dimensionalOS · swstica · May 13, 2026 · May 13, 2026 · May 13, 2026 · May 13, 2026
diff --git a/docs/agents/docs/codeblocks.md b/docs/agents/docs/codeblocks.md
@@ -1,5 +1,3 @@
-# Executable Code Blocks
-
 We use [md-babel-py](https://github.com/leshy/md-babel-py/) to execute code blocks in markdown and insert results.
 
 ## Golden Rule
@@ -54,7 +52,7 @@ Execute code blocks in markdown files and insert the results.
 echo "cwd: $(pwd)"
 ```
 
-<!--Result:-->
+{/* Result: */}
 ```
 cwd: /work
 ```
@@ -66,7 +64,7 @@ a = "hello world"
 print(a)
 ```
 
-<!--Result:-->
+{/* Result: */}
 ```
 hello world
 ```
@@ -77,7 +75,7 @@ Sessions preserve state between code blocks:
 print(a, "again")
 ```
 
-<!--Result:-->
+{/* Result: */}
 ```
 hello world again
 ```
@@ -89,7 +87,7 @@ console.log("Hello from Node.js");
 console.log(`Node version: ${process.version}`);
 ```
 
-<!--Result:-->
+{/* Result: */}
 ```
 Hello from Node.js
 Node version: v22.21.1
@@ -112,7 +110,7 @@ plt.grid(alpha=0.3)
 plt.savefig('{output}', transparent=True)
 ```
 
-<!--Result:-->
+{/* Result: */}
 ![output](assets/matplotlib-demo.svg)
 
 ### Pikchr
@@ -155,7 +153,7 @@ arrow from X to Out.w
 
 </details>
 
-<!--Result:-->
+{/* Result: */}
 ![output](assets/pikchr-demo.svg)
 
 ### Asymptote
@@ -183,7 +181,7 @@ xaxis("$x$",BottomTop,LeftTicks,p=white);
 yaxis("$dP/dx$",LeftRight,RightTicks(trailingzero),p=white);
 ```
 
-<!--Result:-->
+{/* Result: */}
 ![output](assets/histogram.svg)
 
 ### Graphviz
@@ -193,7 +191,7 @@ A -> B -> C
 A -> C
 ```
 
-<!--Result:-->
+{/* Result: */}
 ![output](assets/graph.svg)
 
 ### OpenSCAD
@@ -203,7 +201,7 @@ cube([10, 10, 10]);
 sphere(r=7);
 ```
 
-<!--Result:-->
+{/* Result: */}
 ![output](assets/cube-sphere.png)
 
 ### Diagon
@@ -214,7 +212,7 @@ ASCII art diagrams:
 1 + 1/2 + sum(i,0,10)
 ```
 
-<!--Result:-->
+{/* Result: */}
 ```
         10
         ___
@@ -229,7 +227,7 @@ A -> B -> C
 A -> C
 ```
 
-<!--Result:-->
+{/* Result: */}
 ```
 ┌───┐
 │A  │

diff --git a/docs/agents/docs/doclinks.md b/docs/agents/docs/doclinks.md
@@ -4,13 +4,13 @@ Full documentation if needed: [`utils/docs/doclinks.md`](/dimos/utils/docs/docli
 
 ## Syntax
 
-<!-- doclinks-ignore-start -->
+{/* doclinks-ignore-start */}
 | Pattern     | Example                                             |
 |-------------|-----------------------------------------------------|
 | Code file   | `[`service/spec.py`]()` → resolves path             |
 | With symbol | `Configurable` in `[`spec.py`]()` → adds `#L<line>` |
 | Doc link    | `[Configuration](.md)` → resolves to doc            |
-<!-- doclinks-ignore-end -->
+{/* doclinks-ignore-end */}
 
 ## Usage
 

diff --git a/docs/agents/docs/index.md b/docs/agents/docs/index.md
@@ -1,6 +1,4 @@
 
-# Code Blocks
-
 **All code blocks must be executable.**
 Never write illustrative/pseudo code blocks.
 If you're showing an API usage pattern, create a minimal working example that actually runs. This ensures documentation stays correct as the codebase evolves.
@@ -75,7 +73,7 @@ C: box "Step 3" rad 5px fit wid 170% ht 170%
 
 </details>
 
-<!--Result:-->
+{/* Result: */}
 ![output](assets/pikchr_basic.svg)
 
 ## Box sizing
@@ -99,7 +97,7 @@ C: box "two lines" "of text" rad 5px fit wid 170% ht 170%
 
 </details>
 
-<!--Result:-->
+{/* Result: */}
 ![output](assets/pikchr_sizing.svg)
 
 The pattern `fit wid 170% ht 170%` means: auto-size to text, then scale width by 170% and height by 170%.
@@ -120,7 +118,7 @@ B: box "Step 2" rad 5px fit wid 170% ht 170%
 
 </details>
 
-<!--Result:-->
+{/* Result: */}
 ![output](assets/pikchr_explicit.svg)
 
 ## Common settings
@@ -156,7 +154,7 @@ D: box "Path B" rad 5px fit wid 170% ht 170%
 
 </details>
 
-<!--Result:-->
+{/* Result: */}
 ![output](assets/pikchr_branch.svg)
 
 **Tip:** For tree/hierarchy diagrams, prefer left-to-right layout (root on left, children branching right). This reads more naturally and avoids awkward vertical stacking.
@@ -176,7 +174,7 @@ text "label below" at (A.x, A.y - 0.4in)
 
 </details>
 
-<!--Result:-->
+{/* Result: */}
 ![output](assets/pikchr_labels.svg)
 
 ## Reference

diff --git a/docs/agents/index.md b/docs/agents/index.md
@@ -1,5 +1,3 @@
-# For Agents
-
 ├── testing.md (docs about writing tests)
 ├── docs (these are docs about writing docs)
 │   ├── codeblocks.md

diff --git a/docs/agents/style.md b/docs/agents/style.md
@@ -1,5 +1,3 @@
-# Code Style Guidelines
-
 Rules for writing code in dimos. These address recurring issues found in code review.
 
 ## No comment banners

diff --git a/docs/agents/testing.md b/docs/agents/testing.md
@@ -1,5 +1,3 @@
-# Testing Guidelines
-
 Rules for writing tests in dimos. These address recurring issues found in code review.
 
 For grid testing (spec/impl tests across multiple backends), see [Grid Testing Strategy](/docs/development/grid_testing.md).

diff --git a/docs/assets/dimensional-logo-master-transparent.png b/docs/assets/dimensional-logo-master-transparent.png
diff --git a/docs/capabilities/agents/readme.md b/docs/capabilities/agents/readme.md
@@ -1,5 +1,3 @@
-# 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

diff --git a/docs/capabilities/manipulation/adding_a_custom_arm.md b/docs/capabilities/manipulation/adding_a_custom_arm.md
@@ -1,5 +1,3 @@
-# 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

diff --git a/docs/capabilities/manipulation/openarm_integration.md b/docs/capabilities/manipulation/openarm_integration.md
@@ -1,5 +1,3 @@
-# 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).**

diff --git a/docs/capabilities/manipulation/readme.md b/docs/capabilities/manipulation/readme.md
@@ -1,5 +1,3 @@
-# Manipulation
-
 Motion planning and teleoperation for robotic manipulators. Uses Drake for physics simulation and Meshcat for 3D visualization.
 
 ## Quick Start

diff --git a/docs/capabilities/memory/index.md b/docs/capabilities/memory/index.md
@@ -1,4 +1,5 @@
-<details><summary>Python</summary>
+<details>
+<summary>Python</summary>
 
 ```python fold session=mem output=none
 import pickle
@@ -23,7 +24,7 @@ for name, stream in store.streams.items():
    print(stream.summary())
 ```
 
-<!--Result:-->
+{/* Result: */}
 ```
 Stream("color_image"): 4164 items, 2025-12-26 11:09:08 — 2025-12-26 11:14:00 (292.5s)
 Stream("color_image_embedded"): 267 items, 2025-12-26 11:09:12 — 2025-12-26 11:14:00 (288.4s)
@@ -160,15 +161,16 @@ drawing.add(matches)
 drawing.to_svg("assets/embedding_focused.svg")
 ```
 
-<!--Result:-->
+{/* Result: */}
 ```
 Stream("color_image_embedded") | vector_search(k=30)
 08:19:54.129 [inf][dimos/mapping/voxels.py       ] VoxelGrid using device: CUDA:0
 ```
 
 ![output](assets/embedding_focused.svg)
 
-<details><summary>Python</summary>
+<details>
+<summary>Python</summary>
 
 ```python fold session=mem
 import matplotlib

diff --git a/docs/capabilities/memory/plot.md b/docs/capabilities/memory/plot.md
@@ -135,7 +135,7 @@ plot.add(plantness_similarity,
 plot.to_svg("assets/plot_plantness.svg")
 ```
 
-<!--Result:-->
+{/* Result: */}
 ```
 Stream("color_image_embedded") | vector_search() | order_by(ts)
 Stream("materialize")
@@ -241,7 +241,7 @@ m = mosaic(semantic_peaks.map_data(lambda obs: moondream.query_detections(obs.da
 m.data.save("assets/plants_auto.png")
 ```
 
-<!--Result:-->
+{/* Result: */}
 ```
 14:59:33.042 [inf][dimos/mapping/voxels.py       ] VoxelGrid using device: CUDA:0
 t=  14.1s score=0.224 prominence=0.031

diff --git a/docs/capabilities/navigation/native/index.md b/docs/capabilities/navigation/native/index.md
@@ -1,5 +1,3 @@
-# Go2 Non-ROS Navigation
-
 <img src="assets/noros_nav.gif" width="100%">
 
 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.
@@ -37,7 +35,7 @@ text "Twist" italic at (M4.x, Nav.s.y - 0.45in)
 
 </details>
 
-<!--Result:-->
+{/* Result: */}
 ![output](assets/go2nav_dataflow.svg)
 ## Pipeline Steps
 
@@ -177,5 +175,5 @@ unitree_go2 = autoconnect(
 
 to_svg(unitree_go2, "assets/go2_blueprint.svg")
 ```
-<!--Result:-->
+{/* Result: */}
 ![output](assets/go2_blueprint.svg)
diff --git a/docs/capabilities/navigation/nav_stack.md b/docs/capabilities/navigation/nav_stack.md
@@ -1,5 +1,3 @@
-# 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).

diff --git a/docs/capabilities/navigation/readme.md b/docs/capabilities/navigation/readme.md
@@ -1,4 +1,3 @@
-# Navigation
 Note: in the future these will be merged into one system.
 
 ## Nav Stack

diff --git a/docs/capabilities/perception/readme.md b/docs/capabilities/perception/readme.md
@@ -1,3 +1 @@
-# Perception
-
 ## Detections
diff --git a/docs/development/docker.md b/docs/development/docker.md
@@ -1,10 +1,9 @@
-# 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.
 
 ## Image Hierarchy
 
-<details><summary>Pikchr</summary>
+<details>
+<summary>Pikchr</summary>
 
 ```pikchr fold output=assets/docker-hierarchy.svg
 color = white
@@ -40,7 +39,7 @@ text "same dockerfiles" at (D.e.x + 1.2in, D.e.y + 0.4in)
 
 </details>
 
-<!--Result:-->
+{/* Result: */}
 ![output](assets/docker-hierarchy.svg)
 
 

diff --git a/docs/development/grid_testing.md b/docs/development/grid_testing.md
@@ -1,5 +1,3 @@
-# Grid Testing Strategy
-
 Grid tests run the same test logic across multiple implementations or configurations using pytest's parametrize feature.
 
 ## Case Type Pattern