dimensionalOS · swstica · Jun 22, 2026 · Jun 23, 2026
@@ -1,5 +1,6 @@
-# Agents
-
+---
+title: "Agents"
+---
 LLM agents run as native DimOS modules. They subscribe to camera, LiDAR, odometry, and spatial memory streams and they control the robot through skills.
 
 ## Architecture

@@ -1,4 +1,6 @@
-# A-750 Robotic Arm
+---
+title: "A-750 Robotic Arm"
+---
 
 Support for the A-750 robotic arm includes visualization, an adapter to talk to real hardware, and keyboard teleop blueprint.
 

@@ -1,5 +1,6 @@
-# How to Integrate a New Manipulator Arm
-
+---
+title: "How to Integrate a New Manipulator Arm"
+---
 This guide walks through integrating a new robot arm with DimOS, from writing the hardware adapter to creating blueprints for planning and control.
 
 ## Architecture Overview

@@ -1,5 +1,6 @@
-# Manipulation
-
+---
+title: "Manipulation"
+---
 Motion planning and teleoperation for robotic manipulators. Uses Drake for physics simulation and optional Meshcat or Viser planning visualization.
 
 ## Quick Start

@@ -1,5 +1,6 @@
-# OpenArm Integration
-
+---
+title: "OpenArm Integration"
+---
 Guide for running the **OpenArm** — an open-source bimanual 7-DOF research arm built from Damiao DM-J quasi-direct-drive motors — under the dimos manipulation + control stack.
 
 **If you're standing in front of the hardware and just want to run it, skip to [Quick start](#quick-start).**

@@ -1,5 +1,6 @@
-# Cmu Nav Stack
-
+---
+title: "CMU Nav Stack"
+---
 A modular navigation stack for autonomous robot navigation: terrain classification, obstacle avoidance, global path planning, local trajectory selection, and loop-closure-corrected mapping — composed as Blueprint modules.
 
 Good fit when you have a lidar-equipped robot and need end-to-end autonomy: feed it a registered point cloud and odometry, and it produces velocity commands. No ROS — modules communicate over DimOS streams (LCM/SHM).

@@ -1,5 +1,6 @@
-# Navigation
-
+---
+title: "Navigation"
+---
 Note: in the future these will be merged into one system.
 
 ## Cmu Nav Stack

@@ -1,5 +1,6 @@
-# Go2 Non-ROS Navigation
-
+---
+title: "Go2 Non-ROS Navigation"
+---
 ![output](assets/noros_nav.gif)
 
 The Go2 navigation stack runs entirely without ROS. It uses a **column-carving voxel map** strategy: each new LiDAR frame replaces the corresponding region of the global map entirely, ensuring the map always reflects the latest observations.

@@ -0,0 +1,5 @@
+---
+title: "Perception"
+---
+
+## Detections
@@ -1,4 +1,6 @@
-# Hosted Teleop
+---
+title: "Hosted Teleop"
+---
 
 Operate a DimOS robot remotely from any browser or Quest headset over WebRTC.
 The robot dials out to a hosted Cloudflare Realtime SFU broker

@@ -1,4 +1,6 @@
-# Code Quality Rules
+---
+title: "Code Quality Rules"
+---
 
 Rules dimos code is expected to follow. They address recurring issues found in code review. The automated scan/fix prompts in `misc/auto-fixes/` are built from this file, but it's meant to be reused by any prompt that needs the project's code-quality criteria.
 

@@ -1,4 +1,6 @@
-# Executable Code Blocks
+---
+title: "Executable Code Blocks"
+---
 
 We use [md-babel-py](https://github.com/leshy/md-babel-py/) to execute code blocks in markdown and insert results.
 

@@ -1,5 +1,6 @@
-
-# Code Blocks
+---
+title: "Code Blocks"
+---
 
 **All code blocks must be executable.**
 Never write illustrative/pseudo code blocks.

@@ -1,4 +1,6 @@
-# For Agents
+---
+title: "For Agents"
+---
 
 ├── worktrees.md (creating provisioned worktrees with `bin/worktree`)
 ├── style.md (code style guidelines for dimos)

@@ -1,4 +1,6 @@
-# Code Style Guidelines
+---
+title: "Code Style Guidelines"
+---
 
 Rules for writing code in dimos. These address recurring issues found in code review.
 

@@ -1,4 +1,6 @@
-# Testing Guidelines
+---
+title: "Testing Guidelines"
+---
 
 Rules for writing tests in dimos. These address recurring issues found in code review.
 

@@ -1,4 +1,6 @@
-# Docker Images
+---
+title: "Docker Images"
+---
 
 Dimos uses parallel Docker image hierarchies for ROS and non-ROS builds, allowing you to choose the environment that fits your use case.
 

@@ -1,4 +1,6 @@
-# Grid Testing Strategy
+---
+title: "Grid Testing Strategy"
+---
 
 Grid tests run the same test logic across multiple implementations or configurations using pytest's parametrize feature.
 

@@ -1,4 +1,6 @@
-# Data Loading
+---
+title: "Data Loading"
+---
 
 The [`get_data`](/dimos/utils/data.py) function provides access to test data and model files, handling Git LFS downloads automatically.
 

@@ -1,4 +1,6 @@
-# Profiling dimos
+---
+title: "Profiling dimos"
+---
 
 You can use py-spy to profile a particular blueprint:
 

@@ -1,4 +1,6 @@
-# Testing
+---
+title: "Testing"
+---
 
 `uv run` syncs the project deps + `tests` group on demand, so the default test suite needs no upfront install — just `uv run pytest --numprocesses=auto dimos` (xdist parallelizes across cores).
 

@@ -1,4 +1,6 @@
-# Writing Docs
+---
+title: "Writing Docs"
+---
 
 1. Where to put your docs:
     - If it only matters to people who contribute to dimos (like this doc), put them in `docs/development`

@@ -35,6 +35,7 @@
       {
         "group": "Usage",
         "pages": [
+          "usage/index",
           "usage/modules",
           "usage/blueprints",
           "usage/configuration",
@@ -49,6 +50,7 @@
           {
             "group": "Data streams",
             "pages": [
+              "usage/data_streams/index",
               "usage/data_streams/advanced_streams",
               "usage/data_streams/quality_filter",
               "usage/data_streams/reactivex",
@@ -59,6 +61,7 @@
           {
             "group": "Sensor streams",
             "pages": [
+              "usage/sensor_streams/index",
               "usage/sensor_streams/advanced_streams",
               "usage/sensor_streams/quality_filter",
               "usage/sensor_streams/reactivex",
@@ -78,28 +81,43 @@
       {
         "group": "Agents",
         "pages": [
-          "agents/index",
-          "agents/style",
-          "agents/code-quality-rules",
-          "agents/testing",
+          "coding-agents/index",
+          "coding-agents/style",
+          "coding-agents/code-quality-rules",
+          "coding-agents/testing",
+          "coding-agents/worktrees",
           {
             "group": "Authoring agent docs",
             "pages": [
-              "agents/docs/index",
-              "agents/docs/codeblocks",
-              "agents/docs/doclinks"
+              "coding-agents/docs/index",
+              "coding-agents/docs/codeblocks",
+              "coding-agents/docs/doclinks"
             ]
           }
         ]
       },
       {
         "group": "Capabilities",
         "pages": [
+          {
+            "group": "Agents",
+            "pages": [
+              "capabilities/agents/index"
+            ]
+          },
           {
             "group": "Manipulation",
             "pages": [
+              "capabilities/manipulation/index",
               "capabilities/manipulation/adding_a_custom_arm",
-              "capabilities/manipulation/openarm_integration"
+              "capabilities/manipulation/openarm_integration",
+              "capabilities/manipulation/a750"
+            ]
+          },
+          {
+            "group": "Mapping",
+            "pages": [
+              "capabilities/mapping/relocalization"
             ]
           },
           {
@@ -113,6 +131,7 @@
           {
             "group": "Navigation",
             "pages": [
+              "capabilities/navigation/index",
               "capabilities/navigation/cmu_nav",
               {
                 "group": "Native",
@@ -122,6 +141,12 @@
               }
             ]
           },
+          {
+            "group": "Perception",
+            "pages": [
+              "capabilities/perception/index"
+            ]
+          },
           {
             "group": "Teleoperation",
             "pages": [
@@ -156,6 +181,7 @@
           "development/grid_testing",
           "development/large_file_management",
           "development/profiling_dimos",
+          "development/releasing",
           "development/writing_docs"
         ]
       }

@@ -1,4 +1,6 @@
-# Unitree G1
+---
+title: "Unitree G1"
+---
 
 ## Requirements
 

@@ -1,4 +1,6 @@
-# Unitree Go2 — Getting Started
+---
+title: "Unitree Go2"
+---
 
 The Unitree Go2 is DimOS's primary reference platform. Full autonomous navigation, mapping, and agentic control — no ROS required.
 

@@ -1,4 +1,6 @@
-# System Requirements
+---
+title: "System Requirements"
+---
 
 ## Hardware
 

@@ -1,4 +1,6 @@
-# Camera calibration
+---
+title: "Camera calibration"
+---
 
 Operator workflow for chessboard targets and `dimos cameracalibrate` (ROS-style CameraInfo YAML). The square size you pass to the CLI must match the board you actually print and measure.
 

@@ -1,4 +1,6 @@
-# CLI Reference
+---
+title: "CLI Reference"
+---
 
 The `dimos` CLI manages the full lifecycle of a DimOS robot stack — start, stop, inspect, and interact.
 

@@ -1,4 +1,6 @@
-# Configuration
+---
+title: "Configuration"
+---
 
 Dimos provides a `Configurable` base class. See [`service/spec.py`](/dimos/protocol/service/spec.py#L22).
 

@@ -1,4 +1,6 @@
-# Advanced Stream Handling
+---
+title: "Advanced Stream Handling"
+---
 
 > **Prerequisite:** Read [ReactiveX Fundamentals](/docs/usage/data_streams/reactivex.md) first for Observable basics.
 

@@ -1,4 +1,6 @@
-# Sensor Streams
+---
+title: "Data Streams"
+---
 
 Dimos uses reactive streams (RxPY) to handle sensor data. This approach naturally fits robotics where multiple sensors emit data asynchronously at different rates, and downstream processors may be slower than the data sources.
 

@@ -1,4 +1,6 @@
-# Quality-Based Stream Filtering
+---
+title: "Quality-Based Stream Filtering"
+---
 
 When processing sensor streams, you often want to reduce frequency while keeping the best quality data. For discrete data like images that can't be averaged or merged, instead of blindly dropping frames, `quality_barrier` selects the highest quality item within each time window.
 

@@ -1,4 +1,6 @@
-# ReactiveX (RxPY) Quick Reference
+---
+title: "ReactiveX (RxPY) Quick Reference"
+---
 
 RxPY provides composable asynchronous data streams. This is a practical guide focused on common patterns in this codebase.
 

@@ -1,4 +1,6 @@
-# Sensor Storage and Replay
+---
+title: "Sensor Storage and Replay"
+---
 
 Record sensor streams to disk and replay them with original timing. Useful for testing, debugging, and creating reproducible datasets.
 

@@ -1,4 +1,6 @@
-# Temporal Message Alignment
+---
+title: "Temporal Message Alignment"
+---
 
 Robots have multiple sensors emitting data at different rates and latencies. A camera might run at 30fps, while lidar scans at 10Hz, and each has different processing delays. For perception tasks like projecting 2D detections into 3D pointclouds, we need to match data from these streams by timestamp.