Perception¶

Detections¶

Experimental WorldBelief¶

The experimental xArm6 WorldBelief stack records RGB-D observations and processes them on demand to maintain object identities across scans and process restarts. Its implementation lives in dimos/experimental/world_belief/ while the shared detector, embedding, and 3D object primitives remain in their standard packages.

Run the hardware blueprint:

dimos run xarm6-worldbelief --controlcoordinator.addresses '{"arm": "<ROBOT_IP>"}'

Then request a scan or recall from another terminal:

dimos mcp call scan -a prompt='["mug", "coke can"]'
dimos mcp call recall -a text="mug"

This stack is experimental and may change without compatibility guarantees.

The arm's address is configured per hardware id, here arm; see Hardware configuration.