Generalize dan perception stack

[dimos-bot]

initial state: xArm tailored and xArm validated

---

main location: dimos/dimos/perception/memory

core files: dandetect.py, localize.py, inventory.py

tool CLI drivers: tool_localize.py, tool_inventory.py

Features to be built

primary objective

• dan perception stack is platform agnostic or Go2 | G1 | xArm | Any compatible

related

• render reconstructed pointclouds for detected objects (not for xArm)
• re-id (will be moved to a new ticket)

---

Synced from DIM-1486