaw agent", "type": "module", - "dependencies": {}, + "dependencies": { + "@sinclair/typebox": ">=0.32.0" + }, "devDependencies": {}, "peerDependencies": { "openclaw": ">=2026.1.26" From 35eb14b9ef2c5d09d21cd19bfb96bf142ae757b5 Mon Sep 17 00:00:00 2001 From: ruthwikdasyam Date: Tue, 3 Mar 2026 22:59:25 -0800 Subject: [PATCH 08/10] fix: docs, return statements --- dimos/agents/mcp/README.md | 4 ++-- dimos/web/plugin_openclaw/index.ts | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/dimos/agents/mcp/README.md b/dimos/agents/mcp/README.md index 38b06f0e18..c532c1b4d5 100644 --- a/dimos/agents/mcp/README.md +++ b/dimos/agents/mcp/README.md @@ -56,7 +56,7 @@ Set your API keys (first time only): ```bash echo "ANTHROPIC_API_KEY=" >> ~/.openclaw/.env -echo "OPENCLAW_GATEWAY_TOKEN=" >> ~/.openclaw/.env +echo "OPENCLAW_GATEWAY_TOKEN=" >> ~/.openclaw/.env # can be any string, e.g. "test1" ``` Start the gateway: @@ -66,7 +66,7 @@ cd dimos/web/plugin_openclaw pnpm openclaw gateway run --port 18789 --verbose ``` -You should see `dimos: discovered 13 tool(s)` confirming the plugin loaded. +You should see `dimos: discovered tool(s)` confirming the plugin loaded. ## Terminal 3 — Send commands diff --git a/dimos/web/plugin_openclaw/index.ts b/dimos/web/plugin_openclaw/index.ts index 8aa4d349a9..117936c6c8 100644 --- a/dimos/web/plugin_openclaw/index.ts +++ b/dimos/web/plugin_openclaw/index.ts @@ -175,10 +175,10 @@ async function callTool( content .filter((c) => c.type === "text") .map((c) => c.text) - .join("\n") || "OK" + .join("\n") || "No content returned" ); } - return JSON.stringify(content) || "OK"; + return content != null ? JSON.stringify(content) : "No content returned"; } export default { From 2e18dfef0cc6090a17b5d6f7b2ec2c894041f804 Mon Sep 17 00:00:00 2001 From: ruthwikdasyam Date: Tue, 3 Mar 2026 23:12:05 -0800 Subject: [PATCH 09/10] misc: changed to `run with openclaw` --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 53b3a56761..c8ecd0e63f 100644 --- a/README.md +++ b/README.md @@ -65,7 +65,7 @@ Dimensional is agent native -- "vibecode" your robots in natural language and bu

Agentive Control, MCP

- "hey Robot, go find the kitchen"
Watch video
Control with OpenClaw + "hey Robot, go find the kitchen"
Watch video
Run with OpenClaw

Spatial Memory

From b4cd75898d7cc49e42da6a9ddea94a207ec14492 Mon Sep 17 00:00:00 2001 From: Miguel Villa Floran Date: Thu, 5 Mar 2026 17:29:27 -0800 Subject: [PATCH 10/10] Add pnpm lock for openclaw --- .gitignore | 1 - dimos/web/plugin_openclaw/pnpm-lock.yaml | 6806 ++++++++++++++++++++++ 2 files changed, 6806 insertions(+), 1 deletion(-) create mode 100644 dimos/web/plugin_openclaw/pnpm-lock.yaml diff --git a/.gitignore b/.gitignore index bca7c2193f..1240a210ef 100644 --- a/.gitignore +++ b/.gitignore @@ -38,7 +38,6 @@ __pycache__ node_modules /package.json /package-lock.json -pnpm-lock.yaml # Ignore build artifacts dist/ diff --git a/dimos/web/plugin_openclaw/pnpm-lock.yaml b/dimos/web/plugin_openclaw/pnpm-lock.yaml new file mode 100644 index 0000000000..e28661f7fe --- /dev/null +++ b/dimos/web/plugin_openclaw/pnpm-lock.yaml @@ -0,0 +1,6806 @@ +lockfileVersion: '9.0' + +settings: + autoInstallPeers: true + excludeLinksFromLockfile: false + +importers: + + .: + dependencies: + '@sinclair/typebox': 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