diff --git a/dimos/e2e_tests/test_xarm_room_sim.py b/dimos/e2e_tests/test_xarm_room_sim.py
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+++ b/dimos/e2e_tests/test_xarm_room_sim.py
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+# Copyright 2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Headless acceptance tests for the six-object xArm room scene."""
+
+from __future__ import annotations
+
+from collections.abc import Callable, Iterator
+from dataclasses import dataclass
+import os
+from pathlib import Path
+import sys
+import threading
+import time
+from typing import Any, TypeVar, cast
+
+import numpy as np
+import pytest
+
+mujoco = pytest.importorskip("mujoco")
+
+from dimos.core.global_config import global_config
+from dimos.core.rpc_client import RPCClient
+from dimos.e2e_tests.dimos_cli_call import DimosCliCall
+from dimos.manipulation.manipulation_module import ManipulationModule
+from dimos.manipulation.pick_and_place_module import PickAndPlaceModule
+from dimos.perception.experimental.object_scene_registration import (
+    ObjectSceneRegistrationModule,
+)
+from dimos.robot.manipulators.xarm.blueprints.simulation import (
+    XARM_ROOM_PROMPTS,
+    XARM_ROOM_SCENE_PATH,
+)
+
+pytestmark = [pytest.mark.mujoco, pytest.mark.timeout(1800)]
+
+POSITION_TOLERANCE_M = 0.02
+EXPECTED_OBJECT_COUNT = 6
+DESIGNATED_TARGET = "can"
+PLACE_POSITION = (0.47, 0.0, 0.19)
+T = TypeVar("T")
+
+
+@dataclass(frozen=True)
+class DetectedObject:
+    object_id: str
+    label: str
+    position: np.ndarray
+
+
+@dataclass(frozen=True)
+class SceneTruth:
+    origin: np.ndarray
+    aabb_center: np.ndarray
+    half_extents: np.ndarray
+
+
+@pytest.fixture(autouse=True)
+def _pin_to_lcm(monkeypatch: pytest.MonkeyPatch) -> None:
+    """Override the package fixture: this acceptance path uses the Zenoh default."""
+    monkeypatch.delenv("DIMOS_TRANSPORT", raising=False)
+    monkeypatch.setattr(global_config, "transport", "zenoh")
+
+
+def _scene_truth() -> dict[str, SceneTruth]:
+    """Read target origins and world-space bounds from the collision proxies."""
+    model = mujoco.MjModel.from_xml_path(str(XARM_ROOM_SCENE_PATH))
+    data = mujoco.MjData(model)
+    mujoco.mj_forward(model, data)
+    truth: dict[str, SceneTruth] = {}
+    for body_id in range(1, model.nbody):
+        joint_start = model.body_jntadr[body_id]
+        joint_count = model.body_jntnum[body_id]
+        is_free = any(
+            model.jnt_type[joint_id] == mujoco.mjtJoint.mjJNT_FREE
+            for joint_id in range(joint_start, joint_start + joint_count)
+        )
+        if not is_free:
+            continue
+        collision_geoms = np.flatnonzero((model.geom_bodyid == body_id) & (model.geom_group == 3))
+        assert collision_geoms.size == 1, (
+            f"Expected one canonical collision proxy for body {body_id}, got {collision_geoms}"
+        )
+        name = mujoco.mj_id2name(model, mujoco.mjtObj.mjOBJ_BODY, body_id)
+        assert name is not None
+        geom_id = int(collision_geoms[0])
+        rotation = data.geom_xmat[geom_id].reshape(3, 3)
+        local_aabb = model.geom_aabb[geom_id]
+        truth[name] = SceneTruth(
+            origin=data.geom_xpos[geom_id].copy(),
+            aabb_center=data.geom_xpos[geom_id] + rotation @ local_aabb[:3],
+            half_extents=np.abs(rotation) @ local_aabb[3:],
+        )
+    assert len(truth) == EXPECTED_OBJECT_COUNT, (
+        f"Expected {EXPECTED_OBJECT_COUNT} free room targets in {XARM_ROOM_SCENE_PATH}, "
+        f"got {sorted(truth)}"
+    )
+    return truth
+
+
+def _outside_geometry_error(position: np.ndarray, truth: SceneTruth) -> np.ndarray:
+    """Return axis error beyond the truth geometry, not within its visible volume."""
+    return np.maximum(np.abs(position - truth.aabb_center) - truth.half_extents, 0.0)
+
+
+def _eventually(
+    operation: Callable[[], T],
+    predicate: Callable[[T], bool],
+    *,
+    timeout_s: float,
+    description: str,
+) -> T:
+    deadline = time.monotonic() + timeout_s
+    wake = threading.Event()
+    last_value: T | None = None
+    last_error: BaseException | None = None
+    while time.monotonic() < deadline:
+        try:
+            last_value = operation()
+            if predicate(last_value):
+                return last_value
+        except Exception as exc:
+            last_error = exc
+        wake.wait(0.25)
+    raise TimeoutError(f"Timed out waiting for {description}; last={last_value!r}") from last_error
+
+
+@pytest.fixture
+def room_clients() -> Iterator[tuple[RPCClient, RPCClient, RPCClient]]:
+    call = DimosCliCall()
+    call.demo_args = ["xarm-room-sim"]
+    call.global_args = ["--viewer", "none", "--n-workers", "3"]
+    call.extra_env = {
+        "DIMOS_TRANSPORT": "zenoh",
+        "LIBGL_ALWAYS_SOFTWARE": "true",
+        "MESA_LOADER_DRIVER_OVERRIDE": "llvmpipe",
+        "MUJOCO_GL": "egl",
+        # DimosCliCall resolves `dimos` through PATH; pin it to the same
+        # environment running pytest instead of a stale user installation.
+        "PATH": f"{Path(sys.executable).parent}:{os.environ.get('PATH', os.defpath)}",
+    }
+    call.start()
+
+    pick = RPCClient(None, PickAndPlaceModule)
+    scene = RPCClient(None, ObjectSceneRegistrationModule)
+    manipulation = RPCClient(None, ManipulationModule)
+    try:
+
+        def planning_groups() -> tuple[Any, ...]:
+            process = call.process
+            assert process is not None and process.poll() is None, (
+                f"xarm-room-sim exited during startup with {process and process.returncode}"
+            )
+            return cast("tuple[Any, ...]", manipulation.list_planning_groups())
+
+        _eventually(
+            planning_groups,
+            lambda value: len(value) == 1,
+            timeout_s=120.0,
+            description="xArm room planning group",
+        )
+        _eventually(
+            lambda: pick.scan_objects(XARM_ROOM_PROMPTS),
+            lambda value: bool(value.success and (value.metadata or {}).get("objects")),
+            timeout_s=180.0,
+            description="first synchronized RGB-D room scan",
+        )
+        yield pick, scene, manipulation
+    finally:
+        manipulation.stop_rpc_client()
+        scene.stop_rpc_client()
+        pick.stop_rpc_client()
+        call.stop()
+
+
+def _detected_objects(pick: RPCClient, scene: RPCClient) -> list[DetectedObject]:
+    result = pick.scan_objects(XARM_ROOM_PROMPTS)
+    assert result.success, result
+    metadata = result.metadata or {}
+    registered = metadata.get("objects", [])
+    assert registered, f"Room scan registered no objects: {result}"
+    objects: list[DetectedObject] = []
+    for item in registered:
+        object_id = str(item["object_id"])
+        pointcloud = scene.get_object_pointcloud_by_object_id(object_id)
+        assert pointcloud is not None, f"Missing pointcloud for {object_id}"
+        center = pointcloud.center
+        objects.append(
+            DetectedObject(
+                object_id=object_id,
+                label=str(item["name"]),
+                position=np.array([center.x, center.y, center.z], dtype=np.float64),
+            )
+        )
+    return objects
+
+
+def _match_truth(
+    detected: list[DetectedObject], truth: dict[str, SceneTruth]
+) -> dict[str, DetectedObject]:
+    remaining = list(detected)
+    matches: dict[str, DetectedObject] = {}
+    for name, expected in truth.items():
+        assert remaining, f"No detection left to match {name}"
+        match = min(
+            remaining,
+            key=lambda item: np.linalg.norm(_outside_geometry_error(item.position, expected)),
+        )
+        error = _outside_geometry_error(match.position, expected)
+        assert np.all(error <= POSITION_TOLERANCE_M), (
+            f"{name}: truth_origin={expected.origin.tolist()}, "
+            f"truth_half_extents={expected.half_extents.tolist()}, "
+            f"detected_centroid={match.position.tolist()}, outside_error={error.tolist()}"
+        )
+        matches[name] = match
+        remaining.remove(match)
+    assert len({item.object_id for item in matches.values()}) == len(truth)
+    return matches
+
+
+def test_three_scans_find_six_distinct_objects_at_scene_truth(
+    room_clients: tuple[RPCClient, RPCClient, RPCClient],
+) -> None:
+    pick, scene, _ = room_clients
+    truth = _scene_truth()
+    for _ in range(3):
+        matches = _match_truth(_detected_objects(pick, scene), truth)
+        assert len(matches) == EXPECTED_OBJECT_COUNT
+
+
+def test_scan_objects_enter_the_planning_obstacles(
+    room_clients: tuple[RPCClient, RPCClient, RPCClient],
+) -> None:
+    pick, scene, manipulation = room_clients
+    truth = _scene_truth()
+    _match_truth(_detected_objects(pick, scene), truth)
+    refreshed = manipulation.refresh_obstacles()
+    assert refreshed >= len(truth)
+    obstacles = manipulation.get_obstacles()
+    obstacle_positions = [
+        np.array([pose.position.x, pose.position.y, pose.position.z]) for pose in obstacles.values()
+    ]
+    for name, expected in truth.items():
+        assert any(
+            np.all(_outside_geometry_error(position, expected) <= POSITION_TOLERANCE_M)
+            for position in obstacle_positions
+        ), f"Planner obstacle missing near {name} at {expected.origin.tolist()}: {obstacles}"
+
+
+def test_scripted_pick_and_place_completes(
+    room_clients: tuple[RPCClient, RPCClient, RPCClient],
+) -> None:
+    pick, scene, _ = room_clients
+    target = _match_truth(_detected_objects(pick, scene), _scene_truth())[DESIGNATED_TARGET]
+    picked = pick.pick_object(target.object_id)
+    assert picked.success, picked
+    placed = pick.place_at(*PLACE_POSITION)
+    assert placed.success, placed
+
+
+def test_stale_observation_empty_grasp_fails_loudly(
+    room_clients: tuple[RPCClient, RPCClient, RPCClient],
+) -> None:
+    pick, scene, _ = room_clients
+    target = _match_truth(_detected_objects(pick, scene), _scene_truth())[DESIGNATED_TARGET]
+    first_pick = pick.pick_object(target.object_id)
+    assert first_pick.success, first_pick
+    placed = pick.place_at(*PLACE_POSITION)
+    assert placed.success, placed
+
+    empty_pick = pick.pick_object(target.object_id)
+    assert not empty_pick.success, empty_pick
+    assert empty_pick.error_code == "GRASP_VERIFICATION_FAILED", empty_pick
+    assert "nothing in the jaws" in empty_pick.message.lower(), empty_pick