diff --git a/README.md b/README.md
index ae91ecfbaf..572bf73605 100644
--- a/README.md
+++ b/README.md
@@ -148,11 +148,9 @@ Modules are subsystems on a robot that operate autonomously and communicate with
 
 ```py
 import threading, time, numpy as np
-from dimos.core import In, Module, Out, rpc
-from dimos.core.blueprints import autoconnect
+from dimos.core import In, Module, Out, rpc, autoconnect
 from dimos.msgs.geometry_msgs import Twist
-from dimos.msgs.sensor_msgs import Image
-from dimos.msgs.sensor_msgs.Image import ImageFormat
+from dimos.msgs.sensor_msgs import Image, ImageFormat
 
 class RobotConnection(Module):
     cmd_vel: In[Twist]
@@ -195,10 +193,9 @@ Blueprints can be composed, remapped, and have transports overridden if `autocon
 
 A blueprint example that connects the image stream from a robot to an LLM Agent for reasoning and action execution.
 ```py
-from dimos.core.blueprints import autoconnect
-from dimos.core.transport import LCMTransport
+from dimos.core import autoconnect, LCMTransport
 from dimos.msgs.sensor_msgs import Image
-from dimos.robot.unitree.connection.go2 import go2_connection
+from dimos.robot.unitree.go2.connection import go2_connection
 from dimos.agents.agent import llm_agent
 
 blueprint = autoconnect(
@@ -207,7 +204,8 @@ blueprint = autoconnect(
 ).transports({("color_image", Image): LCMTransport("/color_image", Image)})
 
 # Run the blueprint
-blueprint.build().loop()
+if __name__ == "__main__":
+    blueprint.build().loop()
 ```
 
 # Development
diff --git a/dimos/agents/__init__.py b/dimos/agents/__init__.py
index f058f24d2f..ab3c67cfa5 100644
--- a/dimos/agents/__init__.py
+++ b/dimos/agents/__init__.py
@@ -1,18 +1,12 @@
-from dimos.agents.agent import Agent, deploy
-from dimos.agents.spec import AgentSpec
-from dimos.agents.vlm_agent import VLMAgent
-from dimos.agents.vlm_stream_tester import VlmStreamTester
-from dimos.protocol.skill.skill import skill
-from dimos.protocol.skill.type import Output, Reducer, Stream
+import lazy_loader as lazy
 
-__all__ = [
-    "Agent",
-    "AgentSpec",
-    "Output",
-    "Reducer",
-    "Stream",
-    "VLMAgent",
-    "VlmStreamTester",
-    "deploy",
-    "skill",
-]
+__getattr__, __dir__, __all__ = lazy.attach(
+    __name__,
+    submod_attrs={
+        "agent": ["Agent", "deploy"],
+        "spec": ["AgentSpec"],
+        "vlm_agent": ["VLMAgent"],
+        "vlm_stream_tester": ["VlmStreamTester"],
+        "_skill_exports": ["skill", "Output", "Reducer", "Stream"],
+    },
+)
diff --git a/dimos/agents/_skill_exports.py b/dimos/agents/_skill_exports.py
new file mode 100644
index 0000000000..a04093b20b
--- /dev/null
+++ b/dimos/agents/_skill_exports.py
@@ -0,0 +1,18 @@
+# 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.
+
+from dimos.protocol.skill.skill import skill
+from dimos.protocol.skill.type import Output, Reducer, Stream
+
+__all__ = ["Output", "Reducer", "Stream", "skill"]
diff --git a/dimos/agents/skills/conftest.py b/dimos/agents/skills/conftest.py
index 0e2e3e0636..ae5566b9f9 100644
--- a/dimos/agents/skills/conftest.py
+++ b/dimos/agents/skills/conftest.py
@@ -21,7 +21,7 @@
 from dimos.agents.skills.gps_nav_skill import GpsNavSkillContainer
 from dimos.agents.skills.navigation import NavigationSkillContainer
 from dimos.agents.system_prompt import SYSTEM_PROMPT
-from dimos.robot.unitree_webrtc.unitree_skill_container import UnitreeSkillContainer
+from dimos.robot.unitree.unitree_skill_container import UnitreeSkillContainer
 
 
 @pytest.fixture(autouse=True)
diff --git a/dimos/agents/skills/person_follow.py b/dimos/agents/skills/person_follow.py
index 830e532f13..91ba5d01b8 100644
--- a/dimos/agents/skills/person_follow.py
+++ b/dimos/agents/skills/person_follow.py
@@ -75,7 +75,7 @@ def __init__(
 
         # Use MuJoCo camera intrinsics in simulation mode
         if self._global_config.simulation:
-            from dimos.robot.unitree_webrtc.mujoco_connection import MujocoConnection
+            from dimos.robot.unitree.mujoco_connection import MujocoConnection
 
             camera_info = MujocoConnection.camera_info_static
 
diff --git a/dimos/agents/spec.py b/dimos/agents/spec.py
index b0a0324e89..02eef359de 100644
--- a/dimos/agents/spec.py
+++ b/dimos/agents/spec.py
@@ -22,7 +22,6 @@
 if TYPE_CHECKING:
     from dimos.protocol.skill.skill import SkillContainer
 
-from langchain.chat_models.base import _SUPPORTED_PROVIDERS
 from langchain_core.language_models.chat_models import BaseChatModel
 from langchain_core.messages import (
     AIMessage,
@@ -45,8 +44,31 @@
 logger = setup_logger()
 
 
-# Dynamically create ModelProvider enum from LangChain's supported providers
-_providers = {provider.upper(): provider for provider in _SUPPORTED_PROVIDERS}
+# FIXME: I dont see a stable (and dynamic) way to get these, this is only for type-hints and Paul's PR should replace this in a couple of days (this is a stop-gap change to get CI passing)
+_providers = [
+    "ANTHROPIC",
+    "AZURE_AI",
+    "AZURE_OPENAI",
+    "BEDROCK",
+    "BEDROCK_CONVERSE",
+    "COHERE",
+    "DEEPSEEK",
+    "FIREWORKS",
+    "GOOGLE_ANTHROPIC_VERTEX",
+    "GOOGLE_GENAI",
+    "GOOGLE_VERTEXAI",
+    "GROQ",
+    "HUGGINGFACE",
+    "IBM",
+    "MISTRALAI",
+    "NVIDIA",
+    "OLLAMA",
+    "OPENAI",
+    "PERPLEXITY",
+    "TOGETHER",
+    "UPSTAGE",
+    "XAI",
+]
 Provider = Enum("Provider", _providers, type=str)  # type: ignore[misc]
 
 
diff --git a/dimos/agents/test_mock_agent.py b/dimos/agents/test_mock_agent.py
index 4f449e973a..37eac2bf31 100644
--- a/dimos/agents/test_mock_agent.py
+++ b/dimos/agents/test_mock_agent.py
@@ -26,7 +26,7 @@
 from dimos.msgs.geometry_msgs import PoseStamped, Vector3
 from dimos.msgs.sensor_msgs import Image, PointCloud2
 from dimos.protocol.skill.test_coordinator import SkillContainerTest
-from dimos.robot.unitree.connection.go2 import GO2Connection
+from dimos.robot.unitree.go2.connection import GO2Connection
 
 
 @pytest.mark.integration
diff --git a/dimos/control/__init__.py b/dimos/control/__init__.py
index 50d0330107..23ac02836b 100644
--- a/dimos/control/__init__.py
+++ b/dimos/control/__init__.py
@@ -49,52 +49,34 @@
     >>> coord.start()
 """
 
-from dimos.control.components import (
-    HardwareComponent,
-    HardwareId,
-    HardwareType,
-    JointName,
-    JointState,
-    make_joints,
-)
-from dimos.control.coordinator import (
-    ControlCoordinator,
-    ControlCoordinatorConfig,
-    TaskConfig,
-    control_coordinator,
-)
-from dimos.control.hardware_interface import ConnectedHardware
-from dimos.control.task import (
-    ControlMode,
-    ControlTask,
-    CoordinatorState,
-    JointCommandOutput,
-    JointStateSnapshot,
-    ResourceClaim,
-)
-from dimos.control.tick_loop import TickLoop
+import lazy_loader as lazy
 
-__all__ = [
-    # Connected hardware
-    "ConnectedHardware",
-    # Coordinator
-    "ControlCoordinator",
-    "ControlCoordinatorConfig",
-    "ControlMode",
-    # Task protocol and types
-    "ControlTask",
-    "CoordinatorState",
-    "HardwareComponent",
-    "HardwareId",
-    "HardwareType",
-    "JointCommandOutput",
-    "JointName",
-    "JointState",
-    "JointStateSnapshot",
-    "ResourceClaim",
-    "TaskConfig",
-    # Tick loop
-    "TickLoop",
-    "control_coordinator",
-    "make_joints",
-]
+__getattr__, __dir__, __all__ = lazy.attach(
+    __name__,
+    submod_attrs={
+        "components": [
+            "HardwareComponent",
+            "HardwareId",
+            "HardwareType",
+            "JointName",
+            "JointState",
+            "make_joints",
+        ],
+        "coordinator": [
+            "ControlCoordinator",
+            "ControlCoordinatorConfig",
+            "TaskConfig",
+            "control_coordinator",
+        ],
+        "hardware_interface": ["ConnectedHardware"],
+        "task": [
+            "ControlMode",
+            "ControlTask",
+            "CoordinatorState",
+            "JointCommandOutput",
+            "JointStateSnapshot",
+            "ResourceClaim",
+        ],
+        "tick_loop": ["TickLoop"],
+    },
+)
diff --git a/dimos/control/tasks/cartesian_ik_task.py b/dimos/control/tasks/cartesian_ik_task.py
index 3f0ad70915..7ff5b21e52 100644
--- a/dimos/control/tasks/cartesian_ik_task.py
+++ b/dimos/control/tasks/cartesian_ik_task.py
@@ -248,10 +248,11 @@ def _get_current_joints(self, state: CoordinatorState) -> NDArray[np.floating[An
             if pos is None:
                 # Fallback to last solution
                 if self._last_q_solution is not None:
-                    return self._last_q_solution.copy()
+                    result: NDArray[np.floating[Any]] = self._last_q_solution.copy()
+                    return result
                 return None
             positions.append(pos)
-        return np.array(positions)
+        return np.array(positions, dtype=np.float64)
 
     def _solve_ik(
         self,
diff --git a/dimos/core/__init__.py b/dimos/core/__init__.py
index 5a4acc1762..55bd566657 100644
--- a/dimos/core/__init__.py
+++ b/dimos/core/__init__.py
@@ -5,60 +5,41 @@
 import time
 from typing import TYPE_CHECKING, cast
 
-from dask.distributed import Client, LocalCluster
 from rich.console import Console
 
-import dimos.core.colors as colors
 from dimos.core.core import rpc
-from dimos.core.module import Module, ModuleBase, ModuleConfig, ModuleConfigT
-from dimos.core.rpc_client import RPCClient
-from dimos.core.stream import In, Out, RemoteIn, RemoteOut, Transport
-from dimos.core.transport import (
-    LCMTransport,
-    SHMTransport,
-    ZenohTransport,
-    pLCMTransport,
-    pSHMTransport,
-)
-from dimos.protocol.rpc import LCMRPC
-from dimos.protocol.rpc.spec import RPCSpec
-from dimos.protocol.tf import LCMTF, TF, PubSubTF, TFConfig, TFSpec
-from dimos.utils.actor_registry import ActorRegistry
 from dimos.utils.logging_config import setup_logger
+import lazy_loader as lazy
 
 if TYPE_CHECKING:
     # Avoid runtime import to prevent circular import; ruff's TC001 would otherwise move it.
+    from dask.distributed import LocalCluster
+
+    from dimos.core._dask_exports import DimosCluster
+    from dimos.core.module import Module
     from dimos.core.rpc_client import ModuleProxy
 
 logger = setup_logger()
 
-__all__ = [
-    "LCMRPC",
-    "LCMTF",
-    "TF",
-    "DimosCluster",
-    "In",
-    "LCMTransport",
-    "Module",
-    "ModuleBase",
-    "ModuleConfig",
-    "ModuleConfigT",
-    "Out",
-    "PubSubTF",
-    "RPCSpec",
-    "RemoteIn",
-    "RemoteOut",
-    "SHMTransport",
-    "TFConfig",
-    "TFSpec",
-    "Transport",
-    "ZenohTransport",
-    "colors",
-    "pLCMTransport",
-    "pSHMTransport",
-    "rpc",
-    "start",
-]
+__getattr__, __dir__, __all__ = lazy.attach(
+    __name__,
+    submodules=["colors"],
+    submod_attrs={
+        "blueprints": ["autoconnect", "Blueprint"],
+        "_dask_exports": ["DimosCluster"],
+        "_protocol_exports": ["LCMRPC", "RPCSpec", "LCMTF", "TF", "PubSubTF", "TFConfig", "TFSpec"],
+        "module": ["Module", "ModuleBase", "ModuleConfig", "ModuleConfigT"],
+        "stream": ["In", "Out", "RemoteIn", "RemoteOut", "Transport"],
+        "transport": [
+            "LCMTransport",
+            "SHMTransport",
+            "ZenohTransport",
+            "pLCMTransport",
+            "pSHMTransport",
+        ],
+    },
+)
+__all__ += ["DimosCluster", "Module", "rpc", "start", "wait_exit"]
 
 
 class CudaCleanupPlugin:
@@ -91,10 +72,10 @@ def teardown(self, worker) -> None:  # type: ignore[no-untyped-def]
 def patch_actor(actor, cls) -> None: ...  # type: ignore[no-untyped-def]
 
 
-DimosCluster = Client
+def patchdask(dask_client: DimosCluster, local_cluster: LocalCluster) -> DimosCluster:
+    from dimos.core.rpc_client import RPCClient
+    from dimos.utils.actor_registry import ActorRegistry
 
-
-def patchdask(dask_client: Client, local_cluster: LocalCluster) -> DimosCluster:
     def deploy(  # type: ignore[no-untyped-def]
         actor_class: type[Module],
         *args,
@@ -129,6 +110,7 @@ def deploy(  # type: ignore[no-untyped-def]
     def check_worker_memory() -> None:
         """Check memory usage of all workers."""
         info = dask_client.scheduler_info()
+
         console = Console()
         total_workers = len(info.get("workers", {}))
         total_memory_used = 0
@@ -263,6 +245,8 @@ def start(n: int | None = None, memory_limit: str = "auto") -> DimosCluster:
         DimosCluster: A patched Dask client with deploy(), check_worker_memory(), stop(), and close_all() methods
     """
 
+    from dask.distributed import Client, LocalCluster
+
     console = Console()
     if not n:
         n = mp.cpu_count()
diff --git a/dimos/core/_dask_exports.py b/dimos/core/_dask_exports.py
new file mode 100644
index 0000000000..cb257e7804
--- /dev/null
+++ b/dimos/core/_dask_exports.py
@@ -0,0 +1,17 @@
+# 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.
+
+from dask.distributed import Client as DimosCluster
+
+__all__ = ["DimosCluster"]
diff --git a/dimos/core/_protocol_exports.py b/dimos/core/_protocol_exports.py
new file mode 100644
index 0000000000..be77fd8323
--- /dev/null
+++ b/dimos/core/_protocol_exports.py
@@ -0,0 +1,19 @@
+# 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.
+
+from dimos.protocol.rpc import LCMRPC
+from dimos.protocol.rpc.spec import RPCSpec
+from dimos.protocol.tf import LCMTF, TF, PubSubTF, TFConfig, TFSpec
+
+__all__ = ["LCMRPC", "LCMTF", "TF", "PubSubTF", "RPCSpec", "TFConfig", "TFSpec"]
diff --git a/dimos/core/core.py b/dimos/core/core.py
index e7a7d09f58..6c95700926 100644
--- a/dimos/core/core.py
+++ b/dimos/core/core.py
@@ -17,7 +17,6 @@
 
 from typing import (
     TYPE_CHECKING,
-    Any,
     TypeVar,
 )
 
@@ -30,7 +29,12 @@
 register_picklers()
 T = TypeVar("T")
 
+from typing import ParamSpec, TypeVar
 
-def rpc(fn: Callable[..., Any]) -> Callable[..., Any]:
+P = ParamSpec("P")
+R = TypeVar("R")
+
+
+def rpc(fn: Callable[P, R]) -> Callable[P, R]:
     fn.__rpc__ = True  # type: ignore[attr-defined]
     return fn
diff --git a/dimos/core/test_core.py b/dimos/core/test_core.py
index 2177071211..ddacb9dbf8 100644
--- a/dimos/core/test_core.py
+++ b/dimos/core/test_core.py
@@ -24,12 +24,11 @@
     Out,
     pLCMTransport,
     rpc,
-    start,
 )
 from dimos.core.testing import MockRobotClient, dimos
 from dimos.msgs.geometry_msgs import Vector3
 from dimos.msgs.sensor_msgs import PointCloud2
-from dimos.robot.unitree_webrtc.type.odometry import Odometry
+from dimos.robot.unitree.type.odometry import Odometry
 
 assert dimos
 
@@ -138,8 +137,3 @@ def test_basic_deployment(dimos) -> None:
     assert nav.lidar_msg_count >= 8
 
     dimos.shutdown()
-
-
-if __name__ == "__main__":
-    client = start(1)  # single process for CI memory
-    test_deployment(client)
diff --git a/dimos/core/test_stream.py b/dimos/core/test_stream.py
index b963022c50..836f879b67 100644
--- a/dimos/core/test_stream.py
+++ b/dimos/core/test_stream.py
@@ -25,7 +25,7 @@
 )
 from dimos.core.testing import MockRobotClient, dimos
 from dimos.msgs.sensor_msgs import PointCloud2
-from dimos.robot.unitree_webrtc.type.odometry import Odometry
+from dimos.robot.unitree.type.odometry import Odometry
 
 assert dimos
 
diff --git a/dimos/core/testing.py b/dimos/core/testing.py
index 38774ef327..88598e74b8 100644
--- a/dimos/core/testing.py
+++ b/dimos/core/testing.py
@@ -20,8 +20,8 @@
 from dimos.core import In, Module, Out, rpc, start
 from dimos.msgs.geometry_msgs import Vector3
 from dimos.msgs.sensor_msgs import PointCloud2
-from dimos.robot.unitree_webrtc.type.lidar import pointcloud2_from_webrtc_lidar
-from dimos.robot.unitree_webrtc.type.odometry import Odometry
+from dimos.robot.unitree.type.lidar import pointcloud2_from_webrtc_lidar
+from dimos.robot.unitree.type.odometry import Odometry
 from dimos.utils.testing import SensorReplay
 
 
diff --git a/dimos/hardware/sensors/camera/gstreamer/gstreamer_camera.py b/dimos/hardware/sensors/camera/gstreamer/gstreamer_camera.py
index 949330881a..9161185d50 100644
--- a/dimos/hardware/sensors/camera/gstreamer/gstreamer_camera.py
+++ b/dimos/hardware/sensors/camera/gstreamer/gstreamer_camera.py
@@ -22,7 +22,9 @@
 
 import numpy as np
 
-from dimos.core import Module, ModuleConfig, Out, rpc
+from dimos.core.core import rpc
+from dimos.core.module import Module, ModuleConfig
+from dimos.core.stream import Out
 from dimos.msgs.sensor_msgs import Image, ImageFormat
 from dimos.utils.logging_config import setup_logger
 
diff --git a/dimos/hardware/sensors/camera/module.py b/dimos/hardware/sensors/camera/module.py
index 251b703d56..1b59fceed3 100644
--- a/dimos/hardware/sensors/camera/module.py
+++ b/dimos/hardware/sensors/camera/module.py
@@ -20,15 +20,18 @@
 import reactivex as rx
 from reactivex import operators as ops
 
-from dimos.agents import Output, Reducer, Stream, skill
-from dimos.core import Module, ModuleConfig, Out, rpc
 from dimos.core.blueprints import autoconnect
+from dimos.core.core import rpc
 from dimos.core.global_config import GlobalConfig, global_config
+from dimos.core.module import Module, ModuleConfig
+from dimos.core.stream import Out
 from dimos.hardware.sensors.camera.spec import CameraHardware
 from dimos.hardware.sensors.camera.webcam import Webcam
 from dimos.msgs.geometry_msgs import Quaternion, Transform, Vector3
 from dimos.msgs.sensor_msgs.CameraInfo import CameraInfo
 from dimos.msgs.sensor_msgs.Image import Image, sharpness_barrier
+from dimos.protocol.skill.skill import skill
+from dimos.protocol.skill.type import Output, Reducer, Stream
 from dimos.spec import perception
 from dimos.utils.reactive import iter_observable
 
diff --git a/dimos/hardware/sensors/camera/realsense/camera.py b/dimos/hardware/sensors/camera/realsense/camera.py
index 3613dbf0a2..8f31441d20 100644
--- a/dimos/hardware/sensors/camera/realsense/camera.py
+++ b/dimos/hardware/sensors/camera/realsense/camera.py
@@ -23,8 +23,10 @@
 import reactivex as rx
 from scipy.spatial.transform import Rotation  # type: ignore[import-untyped]
 
-from dimos.core import Module, ModuleConfig, Out, rpc
+from dimos.core.core import rpc
+from dimos.core.module import Module, ModuleConfig
 from dimos.core.module_coordinator import ModuleCoordinator
+from dimos.core.stream import Out
 from dimos.core.transport import LCMTransport
 from dimos.hardware.sensors.camera.spec import (
     OPTICAL_ROTATION,
diff --git a/dimos/hardware/sensors/camera/zed/camera.py b/dimos/hardware/sensors/camera/zed/camera.py
index 67d80af4b0..171b706ff9 100644
--- a/dimos/hardware/sensors/camera/zed/camera.py
+++ b/dimos/hardware/sensors/camera/zed/camera.py
@@ -18,12 +18,14 @@
 from dataclasses import dataclass, field
 import threading
 import time
+from typing import TYPE_CHECKING
 
 import cv2
 import pyzed.sl as sl
 import reactivex as rx
 
-from dimos.core import Module, ModuleConfig, Out, rpc
+from dimos.core.core import rpc
+from dimos.core.module import Module, ModuleConfig
 from dimos.core.module_coordinator import ModuleCoordinator
 from dimos.core.transport import LCMTransport
 from dimos.hardware.sensors.camera.spec import (
@@ -39,6 +41,9 @@
 from dimos.spec import perception
 from dimos.utils.reactive import backpressure
 
+if TYPE_CHECKING:
+    from dimos.core.stream import Out
+
 
 def default_base_transform() -> Transform:
     """Default identity transform for camera mounting."""
diff --git a/dimos/hardware/sensors/fake_zed_module.py b/dimos/hardware/sensors/fake_zed_module.py
index e8fc51bf31..ec5613077d 100644
--- a/dimos/hardware/sensors/fake_zed_module.py
+++ b/dimos/hardware/sensors/fake_zed_module.py
@@ -24,7 +24,9 @@
 from dimos_lcm.sensor_msgs import CameraInfo
 import numpy as np
 
-from dimos.core import Module, ModuleConfig, Out, rpc
+from dimos.core.core import rpc
+from dimos.core.module import Module, ModuleConfig
+from dimos.core.stream import Out
 from dimos.msgs.geometry_msgs import PoseStamped
 from dimos.msgs.sensor_msgs import Image, ImageFormat
 from dimos.msgs.std_msgs import Header
diff --git a/dimos/manipulation/control/coordinator_client.py b/dimos/manipulation/control/coordinator_client.py
index b30c1f46f7..5bc3513ae6 100644
--- a/dimos/manipulation/control/coordinator_client.py
+++ b/dimos/manipulation/control/coordinator_client.py
@@ -49,7 +49,9 @@
 
 from dimos.control.coordinator import ControlCoordinator
 from dimos.core.rpc_client import RPCClient
-from dimos.manipulation.planning import JointTrajectoryGenerator
+from dimos.manipulation.planning.trajectory_generator.joint_trajectory_generator import (
+    JointTrajectoryGenerator,
+)
 
 if TYPE_CHECKING:
     from dimos.msgs.trajectory_msgs import JointTrajectory
diff --git a/dimos/manipulation/control/dual_trajectory_setter.py b/dimos/manipulation/control/dual_trajectory_setter.py
index 4b54f0e3e5..4f8a8802e1 100644
--- a/dimos/manipulation/control/dual_trajectory_setter.py
+++ b/dimos/manipulation/control/dual_trajectory_setter.py
@@ -34,7 +34,9 @@
 import time
 
 from dimos import core
-from dimos.manipulation.planning import JointTrajectoryGenerator
+from dimos.manipulation.planning.trajectory_generator.joint_trajectory_generator import (
+    JointTrajectoryGenerator,
+)
 from dimos.msgs.sensor_msgs import JointState
 from dimos.msgs.trajectory_msgs import JointTrajectory
 
diff --git a/dimos/manipulation/control/trajectory_setter.py b/dimos/manipulation/control/trajectory_setter.py
index 5b8b2ff234..bad3854521 100644
--- a/dimos/manipulation/control/trajectory_setter.py
+++ b/dimos/manipulation/control/trajectory_setter.py
@@ -33,7 +33,9 @@
 import time
 
 from dimos import core
-from dimos.manipulation.planning import JointTrajectoryGenerator
+from dimos.manipulation.planning.trajectory_generator.joint_trajectory_generator import (
+    JointTrajectoryGenerator,
+)
 from dimos.msgs.sensor_msgs import JointState
 from dimos.msgs.trajectory_msgs import JointTrajectory
 
diff --git a/dimos/manipulation/manipulation_module.py b/dimos/manipulation/manipulation_module.py
index 33dea33697..cc0689f660 100644
--- a/dimos/manipulation/manipulation_module.py
+++ b/dimos/manipulation/manipulation_module.py
@@ -784,7 +784,7 @@ def _get_gripper_hardware_id(self, robot_name: RobotName | None = None) -> str |
         if not config.gripper_hardware_id:
             logger.warning(f"No gripper_hardware_id configured for '{config.name}'")
             return None
-        return config.gripper_hardware_id
+        return str(config.gripper_hardware_id)
 
     @rpc
     def set_gripper(self, position: float, robot_name: RobotName | None = None) -> bool:
diff --git a/dimos/manipulation/planning/__init__.py b/dimos/manipulation/planning/__init__.py
index a9a89a96cd..8aaf0caa25 100644
--- a/dimos/manipulation/planning/__init__.py
+++ b/dimos/manipulation/planning/__init__.py
@@ -57,55 +57,28 @@
 ```
 """
 
-# Factory functions
-from dimos.manipulation.planning.factory import (
-    create_kinematics,
-    create_planner,
-    create_planning_stack,
-    create_world,
+import lazy_loader as lazy
+
+__getattr__, __dir__, __all__ = lazy.attach(
+    __name__,
+    submod_attrs={
+        "factory": ["create_kinematics", "create_planner", "create_planning_stack", "create_world"],
+        "spec": [
+            "CollisionObjectMessage",
+            "IKResult",
+            "IKStatus",
+            "JointPath",
+            "KinematicsSpec",
+            "Obstacle",
+            "ObstacleType",
+            "PlannerSpec",
+            "PlanningResult",
+            "PlanningStatus",
+            "RobotModelConfig",
+            "RobotName",
+            "WorldRobotID",
+            "WorldSpec",
+        ],
+        "trajectory_generator.joint_trajectory_generator": ["JointTrajectoryGenerator"],
+    },
 )
-
-# Data classes and Protocols
-from dimos.manipulation.planning.spec import (
-    CollisionObjectMessage,
-    IKResult,
-    IKStatus,
-    JointPath,
-    KinematicsSpec,
-    Obstacle,
-    ObstacleType,
-    PlannerSpec,
-    PlanningResult,
-    PlanningStatus,
-    RobotModelConfig,
-    RobotName,
-    WorldRobotID,
-    WorldSpec,
-)
-
-# Trajectory generation
-from dimos.manipulation.planning.trajectory_generator.joint_trajectory_generator import (
-    JointTrajectoryGenerator,
-)
-
-__all__ = [
-    "CollisionObjectMessage",
-    "IKResult",
-    "IKStatus",
-    "JointPath",
-    "JointTrajectoryGenerator",
-    "KinematicsSpec",
-    "Obstacle",
-    "ObstacleType",
-    "PlannerSpec",
-    "PlanningResult",
-    "PlanningStatus",
-    "RobotModelConfig",
-    "RobotName",
-    "WorldRobotID",
-    "WorldSpec",
-    "create_kinematics",
-    "create_planner",
-    "create_planning_stack",
-    "create_world",
-]
diff --git a/dimos/manipulation/planning/utils/kinematics_utils.py b/dimos/manipulation/planning/utils/kinematics_utils.py
index 80536304a0..c9f3f95a3d 100644
--- a/dimos/manipulation/planning/utils/kinematics_utils.py
+++ b/dimos/manipulation/planning/utils/kinematics_utils.py
@@ -66,7 +66,8 @@ def damped_pseudoinverse(
     """
     JJT = J @ J.T
     I = np.eye(JJT.shape[0])
-    return J.T @ np.linalg.inv(JJT + damping**2 * I)
+    result: NDArray[np.float64] = J.T @ np.linalg.inv(JJT + damping**2 * I)
+    return result
 
 
 def check_singularity(
diff --git a/dimos/manipulation/planning/world/drake_world.py b/dimos/manipulation/planning/world/drake_world.py
index 532ca6d548..b8c5197d94 100644
--- a/dimos/manipulation/planning/world/drake_world.py
+++ b/dimos/manipulation/planning/world/drake_world.py
@@ -480,7 +480,7 @@ def _create_shape(self, obstacle: Obstacle) -> Any:
         elif obstacle.obstacle_type == ObstacleType.MESH:
             if not obstacle.mesh_path:
                 raise ValueError("MESH obstacle requires mesh_path")
-            return Convex(obstacle.mesh_path)
+            return Convex(Path(obstacle.mesh_path))
         else:
             raise ValueError(f"Unsupported obstacle type: {obstacle.obstacle_type}")
 
@@ -539,7 +539,7 @@ def clear_obstacles(self) -> None:
 
     def _set_preview_colors(self) -> None:
         """Set all preview robot visual geometries to yellow/semi-transparent."""
-        source_id = self._plant.get_source_id()
+        source_id: Any = self._plant.get_source_id()
         preview_color = Rgba(1.0, 0.8, 0.0, 0.4)
 
         for robot_data in self._robots.values():
@@ -550,11 +550,11 @@ def _set_preview_colors(self) -> None:
                 for geom_id in self._plant.GetVisualGeometriesForBody(body):
                     props = IllustrationProperties()
                     props.AddProperty("phong", "diffuse", preview_color)
-                    self._scene_graph.AssignRole(source_id, geom_id, props, RoleAssign.kReplace)
+                    self._scene_graph.AssignRole(source_id, geom_id, props, RoleAssign.kReplace)  # type: ignore[call-overload]
 
     def _remove_preview_collision_roles(self) -> None:
         """Remove proximity (collision) role from all preview robot geometries."""
-        source_id = self._plant.get_source_id()
+        source_id: Any = self._plant.get_source_id()  # SourceId
 
         for robot_data in self._robots.values():
             if robot_data.preview_model_instance is None:
diff --git a/dimos/models/vl/__init__.py b/dimos/models/vl/__init__.py
index e4bb68e03c..482a907cbd 100644
--- a/dimos/models/vl/__init__.py
+++ b/dimos/models/vl/__init__.py
@@ -1,16 +1,13 @@
-from dimos.models.vl.base import Captioner, VlModel
-from dimos.models.vl.florence import Florence2Model
-from dimos.models.vl.moondream import MoondreamVlModel
-from dimos.models.vl.moondream_hosted import MoondreamHostedVlModel
-from dimos.models.vl.openai import OpenAIVlModel
-from dimos.models.vl.qwen import QwenVlModel
+import lazy_loader as lazy
 
-__all__ = [
-    "Captioner",
-    "Florence2Model",
-    "MoondreamHostedVlModel",
-    "MoondreamVlModel",
-    "OpenAIVlModel",
-    "QwenVlModel",
-    "VlModel",
-]
+__getattr__, __dir__, __all__ = lazy.attach(
+    __name__,
+    submod_attrs={
+        "base": ["Captioner", "VlModel"],
+        "florence": ["Florence2Model"],
+        "moondream": ["MoondreamVlModel"],
+        "moondream_hosted": ["MoondreamHostedVlModel"],
+        "openai": ["OpenAIVlModel"],
+        "qwen": ["QwenVlModel"],
+    },
+)
diff --git a/dimos/msgs/sensor_msgs/Image.py b/dimos/msgs/sensor_msgs/Image.py
index 2a8aa2c017..eb12b64c0a 100644
--- a/dimos/msgs/sensor_msgs/Image.py
+++ b/dimos/msgs/sensor_msgs/Image.py
@@ -465,7 +465,7 @@ def lcm_encode(self, frame_id: str | None = None) -> bytes:
         channels = 1 if self.data.ndim == 2 else self.data.shape[2]
         msg.step = self.width * self.dtype.itemsize * channels
 
-        view = memoryview(np.ascontiguousarray(self.data)).cast("B")
+        view = memoryview(np.ascontiguousarray(self.data)).cast("B")  # type: ignore[arg-type]
         msg.data_length = len(view)
         msg.data = view
 
diff --git a/dimos/msgs/sensor_msgs/test_PointCloud2.py b/dimos/msgs/sensor_msgs/test_PointCloud2.py
index 52f9b1bd59..501a4cd441 100644
--- a/dimos/msgs/sensor_msgs/test_PointCloud2.py
+++ b/dimos/msgs/sensor_msgs/test_PointCloud2.py
@@ -17,7 +17,7 @@
 import numpy as np
 
 from dimos.msgs.sensor_msgs import PointCloud2
-from dimos.robot.unitree_webrtc.type.lidar import pointcloud2_from_webrtc_lidar
+from dimos.robot.unitree.type.lidar import pointcloud2_from_webrtc_lidar
 from dimos.utils.testing import SensorReplay
 
 
diff --git a/dimos/navigation/rosnav.py b/dimos/navigation/rosnav.py
index f3e8907bd9..2aa492a509 100644
--- a/dimos/navigation/rosnav.py
+++ b/dimos/navigation/rosnav.py
@@ -30,8 +30,11 @@
 from dimos import spec
 from dimos.agents import Reducer, Stream, skill  # type: ignore[attr-defined]
 from dimos.core import DimosCluster, In, LCMTransport, Module, Out, rpc
-from dimos.core.module import ModuleConfig
-from dimos.core.transport import ROSTransport
+from dimos.core._dask_exports import DimosCluster
+from dimos.core.core import rpc
+from dimos.core.module import Module, ModuleConfig
+from dimos.core.stream import In, Out
+from dimos.core.transport import LCMTransport, ROSTransport
 from dimos.msgs.geometry_msgs import (
     PoseStamped,
     Quaternion,
@@ -45,6 +48,8 @@
 from dimos.msgs.std_msgs import Bool, Int8
 from dimos.msgs.tf2_msgs.TFMessage import TFMessage
 from dimos.navigation.base import NavigationInterface, NavigationState
+from dimos.protocol.skill.skill import skill
+from dimos.protocol.skill.type import Reducer, Stream
 from dimos.utils.logging_config import setup_logger
 from dimos.utils.transform_utils import euler_to_quaternion
 
@@ -219,7 +224,7 @@ def current_position(self):  # type: ignore[no-untyped-def]
                 continue
             yield f"current position {tf.translation.x}, {tf.translation.y}"
 
-    @skill(stream=Stream.call_agent, reducer=Reducer.string)  # type: ignore[arg-type]
+    @skill(stream=Stream.call_agent, reducer=Reducer.string)  # type: ignore[untyped-decorator]
     def goto(self, x: float, y: float):  # type: ignore[no-untyped-def]
         """
         move the robot in relative coordinates
@@ -238,7 +243,7 @@ def goto(self, x: float, y: float):  # type: ignore[no-untyped-def]
         self.navigate_to(pose_to)
         yield "arrived"
 
-    @skill(stream=Stream.call_agent, reducer=Reducer.string)  # type: ignore[arg-type]
+    @skill(stream=Stream.call_agent, reducer=Reducer.string)  # type: ignore[untyped-decorator]
     def goto_global(self, x: float, y: float) -> Generator[str, None, None]:
         """
         go to coordinates x,y in the map frame
diff --git a/dimos/perception/detection/__init__.py b/dimos/perception/detection/__init__.py
index b76f497425..ae9f8cb14d 100644
--- a/dimos/perception/detection/__init__.py
+++ b/dimos/perception/detection/__init__.py
@@ -1,10 +1,10 @@
-from dimos.perception.detection.detectors import Detector, Yolo2DDetector
-from dimos.perception.detection.module2D import Detection2DModule
-from dimos.perception.detection.module3D import Detection3DModule
+import lazy_loader as lazy
 
-__all__ = [
-    "Detection2DModule",
-    "Detection3DModule",
-    "Detector",
-    "Yolo2DDetector",
-]
+__getattr__, __dir__, __all__ = lazy.attach(
+    __name__,
+    submod_attrs={
+        "detectors": ["Detector", "Yolo2DDetector"],
+        "module2D": ["Detection2DModule"],
+        "module3D": ["Detection3DModule"],
+    },
+)
diff --git a/dimos/perception/detection/conftest.py b/dimos/perception/detection/conftest.py
index 8c6953e410..3b24422c47 100644
--- a/dimos/perception/detection/conftest.py
+++ b/dimos/perception/detection/conftest.py
@@ -35,8 +35,8 @@
     ImageDetections3DPC,
 )
 from dimos.protocol.tf import TF
-from dimos.robot.unitree.connection import go2
-from dimos.robot.unitree_webrtc.type.odometry import Odometry
+from dimos.robot.unitree.go2 import connection
+from dimos.robot.unitree.type.odometry import Odometry
 from dimos.utils.data import get_data
 from dimos.utils.testing import TimedSensorReplay
 
@@ -100,7 +100,7 @@ def moment_provider(**kwargs) -> Moment:
         if odom_frame is None:
             raise ValueError("No odom frame found")
 
-        transforms = go2.GO2Connection._odom_to_tf(odom_frame)
+        transforms = connection.GO2Connection._odom_to_tf(odom_frame)
 
         tf.receive_transform(*transforms)
 
@@ -108,7 +108,7 @@ def moment_provider(**kwargs) -> Moment:
             "odom_frame": odom_frame,
             "lidar_frame": lidar_frame,
             "image_frame": image_frame,
-            "camera_info": go2._camera_info_static(),
+            "camera_info": connection._camera_info_static(),
             "transforms": transforms,
             "tf": tf,
         }
@@ -260,8 +260,8 @@ def object_db_module(get_moment):
     from dimos.perception.detection.detectors import Yolo2DDetector
 
     module2d = Detection2DModule(detector=lambda: Yolo2DDetector(device="cpu"))
-    module3d = Detection3DModule(camera_info=go2._camera_info_static())
-    moduleDB = ObjectDBModule(camera_info=go2._camera_info_static())
+    module3d = Detection3DModule(camera_info=connection._camera_info_static())
+    moduleDB = ObjectDBModule(camera_info=connection._camera_info_static())
 
     # Process 5 frames to build up object history
     for i in range(5):
diff --git a/dimos/perception/detection/module3D.py b/dimos/perception/detection/module3D.py
index 037376f995..9fe5bd9c6c 100644
--- a/dimos/perception/detection/module3D.py
+++ b/dimos/perception/detection/module3D.py
@@ -13,6 +13,8 @@
 # limitations under the License.
 
 
+from typing import TYPE_CHECKING, Any
+
 from dimos_lcm.foxglove_msgs.ImageAnnotations import (
     ImageAnnotations,
 )
@@ -21,20 +23,24 @@
 from reactivex.observable import Observable
 
 from dimos import spec
-from dimos.agents import skill  # type: ignore[attr-defined]
-from dimos.core import DimosCluster, In, Out, rpc
+from dimos.core.core import rpc
+from dimos.core.stream import In, Out
 from dimos.msgs.geometry_msgs import PoseStamped, Quaternion, Transform, Vector3
 from dimos.msgs.sensor_msgs import Image, PointCloud2
 from dimos.msgs.vision_msgs import Detection2DArray
 from dimos.perception.detection.module2D import Detection2DModule
-from dimos.perception.detection.type import (
-    ImageDetections2D,
-    ImageDetections3DPC,
-)
+from dimos.perception.detection.type.detection2d.imageDetections2D import ImageDetections2D
 from dimos.perception.detection.type.detection3d import Detection3DPC
+from dimos.perception.detection.type.detection3d.imageDetections3DPC import ImageDetections3DPC
+from dimos.protocol.skill.skill import skill
 from dimos.types.timestamped import align_timestamped
 from dimos.utils.reactive import backpressure
 
+if TYPE_CHECKING:
+    from dask.distributed import Client as DimosCluster
+else:
+    DimosCluster = Any
+
 
 class Detection3DModule(Detection2DModule):
     color_image: In[Image]
diff --git a/dimos/perception/detection/moduleDB.py b/dimos/perception/detection/moduleDB.py
index bbfd45143a..bc0a346a59 100644
--- a/dimos/perception/detection/moduleDB.py
+++ b/dimos/perception/detection/moduleDB.py
@@ -23,13 +23,15 @@
 from lcm_msgs.foxglove_msgs import SceneUpdate  # type: ignore[import-not-found]
 from reactivex.observable import Observable
 
-from dimos.core import In, Out, rpc
+from dimos.core.core import rpc
+from dimos.core.stream import In, Out
 from dimos.msgs.geometry_msgs import PoseStamped, Quaternion, Transform, Vector3
 from dimos.msgs.sensor_msgs import Image, PointCloud2
 from dimos.msgs.vision_msgs import Detection2DArray
 from dimos.perception.detection.module3D import Detection3DModule
-from dimos.perception.detection.type import ImageDetections3DPC, TableStr
 from dimos.perception.detection.type.detection3d import Detection3DPC
+from dimos.perception.detection.type.detection3d.imageDetections3DPC import ImageDetections3DPC
+from dimos.perception.detection.type.utils import TableStr
 
 
 # Represents an object in space, as collection of 3d detections over time
diff --git a/dimos/perception/detection/reid/module.py b/dimos/perception/detection/reid/module.py
index f3f2a5a126..0a359746d3 100644
--- a/dimos/perception/detection/reid/module.py
+++ b/dimos/perception/detection/reid/module.py
@@ -20,13 +20,15 @@
 from reactivex import operators as ops
 from reactivex.observable import Observable
 
-from dimos.core import In, Module, ModuleConfig, Out, rpc
+from dimos.core.core import rpc
+from dimos.core.module import Module, ModuleConfig
+from dimos.core.stream import In, Out
 from dimos.msgs.foxglove_msgs.Color import Color
 from dimos.msgs.sensor_msgs import Image
 from dimos.msgs.vision_msgs import Detection2DArray
 from dimos.perception.detection.reid.embedding_id_system import EmbeddingIDSystem
 from dimos.perception.detection.reid.type import IDSystem
-from dimos.perception.detection.type import ImageDetections2D
+from dimos.perception.detection.type.detection2d.imageDetections2D import ImageDetections2D
 from dimos.types.timestamped import align_timestamped, to_ros_stamp
 from dimos.utils.reactive import backpressure
 
diff --git a/dimos/perception/detection/reid/type.py b/dimos/perception/detection/reid/type.py
index 28ea719f81..61571e418f 100644
--- a/dimos/perception/detection/reid/type.py
+++ b/dimos/perception/detection/reid/type.py
@@ -15,8 +15,12 @@
 from __future__ import annotations
 
 from abc import ABC, abstractmethod
+from typing import TYPE_CHECKING
 
-from dimos.perception.detection.type import Detection2DBBox, ImageDetections2D
+from dimos.perception.detection.type.detection2d.bbox import Detection2DBBox
+
+if TYPE_CHECKING:
+    from dimos.perception.detection.type.detection2d.imageDetections2D import ImageDetections2D
 
 
 class IDSystem(ABC):
diff --git a/dimos/perception/detection/test_moduleDB.py b/dimos/perception/detection/test_moduleDB.py
index e9815f1f3e..23885a1c60 100644
--- a/dimos/perception/detection/test_moduleDB.py
+++ b/dimos/perception/detection/test_moduleDB.py
@@ -22,19 +22,19 @@
 from dimos.msgs.sensor_msgs import Image, PointCloud2
 from dimos.msgs.vision_msgs import Detection2DArray
 from dimos.perception.detection.moduleDB import ObjectDBModule
-from dimos.robot.unitree.connection import go2
+from dimos.robot.unitree.go2 import connection as go2_connection
 
 
 @pytest.mark.module
 def test_moduleDB(dimos_cluster) -> None:
-    connection = go2.deploy(dimos_cluster, "fake")
+    connection = go2_connection.deploy(dimos_cluster, "fake")
 
     moduleDB = dimos_cluster.deploy(
         ObjectDBModule,
-        camera_info=go2._camera_info_static(),
+        camera_info=go2_connection._camera_info_static(),
         goto=lambda obj_id: print(f"Going to {obj_id}"),
     )
-    moduleDB.image.connect(connection.video)
+    moduleDB.image.connect(connection.color_image)
     moduleDB.pointcloud.connect(connection.lidar)
 
     moduleDB.annotations.transport = LCMTransport("/annotations", ImageAnnotations)
diff --git a/dimos/perception/detection/type/__init__.py b/dimos/perception/detection/type/__init__.py
index d69d00ba97..00cf943db3 100644
--- a/dimos/perception/detection/type/__init__.py
+++ b/dimos/perception/detection/type/__init__.py
@@ -1,45 +1,28 @@
-from dimos.perception.detection.type.detection2d import (  # type: ignore[attr-defined]
-    Detection2D,
-    Detection2DBBox,
-    Detection2DPerson,
-    Detection2DPoint,
-    Filter2D,
-    ImageDetections2D,
-)
-from dimos.perception.detection.type.detection3d import (
-    Detection3D,
-    Detection3DBBox,
-    Detection3DPC,
-    ImageDetections3DPC,
-    PointCloudFilter,
-    height_filter,
-    radius_outlier,
-    raycast,
-    statistical,
-)
-from dimos.perception.detection.type.imageDetections import ImageDetections
-from dimos.perception.detection.type.utils import TableStr
+import lazy_loader as lazy
 
-__all__ = [
-    # 2D Detection types
-    "Detection2D",
-    "Detection2DBBox",
-    "Detection2DPerson",
-    "Detection2DPoint",
-    # 3D Detection types
-    "Detection3D",
-    "Detection3DBBox",
-    "Detection3DPC",
-    "Filter2D",
-    # Base types
-    "ImageDetections",
-    "ImageDetections2D",
-    "ImageDetections3DPC",
-    # Point cloud filters
-    "PointCloudFilter",
-    "TableStr",
-    "height_filter",
-    "radius_outlier",
-    "raycast",
-    "statistical",
-]
+__getattr__, __dir__, __all__ = lazy.attach(
+    __name__,
+    submod_attrs={
+        "detection2d": [
+            "Detection2D",
+            "Detection2DBBox",
+            "Detection2DPerson",
+            "Detection2DPoint",
+            "Filter2D",
+            "ImageDetections2D",
+        ],
+        "detection3d": [
+            "Detection3D",
+            "Detection3DBBox",
+            "Detection3DPC",
+            "ImageDetections3DPC",
+            "PointCloudFilter",
+            "height_filter",
+            "radius_outlier",
+            "raycast",
+            "statistical",
+        ],
+        "imageDetections": ["ImageDetections"],
+        "utils": ["TableStr"],
+    },
+)
diff --git a/dimos/perception/experimental/temporal_memory/temporal_memory.py b/dimos/perception/experimental/temporal_memory/temporal_memory.py
index 29d4ecf3d9..b884b0886f 100644
--- a/dimos/perception/experimental/temporal_memory/temporal_memory.py
+++ b/dimos/perception/experimental/temporal_memory/temporal_memory.py
@@ -32,13 +32,14 @@
 from reactivex import Subject, interval
 from reactivex.disposable import Disposable
 
-from dimos.agents import skill
-from dimos.core import In, rpc
+from dimos.core.core import rpc
 from dimos.core.module import ModuleConfig
 from dimos.core.skill_module import SkillModule
+from dimos.core.stream import In
 from dimos.models.vl.base import VlModel
 from dimos.msgs.sensor_msgs import Image
 from dimos.msgs.sensor_msgs.Image import sharpness_barrier
+from dimos.protocol.skill.skill import skill
 
 from . import temporal_utils as tu
 from .clip_filter import (
diff --git a/dimos/perception/experimental/temporal_memory/temporal_memory_deploy.py b/dimos/perception/experimental/temporal_memory/temporal_memory_deploy.py
index 611385630e..ab3cc7a0f5 100644
--- a/dimos/perception/experimental/temporal_memory/temporal_memory_deploy.py
+++ b/dimos/perception/experimental/temporal_memory/temporal_memory_deploy.py
@@ -17,17 +17,21 @@
 """
 
 import os
+from typing import TYPE_CHECKING
 
-from dimos import spec
-from dimos.core import DimosCluster
+from dimos.core._dask_exports import DimosCluster
 from dimos.models.vl.base import VlModel
+from dimos.spec import Camera as CameraSpec
 
 from .temporal_memory import TemporalMemory, TemporalMemoryConfig
 
+if TYPE_CHECKING:
+    from dimos.msgs.sensor_msgs import Image
+
 
 def deploy(
     dimos: DimosCluster,
-    camera: spec.Camera,
+    camera: CameraSpec,
     vlm: VlModel | None = None,
     config: TemporalMemoryConfig | None = None,
 ) -> TemporalMemory:
@@ -52,7 +56,7 @@ def deploy(
     if camera.color_image.transport is None:
         from dimos.core.transport import JpegShmTransport
 
-        transport = JpegShmTransport("/temporal_memory/color_image")
+        transport: JpegShmTransport[Image] = JpegShmTransport("/temporal_memory/color_image")
         camera.color_image.transport = transport
 
     temporal_memory.color_image.connect(camera.color_image)
diff --git a/dimos/perception/object_tracker.py b/dimos/perception/object_tracker.py
index 54a5873435..da415ac32a 100644
--- a/dimos/perception/object_tracker.py
+++ b/dimos/perception/object_tracker.py
@@ -25,9 +25,12 @@
     ObjectHypothesisWithPose,
 )
 import numpy as np
+from numpy.typing import NDArray
 from reactivex.disposable import Disposable
 
-from dimos.core import In, Module, ModuleConfig, Out, rpc
+from dimos.core.core import rpc
+from dimos.core.module import Module, ModuleConfig
+from dimos.core.stream import In, Out
 from dimos.msgs.geometry_msgs import Pose, Quaternion, Transform, Vector3
 from dimos.msgs.sensor_msgs import (
     CameraInfo,
@@ -555,9 +558,9 @@ def _process_tracking(self) -> None:
                 viz_msg = Image.from_numpy(viz_image)
                 self.tracked_overlay.publish(viz_msg)
 
-    def _draw_reid_matches(self, image: np.ndarray) -> np.ndarray:  # type: ignore[type-arg]
+    def _draw_reid_matches(self, image: NDArray[np.uint8]) -> NDArray[np.uint8]:  # type: ignore[type-arg]
         """Draw REID feature matches on the image."""
-        viz_image = image.copy()
+        viz_image: NDArray[np.uint8] = image.copy()  # type: ignore[type-arg]
 
         x1, y1, _x2, _y2 = self.last_roi_bbox  # type: ignore[misc]
 
diff --git a/dimos/perception/object_tracker_2d.py b/dimos/perception/object_tracker_2d.py
index f5d39745c3..1264b0e92b 100644
--- a/dimos/perception/object_tracker_2d.py
+++ b/dimos/perception/object_tracker_2d.py
@@ -29,9 +29,12 @@
     Pose2D,
 )
 import numpy as np
+from numpy.typing import NDArray
 from reactivex.disposable import Disposable
 
-from dimos.core import In, Module, ModuleConfig, Out, rpc
+from dimos.core.core import rpc
+from dimos.core.module import Module, ModuleConfig
+from dimos.core.stream import In, Out
 from dimos.msgs.sensor_msgs import Image, ImageFormat
 from dimos.msgs.std_msgs import Header
 from dimos.msgs.vision_msgs import Detection2DArray
@@ -289,9 +292,9 @@ def _process_tracking(self) -> None:
         viz_msg = Image.from_numpy(viz_copy, format=ImageFormat.RGB)
         self.tracked_overlay.publish(viz_msg)
 
-    def _draw_visualization(self, image: np.ndarray, bbox: list[int]) -> np.ndarray:  # type: ignore[type-arg]
+    def _draw_visualization(self, image: NDArray[np.uint8], bbox: list[int]) -> NDArray[np.uint8]:  # type: ignore[type-arg]
         """Draw tracking visualization."""
-        viz_image = image.copy()
+        viz_image: NDArray[np.uint8] = image.copy()  # type: ignore[type-arg]
         x1, y1, x2, y2 = bbox
         cv2.rectangle(viz_image, (x1, y1), (x2, y2), (0, 255, 0), 2)
         cv2.putText(viz_image, "TRACKING", (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 0), 2)
diff --git a/dimos/perception/object_tracker_3d.py b/dimos/perception/object_tracker_3d.py
index fa6361ac65..f8143dc861 100644
--- a/dimos/perception/object_tracker_3d.py
+++ b/dimos/perception/object_tracker_3d.py
@@ -283,7 +283,7 @@ def _draw_reid_overlay(self, image: np.ndarray) -> np.ndarray:  # type: ignore[t
         """Draw Re-ID feature matches on visualization."""
         import cv2
 
-        viz_image = image.copy()
+        viz_image: np.ndarray = image.copy()  # type: ignore[type-arg]
         x1, y1, _x2, _y2 = self.last_roi_bbox  # type: ignore[attr-defined]
 
         # Draw keypoints
diff --git a/dimos/perception/spatial_perception.py b/dimos/perception/spatial_perception.py
index e33820f22c..7bb83b67cd 100644
--- a/dimos/perception/spatial_perception.py
+++ b/dimos/perception/spatial_perception.py
@@ -203,7 +203,7 @@ def set_video(image_msg: Image) -> None:
 
         # Start periodic processing using interval
         unsub = interval(self._process_interval).subscribe(lambda _: self._process_frame())  # type: ignore[assignment]
-        self._disposables.add(Disposable(unsub))
+        self._disposables.add(unsub)
 
     @rpc
     def stop(self) -> None:
diff --git a/dimos/perception/test_spatial_memory_module.py b/dimos/perception/test_spatial_memory_module.py
index 47518b889b..11b8eec562 100644
--- a/dimos/perception/test_spatial_memory_module.py
+++ b/dimos/perception/test_spatial_memory_module.py
@@ -25,7 +25,7 @@
 from dimos.msgs.sensor_msgs import Image
 from dimos.perception.spatial_perception import SpatialMemory
 from dimos.protocol import pubsub
-from dimos.robot.unitree_webrtc.type.odometry import Odometry
+from dimos.robot.unitree.type.odometry import Odometry
 from dimos.utils.data import get_data
 from dimos.utils.logging_config import setup_logger
 from dimos.utils.testing import TimedSensorReplay
diff --git a/dimos/protocol/mcp/test_mcp_module.py b/dimos/protocol/mcp/test_mcp_module.py
index 2a247e6ff0..15ed512845 100644
--- a/dimos/protocol/mcp/test_mcp_module.py
+++ b/dimos/protocol/mcp/test_mcp_module.py
@@ -30,7 +30,9 @@
 
 
 def test_unitree_blueprint_has_mcp() -> None:
-    contents = Path("dimos/robot/unitree_webrtc/unitree_go2_blueprints.py").read_text()
+    contents = Path(
+        "dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic_mcp.py"
+    ).read_text()
     assert "agentic_mcp" in contents
     assert "MCPModule.blueprint()" in contents
 
diff --git a/dimos/protocol/rpc/pubsubrpc.py b/dimos/protocol/rpc/pubsubrpc.py
index 394f1afc15..3b77227218 100644
--- a/dimos/protocol/rpc/pubsubrpc.py
+++ b/dimos/protocol/rpc/pubsubrpc.py
@@ -81,7 +81,7 @@ def __init__(self, *args: Any, **kwargs: Any) -> None:
     def __getstate__(self) -> dict[str, Any]:
         state: dict[str, Any]
         if hasattr(super(), "__getstate__"):
-            state = super().__getstate__()  # type: ignore[assignment]
+            state = super().__getstate__()  # type: ignore[assignment, misc]
         else:
             state = self.__dict__.copy()
 
diff --git a/dimos/protocol/skill/skill.py b/dimos/protocol/skill/skill.py
index 373bb463a7..33e71a590b 100644
--- a/dimos/protocol/skill/skill.py
+++ b/dimos/protocol/skill/skill.py
@@ -16,7 +16,7 @@
 from collections.abc import Callable
 from concurrent.futures import ThreadPoolExecutor
 from dataclasses import dataclass
-from typing import Any
+from typing import Any, ParamSpec, TypeVar, cast
 
 # from dimos.core.core import rpc
 from dimos.protocol.skill.comms import LCMSkillComms, SkillCommsSpec
@@ -57,7 +57,11 @@
 #                         the average of all values is returned to the agent
 
 
-def rpc(fn: Callable[..., Any]) -> Callable[..., Any]:
+P = ParamSpec("P")
+R = TypeVar("R")
+
+
+def rpc(fn: Callable[P, R]) -> Callable[P, R]:
     fn.__rpc__ = True  # type: ignore[attr-defined]
     return fn
 
@@ -68,16 +72,16 @@ def skill(
     ret: Return = Return.call_agent,
     output: Output = Output.standard,
     hide_skill: bool = False,
-) -> Callable:  # type: ignore[type-arg]
-    def decorator(f: Callable[..., Any]) -> Any:
-        def wrapper(self, *args, **kwargs):  # type: ignore[no-untyped-def]
+) -> Callable[[Callable[P, R]], Callable[P, R]]:
+    def decorator(f: Callable[P, R]) -> Callable[P, R]:
+        def wrapper(self: Any, *args: P.args, **kwargs: P.kwargs) -> R:
             skill = f"{f.__name__}"
 
             call_id = kwargs.get("call_id", None)
             if call_id:
                 del kwargs["call_id"]
 
-                return self.call_skill(call_id, skill, args, kwargs)
+                return cast("R", self.call_skill(call_id, skill, args, kwargs))  # type: ignore[attr-defined]
                 # def run_function():
                 #    return self.call_skill(call_id, skill, args, kwargs)
                 #
@@ -108,7 +112,7 @@ def wrapper(self, *args, **kwargs):  # type: ignore[no-untyped-def]
         wrapper._skill_config = skill_config  # type: ignore[attr-defined]
         wrapper.__name__ = f.__name__  # Preserve original function name
         wrapper.__doc__ = f.__doc__  # Preserve original docstring
-        return wrapper
+        return cast("Callable[P, R]", wrapper)
 
     return decorator
 
diff --git a/dimos/robot/all_blueprints.py b/dimos/robot/all_blueprints.py
index a4a953062c..11c520466a 100644
--- a/dimos/robot/all_blueprints.py
+++ b/dimos/robot/all_blueprints.py
@@ -32,7 +32,7 @@
     "coordinator-xarm6": "dimos.control.blueprints:coordinator_xarm6",
     "coordinator-xarm7": "dimos.control.blueprints:coordinator_xarm7",
     "demo-camera": "dimos.hardware.sensors.camera.module:demo_camera",
-    "demo-error-on-name-conflicts": "dimos.robot.unitree_webrtc.demo_error_on_name_conflicts:demo_error_on_name_conflicts",
+    "demo-error-on-name-conflicts": "dimos.robot.unitree.demo_error_on_name_conflicts:demo_error_on_name_conflicts",
     "demo-google-maps-skill": "dimos.agents.skills.demo_google_maps_skill:demo_google_maps_skill",
     "demo-gps-nav": "dimos.agents.skills.demo_gps_nav:demo_gps_nav",
     "demo-grasping": "dimos.manipulation.grasping.demo_grasping:demo_grasping",
@@ -40,27 +40,28 @@
     "demo-osm": "dimos.mapping.osm.demo_osm:demo_osm",
     "demo-skill": "dimos.agents.skills.demo_skill:demo_skill",
     "dual-xarm6-planner": "dimos.manipulation.manipulation_blueprints:dual_xarm6_planner",
-    "unitree-g1": "dimos.robot.unitree_webrtc.unitree_g1_blueprints:unitree_g1",
-    "unitree-g1-agentic": "dimos.robot.unitree_webrtc.unitree_g1_blueprints:unitree_g1_agentic",
-    "unitree-g1-agentic-sim": "dimos.robot.unitree_webrtc.unitree_g1_blueprints:unitree_g1_agentic_sim",
-    "unitree-g1-basic": "dimos.robot.unitree_webrtc.unitree_g1_blueprints:unitree_g1_basic",
-    "unitree-g1-basic-sim": "dimos.robot.unitree_webrtc.unitree_g1_blueprints:unitree_g1_basic_sim",
-    "unitree-g1-detection": "dimos.robot.unitree_webrtc.unitree_g1_blueprints:unitree_g1_detection",
-    "unitree-g1-full": "dimos.robot.unitree_webrtc.unitree_g1_blueprints:unitree_g1_full",
-    "unitree-g1-joystick": "dimos.robot.unitree_webrtc.unitree_g1_blueprints:unitree_g1_joystick",
-    "unitree-g1-shm": "dimos.robot.unitree_webrtc.unitree_g1_blueprints:unitree_g1_shm",
-    "unitree-g1-sim": "dimos.robot.unitree_webrtc.unitree_g1_blueprints:unitree_g1_sim",
-    "unitree-go2": "dimos.robot.unitree_webrtc.unitree_go2_blueprints:unitree_go2",
-    "unitree-go2-agentic": "dimos.robot.unitree_webrtc.unitree_go2_blueprints:unitree_go2_agentic",
-    "unitree-go2-agentic-huggingface": "dimos.robot.unitree_webrtc.unitree_go2_blueprints:unitree_go2_agentic_huggingface",
-    "unitree-go2-agentic-mcp": "dimos.robot.unitree_webrtc.unitree_go2_blueprints:unitree_go2_agentic_mcp",
-    "unitree-go2-agentic-ollama": "dimos.robot.unitree_webrtc.unitree_go2_blueprints:unitree_go2_agentic_ollama",
-    "unitree-go2-basic": "dimos.robot.unitree_webrtc.unitree_go2_blueprints:unitree_go2_basic",
-    "unitree-go2-detection": "dimos.robot.unitree_webrtc.unitree_go2_blueprints:unitree_go2_detection",
-    "unitree-go2-ros": "dimos.robot.unitree_webrtc.unitree_go2_blueprints:unitree_go2_ros",
-    "unitree-go2-spatial": "dimos.robot.unitree_webrtc.unitree_go2_blueprints:unitree_go2_spatial",
-    "unitree-go2-temporal-memory": "dimos.robot.unitree_webrtc.unitree_go2_blueprints:unitree_go2_temporal_memory",
-    "unitree-go2-vlm-stream-test": "dimos.robot.unitree_webrtc.unitree_go2_blueprints:unitree_go2_vlm_stream_test",
+    "uintree-g1-primitive-no-nav": "dimos.robot.unitree.g1.blueprints.primitive.uintree_g1_primitive_no_nav:uintree_g1_primitive_no_nav",
+    "unitree-g1": "dimos.robot.unitree.g1.blueprints.perceptive.unitree_g1:unitree_g1",
+    "unitree-g1-agentic": "dimos.robot.unitree.g1.blueprints.agentic.unitree_g1_agentic:unitree_g1_agentic",
+    "unitree-g1-agentic-sim": "dimos.robot.unitree.g1.blueprints.agentic.unitree_g1_agentic_sim:unitree_g1_agentic_sim",
+    "unitree-g1-basic": "dimos.robot.unitree.g1.blueprints.basic.unitree_g1_basic:unitree_g1_basic",
+    "unitree-g1-basic-sim": "dimos.robot.unitree.g1.blueprints.basic.unitree_g1_basic_sim:unitree_g1_basic_sim",
+    "unitree-g1-detection": "dimos.robot.unitree.g1.blueprints.perceptive.unitree_g1_detection:unitree_g1_detection",
+    "unitree-g1-full": "dimos.robot.unitree.g1.blueprints.agentic.unitree_g1_full:unitree_g1_full",
+    "unitree-g1-joystick": "dimos.robot.unitree.g1.blueprints.basic.unitree_g1_joystick:unitree_g1_joystick",
+    "unitree-g1-shm": "dimos.robot.unitree.g1.blueprints.perceptive.unitree_g1_shm:unitree_g1_shm",
+    "unitree-g1-sim": "dimos.robot.unitree.g1.blueprints.perceptive.unitree_g1_sim:unitree_g1_sim",
+    "unitree-go2": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2:unitree_go2",
+    "unitree-go2-agentic": "dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_agentic:unitree_go2_agentic",
+    "unitree-go2-agentic-huggingface": "dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_agentic_huggingface:unitree_go2_agentic_huggingface",
+    "unitree-go2-agentic-mcp": "dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_agentic_mcp:unitree_go2_agentic_mcp",
+    "unitree-go2-agentic-ollama": "dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_agentic_ollama:unitree_go2_agentic_ollama",
+    "unitree-go2-basic": "dimos.robot.unitree.go2.blueprints.basic.unitree_go2_basic:unitree_go2_basic",
+    "unitree-go2-detection": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2_detection:unitree_go2_detection",
+    "unitree-go2-ros": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2_ros:unitree_go2_ros",
+    "unitree-go2-spatial": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2_spatial:unitree_go2_spatial",
+    "unitree-go2-temporal-memory": "dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_temporal_memory:unitree_go2_temporal_memory",
+    "unitree-go2-vlm-stream-test": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2_vlm_stream_test:unitree_go2_vlm_stream_test",
     "xarm-perception": "dimos.manipulation.manipulation_blueprints:xarm_perception",
     "xarm6-planner-only": "dimos.manipulation.manipulation_blueprints:xarm6_planner_only",
     "xarm7-planner-coordinator": "dimos.manipulation.manipulation_blueprints:xarm7_planner_coordinator",
@@ -75,23 +76,23 @@
     "cost_mapper": "dimos.mapping.costmapper",
     "demo_calculator_skill": "dimos.agents.skills.demo_calculator_skill",
     "demo_robot": "dimos.agents.skills.demo_robot",
-    "depth_module": "dimos.robot.unitree_webrtc.depth_module",
+    "depth_module": "dimos.robot.unitree.depth_module",
     "detection3d_module": "dimos.perception.detection.module3D",
     "detection_db_module": "dimos.perception.detection.moduleDB",
     "foxglove_bridge": "dimos.robot.foxglove_bridge",
-    "g1_connection": "dimos.robot.unitree.connection.g1",
-    "g1_sim_connection": "dimos.robot.unitree.connection.g1sim",
-    "g1_skills": "dimos.robot.unitree_webrtc.unitree_g1_skill_container",
-    "go2_connection": "dimos.robot.unitree.connection.go2",
+    "g1_connection": "dimos.robot.unitree.g1.connection",
+    "g1_sim_connection": "dimos.robot.unitree.g1.sim",
+    "g1_skills": "dimos.robot.unitree.g1.skill_container",
+    "go2_connection": "dimos.robot.unitree.go2.connection",
     "google_maps_skill": "dimos.agents.skills.google_maps_skill_container",
     "gps_nav_skill": "dimos.agents.skills.gps_nav_skill",
     "grasping_module": "dimos.manipulation.grasping.grasping",
     "human_input": "dimos.agents.cli.human",
     "joint_trajectory_controller": "dimos.manipulation.control.trajectory_controller.joint_trajectory_controller",
-    "keyboard_teleop": "dimos.robot.unitree_webrtc.keyboard_teleop",
+    "keyboard_teleop": "dimos.robot.unitree.keyboard_teleop",
     "llm_agent": "dimos.agents.agent",
     "manipulation_module": "dimos.manipulation.manipulation_module",
-    "mapper": "dimos.robot.unitree_webrtc.type.map",
+    "mapper": "dimos.robot.unitree.type.map",
     "navigation_skill": "dimos.agents.skills.navigation",
     "object_scene_registration_module": "dimos.perception.object_scene_registration",
     "object_tracking": "dimos.perception.object_tracker",
@@ -107,7 +108,7 @@
     "speak_skill": "dimos.agents.skills.speak_skill",
     "temporal_memory": "dimos.perception.experimental.temporal_memory.temporal_memory",
     "twist_teleop_module": "dimos.teleop.quest.quest_extensions",
-    "unitree_skills": "dimos.robot.unitree_webrtc.unitree_skill_container",
+    "unitree_skills": "dimos.robot.unitree.unitree_skill_container",
     "utilization": "dimos.utils.monitoring",
     "visualizing_teleop_module": "dimos.teleop.quest.quest_extensions",
     "vlm_agent": "dimos.agents.vlm_agent",
diff --git a/dimos/robot/cli/dimos.py b/dimos/robot/cli/dimos.py
index 59c08cca96..fc9235a834 100644
--- a/dimos/robot/cli/dimos.py
+++ b/dimos/robot/cli/dimos.py
@@ -15,17 +15,12 @@
 from enum import Enum
 import inspect
 import sys
-from typing import Any, Optional, get_args, get_origin
+from typing import Any, get_args, get_origin
 
 import typer
 
-from dimos.core.blueprints import autoconnect
 from dimos.core.global_config import GlobalConfig, global_config
-from dimos.protocol import pubsub
 from dimos.robot.all_blueprints import all_blueprints
-from dimos.robot.cli.topic import topic_echo, topic_send
-from dimos.robot.get_all_blueprints import get_blueprint_by_name, get_module_by_name
-from dimos.utils.logging_config import setup_exception_handler
 
 RobotType = Enum("RobotType", {key.replace("-", "_").upper(): key for key in all_blueprints.keys()})  # type: ignore[misc]
 
@@ -49,7 +44,7 @@ def create_dynamic_callback():  # type: ignore[no-untyped-def]
 
         # Handle Optional types
         # Check for Optional/Union with None
-        if get_origin(field_type) is type(Optional[str]):  # noqa: UP045
+        if get_origin(field_type) is type(str | None):
             inner_types = get_args(field_type)
             if len(inner_types) == 2 and type(None) in inner_types:
                 # It's Optional[T], get the actual type T
@@ -73,7 +68,7 @@ def create_dynamic_callback():  # type: ignore[no-untyped-def]
                     f"--{cli_option_name}/--no-{cli_option_name}",
                     help=f"Override {field_name} in GlobalConfig",
                 ),
-                annotation=Optional[bool],  # noqa: UP045
+                annotation=bool | None,
             )
         else:
             # For non-boolean fields, use regular option
@@ -85,7 +80,7 @@ def create_dynamic_callback():  # type: ignore[no-untyped-def]
                     f"--{cli_option_name}",
                     help=f"Override {field_name} in GlobalConfig",
                 ),
-                annotation=Optional[actual_type],  # noqa: UP045
+                annotation=actual_type | None,
             )
         params.append(param)
 
@@ -110,6 +105,11 @@ def run(
     ),
 ) -> None:
     """Start a robot blueprint"""
+    from dimos.core.blueprints import autoconnect
+    from dimos.protocol import pubsub
+    from dimos.robot.get_all_blueprints import get_blueprint_by_name, get_module_by_name
+    from dimos.utils.logging_config import setup_exception_handler
+
     setup_exception_handler()
 
     cli_config_overrides: dict[str, Any] = ctx.obj
@@ -128,6 +128,7 @@ def run(
 @main.command()
 def show_config(ctx: typer.Context) -> None:
     """Show current config settings and their values."""
+
     cli_config_overrides: dict[str, Any] = ctx.obj
     global_config.update(**cli_config_overrides)
 
@@ -138,6 +139,8 @@ def show_config(ctx: typer.Context) -> None:
 @main.command()
 def list() -> None:
     """List all available blueprints."""
+    from dimos.robot.all_blueprints import all_blueprints
+
     blueprints = [name for name in all_blueprints.keys() if not name.startswith("demo-")]
     for blueprint_name in sorted(blueprints):
         typer.echo(blueprint_name)
@@ -191,6 +194,8 @@ def echo(
         help="Optional message type (e.g., PoseStamped). If omitted, infer from '/topic#pkg.Msg'.",
     ),
 ) -> None:
+    from dimos.robot.cli.topic import topic_echo
+
     topic_echo(topic, type_name)
 
 
@@ -199,6 +204,8 @@ def send(
     topic: str = typer.Argument(..., help="Topic name to send to (e.g., /goal_request)"),
     message_expr: str = typer.Argument(..., help="Python expression for the message"),
 ) -> None:
+    from dimos.robot.cli.topic import topic_send
+
     topic_send(topic, message_expr)
 
 
diff --git a/dimos/robot/drone/__init__.py b/dimos/robot/drone/__init__.py
index 5d4eed4dae..1ed8521b8b 100644
--- a/dimos/robot/drone/__init__.py
+++ b/dimos/robot/drone/__init__.py
@@ -14,9 +14,14 @@
 
 """Generic drone module for MAVLink-based drones."""
 
-from .camera_module import DroneCameraModule
-from .connection_module import DroneConnectionModule
-from .drone import Drone
-from .mavlink_connection import MavlinkConnection
+import lazy_loader as lazy
 
-__all__ = ["Drone", "DroneCameraModule", "DroneConnectionModule", "MavlinkConnection"]
+__getattr__, __dir__, __all__ = lazy.attach(
+    __name__,
+    submod_attrs={
+        "camera_module": ["DroneCameraModule"],
+        "connection_module": ["DroneConnectionModule"],
+        "drone": ["Drone"],
+        "mavlink_connection": ["MavlinkConnection"],
+    },
+)
diff --git a/dimos/robot/drone/camera_module.py b/dimos/robot/drone/camera_module.py
index 7806c3eab8..8ba88fd028 100644
--- a/dimos/robot/drone/camera_module.py
+++ b/dimos/robot/drone/camera_module.py
@@ -98,11 +98,11 @@ def __init__(
         logger.info(f"DroneCameraModule initialized with intrinsics: {camera_intrinsics}")
 
     @rpc
-    def start(self) -> bool:
+    def start(self) -> None:
         """Start the camera module."""
         if self._running:
             logger.warning("Camera module already running")
-            return True
+            return
 
         # Start processing thread for depth (which will init Metric3D and handle video)
         self._running = True
@@ -111,7 +111,7 @@ def start(self) -> bool:
         self._processing_thread.start()
 
         logger.info("Camera module started")
-        return True
+        return
 
     def _on_video_frame(self, frame: Image) -> None:
         """Handle incoming video frame."""
diff --git a/dimos/robot/drone/connection_module.py b/dimos/robot/drone/connection_module.py
index 865d98c3d3..92dfb1db38 100644
--- a/dimos/robot/drone/connection_module.py
+++ b/dimos/robot/drone/connection_module.py
@@ -24,7 +24,9 @@
 from dimos_lcm.std_msgs import String
 from reactivex.disposable import CompositeDisposable, Disposable
 
-from dimos.core import In, Module, Out, rpc
+from dimos.core.core import rpc
+from dimos.core.module import Module
+from dimos.core.stream import In, Out
 from dimos.mapping.types import LatLon
 from dimos.msgs.geometry_msgs import PoseStamped, Quaternion, Transform, Twist, Vector3
 from dimos.msgs.sensor_msgs import Image
@@ -101,7 +103,7 @@ def __init__(
         Module.__init__(self, *args, **kwargs)
 
     @rpc
-    def start(self) -> bool:
+    def start(self) -> None:
         """Start the connection and subscribe to sensor streams."""
         # Check for replay mode
         if self.connection_string == "replay":
@@ -118,7 +120,7 @@ def start(self) -> bool:
 
         if not self.connection.connected:
             logger.error("Failed to connect to drone")
-            return False
+            return
 
         # Start video stream (already created above)
         if self.video_stream.start():
@@ -170,7 +172,7 @@ def start(self) -> bool:
         self._telemetry_thread.start()
 
         logger.info("Drone connection module started")
-        return True
+        return
 
     def _store_and_publish_frame(self, frame: Image) -> None:
         """Store the latest video frame and publish it."""
diff --git a/dimos/robot/drone/drone_tracking_module.py b/dimos/robot/drone/drone_tracking_module.py
index e6560142d1..e1b633a05b 100644
--- a/dimos/robot/drone/drone_tracking_module.py
+++ b/dimos/robot/drone/drone_tracking_module.py
@@ -23,6 +23,7 @@
 import cv2
 from dimos_lcm.std_msgs import String
 import numpy as np
+from numpy.typing import NDArray
 
 from dimos.core import In, Module, Out, rpc
 from dimos.models.qwen.video_query import get_bbox_from_qwen_frame
@@ -113,7 +114,7 @@ def _get_latest_frame(self) -> np.ndarray[Any, np.dtype[Any]] | None:
             return data
 
     @rpc
-    def start(self) -> bool:
+    def start(self) -> None:
         """Start the tracking module and subscribe to video input."""
         if self.video_input.transport:
             self.video_input.subscribe(self._on_new_frame)
@@ -124,7 +125,7 @@ def start(self) -> bool:
         if self.follow_object_cmd.transport:
             self.follow_object_cmd.subscribe(self._on_follow_object_cmd)
 
-        return True
+        return
 
     @rpc
     def stop(self) -> None:
@@ -308,10 +309,10 @@ def _visual_servoing_loop(self, tracker: Any, duration: float) -> None:
 
     def _draw_tracking_overlay(
         self,
-        frame: np.ndarray[Any, np.dtype[Any]],
+        frame: NDArray[np.uint8],
         bbox: tuple[int, int, int, int],
         center: tuple[int, int],
-    ) -> np.ndarray[Any, np.dtype[Any]]:
+    ) -> NDArray[np.uint8]:  # type: ignore[type-arg]
         """Draw tracking visualization overlay.
 
         Args:
@@ -322,7 +323,7 @@ def _draw_tracking_overlay(
         Returns:
             Frame with overlay drawn
         """
-        overlay = frame.copy()
+        overlay: NDArray[np.uint8] = frame.copy()  # type: ignore[type-arg]
         x, y, w, h = bbox
 
         # Draw tracking box (green)
diff --git a/dimos/robot/drone/test_drone.py b/dimos/robot/drone/test_drone.py
index bfbaa9ed54..d9075beae3 100644
--- a/dimos/robot/drone/test_drone.py
+++ b/dimos/robot/drone/test_drone.py
@@ -264,9 +264,8 @@ def test_connection_module_replay_mode(self) -> None:
 
                 try:
                     # Start should use Fake classes
-                    result = module.start()
+                    module.start()
 
-                    self.assertTrue(result)
                     mock_fake_conn.assert_called_once_with("replay")
                     mock_fake_video.assert_called_once()
                 finally:
@@ -380,20 +379,19 @@ def replay_side_effect(store_name: str):
 
             try:
                 print("\n[TEST] Starting connection module in replay mode...")
-                result = module.start()
+                module.start()
 
                 # Give time for messages to process
                 import time
 
                 time.sleep(0.1)
 
-                print(f"\n[TEST] Module started: {result}")
+                print("\n[TEST] Module started")
                 print(f"[TEST] Total odom messages published: {len(published_odom)}")
                 print(f"[TEST] Total video frames published: {len(published_video)}")
                 print(f"[TEST] Total status messages published: {len(published_status)}")
 
                 # Verify module started and is processing messages
-                self.assertTrue(result)
                 self.assertIsNotNone(module.connection)
                 self.assertIsNotNone(module.video_stream)
 
@@ -877,8 +875,7 @@ def replay_stream_subscribe(callback) -> None:
         module.movecmd = MagicMock()
 
         # Start module
-        result = module.start()
-        self.assertTrue(result)
+        module.start()
 
         # Give time for processing
         time.sleep(0.2)
diff --git a/dimos/robot/unitree_webrtc/testing/__init__.py b/dimos/robot/unitree/__init__.py
similarity index 100%
rename from dimos/robot/unitree_webrtc/testing/__init__.py
rename to dimos/robot/unitree/__init__.py
diff --git a/dimos/robot/unitree_webrtc/unitree_b1/README.md b/dimos/robot/unitree/b1/README.md
similarity index 98%
rename from dimos/robot/unitree_webrtc/unitree_b1/README.md
rename to dimos/robot/unitree/b1/README.md
index f59e6a57ae..1443067a2a 100644
--- a/dimos/robot/unitree_webrtc/unitree_b1/README.md
+++ b/dimos/robot/unitree/b1/README.md
@@ -112,7 +112,7 @@ pip install -e .[cpu,sim]
 #### With Joystick Control (Recommended for Testing)
 
 ```bash
-python -m dimos.robot.unitree_webrtc.unitree_b1.unitree_b1 \
+python -m dimos.robot.unitree.b1.unitree_b1 \
     --ip 192.168.12.1 \
     --port 9090 \
     --joystick
@@ -129,7 +129,7 @@ python -m dimos.robot.unitree_webrtc.unitree_b1.unitree_b1 \
 #### Test Mode (No Robot Required)
 
 ```bash
-python -m dimos.robot.unitree_webrtc.unitree_b1.unitree_b1 \
+python -m dimos.robot.unitree.b1.unitree_b1 \
     --test \
     --joystick
 ```
diff --git a/dimos/robot/unitree_webrtc/unitree_b1/__init__.py b/dimos/robot/unitree/b1/__init__.py
similarity index 100%
rename from dimos/robot/unitree_webrtc/unitree_b1/__init__.py
rename to dimos/robot/unitree/b1/__init__.py
diff --git a/dimos/robot/unitree_webrtc/unitree_b1/b1_command.py b/dimos/robot/unitree/b1/b1_command.py
similarity index 100%
rename from dimos/robot/unitree_webrtc/unitree_b1/b1_command.py
rename to dimos/robot/unitree/b1/b1_command.py
diff --git a/dimos/robot/unitree_webrtc/unitree_b1/connection.py b/dimos/robot/unitree/b1/connection.py
similarity index 100%
rename from dimos/robot/unitree_webrtc/unitree_b1/connection.py
rename to dimos/robot/unitree/b1/connection.py
diff --git a/dimos/robot/unitree_webrtc/unitree_b1/joystick_module.py b/dimos/robot/unitree/b1/joystick_module.py
similarity index 99%
rename from dimos/robot/unitree_webrtc/unitree_b1/joystick_module.py
rename to dimos/robot/unitree/b1/joystick_module.py
index 9aa02af058..bb07094973 100644
--- a/dimos/robot/unitree_webrtc/unitree_b1/joystick_module.py
+++ b/dimos/robot/unitree/b1/joystick_module.py
@@ -47,7 +47,7 @@ def __init__(self, *args, **kwargs) -> None:  # type: ignore[no-untyped-def]
         self.current_mode = 0  # Start in IDLE mode for safety
 
     @rpc
-    def start(self) -> bool:
+    def start(self) -> None:
         """Initialize pygame and start control loop."""
 
         super().start()
@@ -56,7 +56,7 @@ def start(self) -> bool:
             import pygame  # noqa: F401
         except ImportError:
             print("ERROR: pygame not installed. Install with: pip install pygame")
-            return False
+            return
 
         self.keys_held = set()  # type: ignore[var-annotated]
         self.pygame_ready = True
@@ -66,7 +66,7 @@ def start(self) -> bool:
         self._thread = threading.Thread(target=self._pygame_loop, daemon=True)
         self._thread.start()
 
-        return True
+        return
 
     @rpc
     def stop(self) -> None:
diff --git a/dimos/robot/unitree_webrtc/unitree_b1/joystick_server_udp.cpp b/dimos/robot/unitree/b1/joystick_server_udp.cpp
similarity index 100%
rename from dimos/robot/unitree_webrtc/unitree_b1/joystick_server_udp.cpp
rename to dimos/robot/unitree/b1/joystick_server_udp.cpp
diff --git a/dimos/robot/unitree_webrtc/unitree_b1/test_connection.py b/dimos/robot/unitree/b1/test_connection.py
similarity index 100%
rename from dimos/robot/unitree_webrtc/unitree_b1/test_connection.py
rename to dimos/robot/unitree/b1/test_connection.py
diff --git a/dimos/robot/unitree_webrtc/unitree_b1/unitree_b1.py b/dimos/robot/unitree/b1/unitree_b1.py
similarity index 98%
rename from dimos/robot/unitree_webrtc/unitree_b1/unitree_b1.py
rename to dimos/robot/unitree/b1/unitree_b1.py
index 9302e8f66f..a2dd6c718d 100644
--- a/dimos/robot/unitree_webrtc/unitree_b1/unitree_b1.py
+++ b/dimos/robot/unitree/b1/unitree_b1.py
@@ -32,7 +32,7 @@
 from dimos.msgs.std_msgs import Int32
 from dimos.msgs.tf2_msgs.TFMessage import TFMessage
 from dimos.robot.robot import Robot
-from dimos.robot.unitree_webrtc.unitree_b1.connection import (
+from dimos.robot.unitree.b1.connection import (
     B1ConnectionModule,
     MockB1ConnectionModule,
 )
@@ -110,7 +110,7 @@ def start(self) -> None:
 
         # Deploy joystick move_vel control
         if self.enable_joystick:
-            from dimos.robot.unitree_webrtc.unitree_b1.joystick_module import JoystickModule
+            from dimos.robot.unitree.b1.joystick_module import JoystickModule
 
             self.joystick = self._dimos.deploy(JoystickModule)  # type: ignore[assignment]
             self.joystick.twist_out.transport = core.LCMTransport("/cmd_vel", TwistStamped)  # type: ignore[attr-defined]
diff --git a/dimos/robot/unitree/connection/connection.py b/dimos/robot/unitree/connection.py
similarity index 98%
rename from dimos/robot/unitree/connection/connection.py
rename to dimos/robot/unitree/connection.py
index fd365aca33..217c7e72b0 100644
--- a/dimos/robot/unitree/connection/connection.py
+++ b/dimos/robot/unitree/connection.py
@@ -39,9 +39,9 @@
 from dimos.msgs.geometry_msgs import Pose, Transform, Twist
 from dimos.msgs.sensor_msgs import Image, PointCloud2
 from dimos.msgs.sensor_msgs.Image import ImageFormat
-from dimos.robot.unitree_webrtc.type.lidar import RawLidarMsg, pointcloud2_from_webrtc_lidar
-from dimos.robot.unitree_webrtc.type.lowstate import LowStateMsg
-from dimos.robot.unitree_webrtc.type.odometry import Odometry
+from dimos.robot.unitree.type.lidar import RawLidarMsg, pointcloud2_from_webrtc_lidar
+from dimos.robot.unitree.type.lowstate import LowStateMsg
+from dimos.robot.unitree.type.odometry import Odometry
 from dimos.utils.decorators.decorators import simple_mcache
 from dimos.utils.reactive import backpressure, callback_to_observable
 
diff --git a/dimos/robot/unitree/connection/__init__.py b/dimos/robot/unitree/connection/__init__.py
deleted file mode 100644
index 5c1dff1922..0000000000
--- a/dimos/robot/unitree/connection/__init__.py
+++ /dev/null
@@ -1,4 +0,0 @@
-import dimos.robot.unitree.connection.g1 as g1
-import dimos.robot.unitree.connection.go2 as go2
-
-__all__ = ["g1", "go2"]
diff --git a/dimos/robot/unitree_webrtc/demo_error_on_name_conflicts.py b/dimos/robot/unitree/demo_error_on_name_conflicts.py
similarity index 100%
rename from dimos/robot/unitree_webrtc/demo_error_on_name_conflicts.py
rename to dimos/robot/unitree/demo_error_on_name_conflicts.py
diff --git a/dimos/robot/unitree_webrtc/depth_module.py b/dimos/robot/unitree/depth_module.py
similarity index 100%
rename from dimos/robot/unitree_webrtc/depth_module.py
rename to dimos/robot/unitree/depth_module.py
diff --git a/dimos/robot/unitree/g1/blueprints/__init__.py b/dimos/robot/unitree/g1/blueprints/__init__.py
new file mode 100644
index 0000000000..ebc18da8d3
--- /dev/null
+++ b/dimos/robot/unitree/g1/blueprints/__init__.py
@@ -0,0 +1,37 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+"""Cascaded G1 blueprints split into focused modules."""
+
+import lazy_loader as lazy
+
+__getattr__, __dir__, __all__ = lazy.attach(
+    __name__,
+    submod_attrs={
+        "agentic._agentic_skills": ["_agentic_skills"],
+        "agentic.unitree_g1_agentic": ["unitree_g1_agentic"],
+        "agentic.unitree_g1_agentic_sim": ["unitree_g1_agentic_sim"],
+        "agentic.unitree_g1_full": ["unitree_g1_full"],
+        "basic.unitree_g1_basic": ["unitree_g1_basic"],
+        "basic.unitree_g1_basic_sim": ["unitree_g1_basic_sim"],
+        "basic.unitree_g1_joystick": ["unitree_g1_joystick"],
+        "perceptive._perception_and_memory": ["_perception_and_memory"],
+        "perceptive.unitree_g1": ["unitree_g1"],
+        "perceptive.unitree_g1_detection": ["unitree_g1_detection"],
+        "perceptive.unitree_g1_shm": ["unitree_g1_shm"],
+        "perceptive.unitree_g1_sim": ["unitree_g1_sim"],
+        "primitive.uintree_g1_primitive_no_nav": ["uintree_g1_primitive_no_nav", "basic_no_nav"],
+    },
+)
diff --git a/dimos/robot/unitree/g1/blueprints/agentic/__init__.py b/dimos/robot/unitree/g1/blueprints/agentic/__init__.py
new file mode 100644
index 0000000000..5e6db90d91
--- /dev/null
+++ b/dimos/robot/unitree/g1/blueprints/agentic/__init__.py
@@ -0,0 +1,16 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+"""Agentic blueprints for Unitree G1."""
diff --git a/dimos/robot/unitree/g1/blueprints/agentic/_agentic_skills.py b/dimos/robot/unitree/g1/blueprints/agentic/_agentic_skills.py
new file mode 100644
index 0000000000..5ca139f968
--- /dev/null
+++ b/dimos/robot/unitree/g1/blueprints/agentic/_agentic_skills.py
@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+"""Agentic skills used by higher-level G1 blueprints."""
+
+from dimos.agents.agent import llm_agent
+from dimos.agents.cli.human import human_input
+from dimos.agents.skills.navigation import navigation_skill
+from dimos.core.blueprints import autoconnect
+from dimos.robot.unitree.g1.skill_container import g1_skills
+
+_agentic_skills = autoconnect(
+    llm_agent(),
+    human_input(),
+    navigation_skill(),
+    g1_skills(),
+)
+
+__all__ = ["_agentic_skills"]
diff --git a/dimos/robot/unitree/g1/blueprints/agentic/unitree_g1_agentic.py b/dimos/robot/unitree/g1/blueprints/agentic/unitree_g1_agentic.py
new file mode 100644
index 0000000000..a90c2bfe2c
--- /dev/null
+++ b/dimos/robot/unitree/g1/blueprints/agentic/unitree_g1_agentic.py
@@ -0,0 +1,27 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+"""Full G1 stack with agentic skills."""
+
+from dimos.core.blueprints import autoconnect
+from dimos.robot.unitree.g1.blueprints.agentic._agentic_skills import _agentic_skills
+from dimos.robot.unitree.g1.blueprints.perceptive.unitree_g1 import unitree_g1
+
+unitree_g1_agentic = autoconnect(
+    unitree_g1,
+    _agentic_skills,
+)
+
+__all__ = ["unitree_g1_agentic"]
diff --git a/dimos/robot/unitree/g1/blueprints/agentic/unitree_g1_agentic_sim.py b/dimos/robot/unitree/g1/blueprints/agentic/unitree_g1_agentic_sim.py
new file mode 100644
index 0000000000..b7371b96b5
--- /dev/null
+++ b/dimos/robot/unitree/g1/blueprints/agentic/unitree_g1_agentic_sim.py
@@ -0,0 +1,27 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+"""Agentic G1 sim stack."""
+
+from dimos.core.blueprints import autoconnect
+from dimos.robot.unitree.g1.blueprints.agentic._agentic_skills import _agentic_skills
+from dimos.robot.unitree.g1.blueprints.perceptive.unitree_g1_sim import unitree_g1_sim
+
+unitree_g1_agentic_sim = autoconnect(
+    unitree_g1_sim,
+    _agentic_skills,
+)
+
+__all__ = ["unitree_g1_agentic_sim"]
diff --git a/dimos/robot/unitree/g1/blueprints/agentic/unitree_g1_full.py b/dimos/robot/unitree/g1/blueprints/agentic/unitree_g1_full.py
new file mode 100644
index 0000000000..7f826f2eec
--- /dev/null
+++ b/dimos/robot/unitree/g1/blueprints/agentic/unitree_g1_full.py
@@ -0,0 +1,29 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+"""Full featured G1 stack with agentic skills and teleop."""
+
+from dimos.core.blueprints import autoconnect
+from dimos.robot.unitree.g1.blueprints.agentic._agentic_skills import _agentic_skills
+from dimos.robot.unitree.g1.blueprints.perceptive.unitree_g1_shm import unitree_g1_shm
+from dimos.robot.unitree.keyboard_teleop import keyboard_teleop
+
+unitree_g1_full = autoconnect(
+    unitree_g1_shm,
+    _agentic_skills,
+    keyboard_teleop(),
+)
+
+__all__ = ["unitree_g1_full"]
diff --git a/dimos/robot/unitree/g1/blueprints/basic/__init__.py b/dimos/robot/unitree/g1/blueprints/basic/__init__.py
new file mode 100644
index 0000000000..87e6586f56
--- /dev/null
+++ b/dimos/robot/unitree/g1/blueprints/basic/__init__.py
@@ -0,0 +1,16 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+"""Basic blueprints for Unitree G1."""
diff --git a/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic.py b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic.py
new file mode 100644
index 0000000000..1fb591e895
--- /dev/null
+++ b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic.py
@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+"""Basic G1 stack: base sensors plus real robot connection and ROS nav."""
+
+from dimos.core.blueprints import autoconnect
+from dimos.navigation.rosnav import ros_nav
+from dimos.robot.unitree.g1.blueprints.primitive.uintree_g1_primitive_no_nav import (
+    uintree_g1_primitive_no_nav,
+)
+from dimos.robot.unitree.g1.connection import g1_connection
+
+unitree_g1_basic = autoconnect(
+    uintree_g1_primitive_no_nav,
+    g1_connection(),
+    ros_nav(),
+)
+
+__all__ = ["unitree_g1_basic"]
diff --git a/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic_sim.py b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic_sim.py
new file mode 100644
index 0000000000..603a9535ee
--- /dev/null
+++ b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_basic_sim.py
@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+"""Basic G1 sim stack: base sensors plus sim connection and planner."""
+
+from dimos.core.blueprints import autoconnect
+from dimos.navigation.replanning_a_star.module import replanning_a_star_planner
+from dimos.robot.unitree.g1.blueprints.primitive.uintree_g1_primitive_no_nav import (
+    uintree_g1_primitive_no_nav,
+)
+from dimos.robot.unitree.g1.sim import g1_sim_connection
+
+unitree_g1_basic_sim = autoconnect(
+    uintree_g1_primitive_no_nav,
+    g1_sim_connection(),
+    replanning_a_star_planner(),
+)
+
+__all__ = ["unitree_g1_basic_sim"]
diff --git a/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_joystick.py b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_joystick.py
new file mode 100644
index 0000000000..0242556189
--- /dev/null
+++ b/dimos/robot/unitree/g1/blueprints/basic/unitree_g1_joystick.py
@@ -0,0 +1,27 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+"""G1 stack with keyboard teleop."""
+
+from dimos.core.blueprints import autoconnect
+from dimos.robot.unitree.g1.blueprints.basic.unitree_g1_basic import unitree_g1_basic
+from dimos.robot.unitree.keyboard_teleop import keyboard_teleop
+
+unitree_g1_joystick = autoconnect(
+    unitree_g1_basic,
+    keyboard_teleop(),  # Pygame-based joystick control
+)
+
+__all__ = ["unitree_g1_joystick"]
diff --git a/dimos/robot/unitree/g1/blueprints/perceptive/__init__.py b/dimos/robot/unitree/g1/blueprints/perceptive/__init__.py
new file mode 100644
index 0000000000..9bd838e8b8
--- /dev/null
+++ b/dimos/robot/unitree/g1/blueprints/perceptive/__init__.py
@@ -0,0 +1,16 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+"""Perceptive blueprints for Unitree G1."""
diff --git a/dimos/robot/unitree/g1/blueprints/perceptive/_perception_and_memory.py b/dimos/robot/unitree/g1/blueprints/perceptive/_perception_and_memory.py
new file mode 100644
index 0000000000..47dc2588b9
--- /dev/null
+++ b/dimos/robot/unitree/g1/blueprints/perceptive/_perception_and_memory.py
@@ -0,0 +1,29 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+"""Perception and memory modules used by higher-level G1 blueprints."""
+
+from dimos.core.blueprints import autoconnect
+from dimos.perception.object_tracker import object_tracking
+from dimos.perception.spatial_perception import spatial_memory
+from dimos.utils.monitoring import utilization
+
+_perception_and_memory = autoconnect(
+    spatial_memory(),
+    object_tracking(frame_id="camera_link"),
+    utilization(),
+)
+
+__all__ = ["_perception_and_memory"]
diff --git a/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1.py b/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1.py
new file mode 100644
index 0000000000..483928ec54
--- /dev/null
+++ b/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1.py
@@ -0,0 +1,29 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+"""G1 stack with perception and memory."""
+
+from dimos.core.blueprints import autoconnect
+from dimos.robot.unitree.g1.blueprints.basic.unitree_g1_basic import unitree_g1_basic
+from dimos.robot.unitree.g1.blueprints.perceptive._perception_and_memory import (
+    _perception_and_memory,
+)
+
+unitree_g1 = autoconnect(
+    unitree_g1_basic,
+    _perception_and_memory,
+).global_config(n_dask_workers=8)
+
+__all__ = ["unitree_g1"]
diff --git a/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1_detection.py b/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1_detection.py
new file mode 100644
index 0000000000..6e2da40a2c
--- /dev/null
+++ b/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1_detection.py
@@ -0,0 +1,111 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+"""G1 stack with person tracking and 3D detection."""
+
+from dimos_lcm.foxglove_msgs import SceneUpdate
+from dimos_lcm.foxglove_msgs.ImageAnnotations import ImageAnnotations
+
+from dimos.core.blueprints import autoconnect
+from dimos.core.transport import LCMTransport
+from dimos.hardware.sensors.camera import zed
+from dimos.msgs.geometry_msgs import PoseStamped
+from dimos.msgs.sensor_msgs import Image, PointCloud2
+from dimos.msgs.vision_msgs import Detection2DArray
+from dimos.perception.detection.detectors.person.yolo import YoloPersonDetector
+from dimos.perception.detection.module3D import Detection3DModule, detection3d_module
+from dimos.perception.detection.moduleDB import ObjectDBModule, detection_db_module
+from dimos.perception.detection.person_tracker import PersonTracker, person_tracker_module
+from dimos.robot.unitree.g1.blueprints.basic.unitree_g1_basic import unitree_g1_basic
+
+unitree_g1_detection = (
+    autoconnect(
+        unitree_g1_basic,
+        # Person detection modules with YOLO
+        detection3d_module(
+            camera_info=zed.CameraInfo.SingleWebcam,
+            detector=YoloPersonDetector,
+        ),
+        detection_db_module(
+            camera_info=zed.CameraInfo.SingleWebcam,
+            filter=lambda det: det.class_id == 0,  # Filter for person class only
+        ),
+        person_tracker_module(
+            cameraInfo=zed.CameraInfo.SingleWebcam,
+        ),
+    )
+    .global_config(n_dask_workers=8)
+    .remappings(
+        [
+            # Connect detection modules to camera and lidar
+            (Detection3DModule, "image", "color_image"),
+            (Detection3DModule, "pointcloud", "pointcloud"),
+            (ObjectDBModule, "image", "color_image"),
+            (ObjectDBModule, "pointcloud", "pointcloud"),
+            (PersonTracker, "image", "color_image"),
+            (PersonTracker, "detections", "detections_2d"),
+        ]
+    )
+    .transports(
+        {
+            # Detection 3D module outputs
+            ("detections", Detection3DModule): LCMTransport(
+                "/detector3d/detections", Detection2DArray
+            ),
+            ("annotations", Detection3DModule): LCMTransport(
+                "/detector3d/annotations", ImageAnnotations
+            ),
+            ("scene_update", Detection3DModule): LCMTransport(
+                "/detector3d/scene_update", SceneUpdate
+            ),
+            ("detected_pointcloud_0", Detection3DModule): LCMTransport(
+                "/detector3d/pointcloud/0", PointCloud2
+            ),
+            ("detected_pointcloud_1", Detection3DModule): LCMTransport(
+                "/detector3d/pointcloud/1", PointCloud2
+            ),
+            ("detected_pointcloud_2", Detection3DModule): LCMTransport(
+                "/detector3d/pointcloud/2", PointCloud2
+            ),
+            ("detected_image_0", Detection3DModule): LCMTransport("/detector3d/image/0", Image),
+            ("detected_image_1", Detection3DModule): LCMTransport("/detector3d/image/1", Image),
+            ("detected_image_2", Detection3DModule): LCMTransport("/detector3d/image/2", Image),
+            # Detection DB module outputs
+            ("detections", ObjectDBModule): LCMTransport(
+                "/detectorDB/detections", Detection2DArray
+            ),
+            ("annotations", ObjectDBModule): LCMTransport(
+                "/detectorDB/annotations", ImageAnnotations
+            ),
+            ("scene_update", ObjectDBModule): LCMTransport("/detectorDB/scene_update", SceneUpdate),
+            ("detected_pointcloud_0", ObjectDBModule): LCMTransport(
+                "/detectorDB/pointcloud/0", PointCloud2
+            ),
+            ("detected_pointcloud_1", ObjectDBModule): LCMTransport(
+                "/detectorDB/pointcloud/1", PointCloud2
+            ),
+            ("detected_pointcloud_2", ObjectDBModule): LCMTransport(
+                "/detectorDB/pointcloud/2", PointCloud2
+            ),
+            ("detected_image_0", ObjectDBModule): LCMTransport("/detectorDB/image/0", Image),
+            ("detected_image_1", ObjectDBModule): LCMTransport("/detectorDB/image/1", Image),
+            ("detected_image_2", ObjectDBModule): LCMTransport("/detectorDB/image/2", Image),
+            # Person tracker outputs
+            ("target", PersonTracker): LCMTransport("/person_tracker/target", PoseStamped),
+        }
+    )
+)
+
+__all__ = ["unitree_g1_detection"]
diff --git a/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1_shm.py b/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1_shm.py
new file mode 100644
index 0000000000..5d2eefad94
--- /dev/null
+++ b/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1_shm.py
@@ -0,0 +1,40 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+"""G1 stack with shared memory image transport."""
+
+from dimos.constants import DEFAULT_CAPACITY_COLOR_IMAGE
+from dimos.core.blueprints import autoconnect
+from dimos.core.transport import pSHMTransport
+from dimos.msgs.sensor_msgs import Image
+from dimos.robot.foxglove_bridge import foxglove_bridge
+from dimos.robot.unitree.g1.blueprints.perceptive.unitree_g1 import unitree_g1
+
+unitree_g1_shm = autoconnect(
+    unitree_g1.transports(
+        {
+            ("color_image", Image): pSHMTransport(
+                "/g1/color_image", default_capacity=DEFAULT_CAPACITY_COLOR_IMAGE
+            ),
+        }
+    ),
+    foxglove_bridge(
+        shm_channels=[
+            "/g1/color_image#sensor_msgs.Image",
+        ]
+    ),
+)
+
+__all__ = ["unitree_g1_shm"]
diff --git a/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1_sim.py b/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1_sim.py
new file mode 100644
index 0000000000..059102c7a5
--- /dev/null
+++ b/dimos/robot/unitree/g1/blueprints/perceptive/unitree_g1_sim.py
@@ -0,0 +1,29 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+"""G1 sim stack with perception and memory."""
+
+from dimos.core.blueprints import autoconnect
+from dimos.robot.unitree.g1.blueprints.basic.unitree_g1_basic_sim import unitree_g1_basic_sim
+from dimos.robot.unitree.g1.blueprints.perceptive._perception_and_memory import (
+    _perception_and_memory,
+)
+
+unitree_g1_sim = autoconnect(
+    unitree_g1_basic_sim,
+    _perception_and_memory,
+).global_config(n_dask_workers=8)
+
+__all__ = ["unitree_g1_sim"]
diff --git a/dimos/robot/unitree/g1/blueprints/primitive/__init__.py b/dimos/robot/unitree/g1/blueprints/primitive/__init__.py
new file mode 100644
index 0000000000..833f767728
--- /dev/null
+++ b/dimos/robot/unitree/g1/blueprints/primitive/__init__.py
@@ -0,0 +1,16 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+"""Primitive blueprints for Unitree G1."""
diff --git a/dimos/robot/unitree/g1/blueprints/primitive/uintree_g1_primitive_no_nav.py b/dimos/robot/unitree/g1/blueprints/primitive/uintree_g1_primitive_no_nav.py
new file mode 100644
index 0000000000..c61297be90
--- /dev/null
+++ b/dimos/robot/unitree/g1/blueprints/primitive/uintree_g1_primitive_no_nav.py
@@ -0,0 +1,84 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+"""Minimal G1 stack without navigation, used as a base for larger blueprints."""
+
+from dimos_lcm.sensor_msgs import CameraInfo
+
+from dimos.core.blueprints import autoconnect
+from dimos.core.transport import LCMTransport
+from dimos.hardware.sensors.camera import zed
+from dimos.hardware.sensors.camera.module import camera_module  # type: ignore[attr-defined]
+from dimos.hardware.sensors.camera.webcam import Webcam
+from dimos.mapping.costmapper import cost_mapper
+from dimos.mapping.voxels import voxel_mapper
+from dimos.msgs.geometry_msgs import PoseStamped, Quaternion, Transform, Twist, Vector3
+from dimos.msgs.nav_msgs import Odometry, Path
+from dimos.msgs.sensor_msgs import Image, PointCloud2
+from dimos.msgs.std_msgs import Bool
+from dimos.navigation.frontier_exploration import wavefront_frontier_explorer
+from dimos.robot.foxglove_bridge import foxglove_bridge
+from dimos.web.websocket_vis.websocket_vis_module import websocket_vis
+
+uintree_g1_primitive_no_nav = (
+    autoconnect(
+        camera_module(
+            transform=Transform(
+                translation=Vector3(0.05, 0.0, 0.6),  # height of camera on G1 robot
+                rotation=Quaternion.from_euler(Vector3(0.0, 0.2, 0.0)),
+                frame_id="sensor",
+                child_frame_id="camera_link",
+            ),
+            hardware=lambda: Webcam(
+                camera_index=0,
+                fps=15,
+                stereo_slice="left",
+                camera_info=zed.CameraInfo.SingleWebcam,
+            ),
+        ),
+        voxel_mapper(voxel_size=0.1),
+        cost_mapper(),
+        wavefront_frontier_explorer(),
+        # Visualization
+        websocket_vis(),
+        foxglove_bridge(),
+    )
+    .global_config(n_dask_workers=4, robot_model="unitree_g1")
+    .transports(
+        {
+            # G1 uses Twist for movement commands
+            ("cmd_vel", Twist): LCMTransport("/cmd_vel", Twist),
+            # State estimation from ROS
+            ("state_estimation", Odometry): LCMTransport("/state_estimation", Odometry),
+            # Odometry output from ROSNavigationModule
+            ("odom", PoseStamped): LCMTransport("/odom", PoseStamped),
+            # Navigation module topics from nav_bot
+            ("goal_req", PoseStamped): LCMTransport("/goal_req", PoseStamped),
+            ("goal_active", PoseStamped): LCMTransport("/goal_active", PoseStamped),
+            ("path_active", Path): LCMTransport("/path_active", Path),
+            ("pointcloud", PointCloud2): LCMTransport("/lidar", PointCloud2),
+            ("global_pointcloud", PointCloud2): LCMTransport("/map", PointCloud2),
+            # Original navigation topics for backwards compatibility
+            ("goal_pose", PoseStamped): LCMTransport("/goal_pose", PoseStamped),
+            ("goal_reached", Bool): LCMTransport("/goal_reached", Bool),
+            ("cancel_goal", Bool): LCMTransport("/cancel_goal", Bool),
+            # Camera topics (if camera module is added)
+            ("color_image", Image): LCMTransport("/g1/color_image", Image),
+            ("camera_info", CameraInfo): LCMTransport("/g1/camera_info", CameraInfo),
+        }
+    )
+)
+
+__all__ = ["uintree_g1_primitive_no_nav"]
diff --git a/dimos/robot/unitree/connection/g1.py b/dimos/robot/unitree/g1/connection.py
similarity index 97%
rename from dimos/robot/unitree/connection/g1.py
rename to dimos/robot/unitree/g1/connection.py
index 7f8e7233d0..f12d0ee0e6 100644
--- a/dimos/robot/unitree/connection/g1.py
+++ b/dimos/robot/unitree/g1/connection.py
@@ -21,7 +21,7 @@
 from dimos.core import DimosCluster, In, Module, rpc
 from dimos.core.global_config import GlobalConfig, global_config
 from dimos.msgs.geometry_msgs import Twist
-from dimos.robot.unitree.connection.connection import UnitreeWebRTCConnection
+from dimos.robot.unitree.connection import UnitreeWebRTCConnection
 from dimos.utils.logging_config import setup_logger
 
 logger = setup_logger()
diff --git a/dimos/robot/unitree/g1/g1agent.py b/dimos/robot/unitree/g1/g1agent.py
deleted file mode 100644
index a95a905b7d..0000000000
--- a/dimos/robot/unitree/g1/g1agent.py
+++ /dev/null
@@ -1,48 +0,0 @@
-# Copyright 2025-2026 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.
-
-from dimos import agents
-from dimos.agents.skills.navigation import NavigationSkillContainer
-from dimos.core import DimosCluster
-from dimos.perception import spatial_perception
-from dimos.robot.unitree.g1 import g1detector
-
-
-def deploy(dimos: DimosCluster, ip: str):  # type: ignore[no-untyped-def]
-    g1 = g1detector.deploy(dimos, ip)
-
-    nav = g1.get("nav")
-    camera = g1.get("camera")
-    detector3d = g1.get("detector3d")
-    connection = g1.get("connection")
-
-    spatialmem = spatial_perception.deploy(dimos, camera)
-
-    navskills = dimos.deploy(  # type: ignore[attr-defined]
-        NavigationSkillContainer,
-        spatialmem,
-        nav,
-        detector3d,
-    )
-    navskills.start()
-
-    agent = agents.deploy(  # type: ignore[attr-defined]
-        dimos,
-        "You are controling a humanoid robot",
-        skill_containers=[connection, nav, camera, spatialmem, navskills],
-    )
-    agent.run_implicit_skill("current_position")
-    agent.run_implicit_skill("video_stream")
-
-    return {"agent": agent, "spatialmem": spatialmem, **g1}
diff --git a/dimos/robot/unitree/g1/g1detector.py b/dimos/robot/unitree/g1/g1detector.py
deleted file mode 100644
index 55986eb087..0000000000
--- a/dimos/robot/unitree/g1/g1detector.py
+++ /dev/null
@@ -1,41 +0,0 @@
-# Copyright 2025-2026 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.
-
-from dimos.core import DimosCluster
-from dimos.perception.detection import module3D, moduleDB
-from dimos.perception.detection.detectors.person.yolo import YoloPersonDetector
-from dimos.robot.unitree.g1 import g1zed
-
-
-def deploy(dimos: DimosCluster, ip: str):  # type: ignore[no-untyped-def]
-    g1 = g1zed.deploy(dimos, ip)
-
-    nav = g1.get("nav")
-    camera = g1.get("camera")
-
-    person_detector = module3D.deploy(
-        dimos,
-        camera=camera,
-        lidar=nav,
-        detector=YoloPersonDetector,
-    )
-
-    detector3d = moduleDB.deploy(  # type: ignore[attr-defined]
-        dimos,
-        camera=camera,
-        lidar=nav,
-        filter=lambda det: det.class_id != 0,
-    )
-
-    return {"person_detector": person_detector, "detector3d": detector3d, **g1}
diff --git a/dimos/robot/unitree/g1/g1zed.py b/dimos/robot/unitree/g1/g1zed.py
deleted file mode 100644
index cafcbec909..0000000000
--- a/dimos/robot/unitree/g1/g1zed.py
+++ /dev/null
@@ -1,90 +0,0 @@
-# Copyright 2025-2026 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.
-
-from typing import TypedDict, cast
-
-from dimos.constants import DEFAULT_CAPACITY_COLOR_IMAGE
-from dimos.core import DimosCluster, LCMTransport, pSHMTransport
-from dimos.hardware.sensors.camera import zed
-from dimos.hardware.sensors.camera.module import CameraModule
-from dimos.hardware.sensors.camera.webcam import Webcam
-from dimos.msgs.geometry_msgs import (
-    Quaternion,
-    Transform,
-    Vector3,
-)
-from dimos.msgs.sensor_msgs import CameraInfo
-from dimos.navigation import rosnav
-from dimos.navigation.rosnav import ROSNav
-from dimos.robot import foxglove_bridge
-from dimos.robot.unitree.connection import g1
-from dimos.robot.unitree.connection.g1 import G1Connection
-from dimos.utils.logging_config import setup_logger
-
-logger = setup_logger()
-
-
-class G1ZedDeployResult(TypedDict):
-    nav: ROSNav
-    connection: G1Connection
-    camera: CameraModule
-    camerainfo: CameraInfo
-
-
-def deploy_g1_monozed(dimos: DimosCluster) -> CameraModule:
-    camera = cast(
-        "CameraModule",
-        dimos.deploy(  # type: ignore[attr-defined]
-            CameraModule,
-            frequency=4.0,
-            transform=Transform(
-                translation=Vector3(0.05, 0.0, 0.0),
-                rotation=Quaternion.from_euler(Vector3(0.0, 0.0, 0.0)),
-                frame_id="sensor",
-                child_frame_id="camera_link",
-            ),
-            hardware=lambda: Webcam(
-                camera_index=0,
-                fps=5,
-                stereo_slice="left",
-                camera_info=zed.CameraInfo.SingleWebcam,
-            ),
-        ),
-    )
-
-    camera.color_image.transport = pSHMTransport(
-        "/image", default_capacity=DEFAULT_CAPACITY_COLOR_IMAGE
-    )
-    camera.camera_info.transport = LCMTransport("/camera_info", CameraInfo)
-    camera.start()
-    return camera
-
-
-def deploy(dimos: DimosCluster, ip: str):  # type: ignore[no-untyped-def]
-    nav = rosnav.deploy(  # type: ignore[call-arg]
-        dimos,
-        sensor_to_base_link_transform=Transform(
-            frame_id="sensor", child_frame_id="base_link", translation=Vector3(0.0, 0.0, 1.5)
-        ),
-    )
-    connection = g1.deploy(dimos, ip, nav)
-    zedcam = deploy_g1_monozed(dimos)
-
-    foxglove_bridge.deploy(dimos)
-
-    return {
-        "nav": nav,
-        "connection": connection,
-        "camera": zedcam,
-    }
diff --git a/dimos/robot/unitree/connection/g1sim.py b/dimos/robot/unitree/g1/sim.py
similarity index 94%
rename from dimos/robot/unitree/connection/g1sim.py
rename to dimos/robot/unitree/g1/sim.py
index d964d86758..4502e62a1f 100644
--- a/dimos/robot/unitree/connection/g1sim.py
+++ b/dimos/robot/unitree/g1/sim.py
@@ -28,11 +28,11 @@
     Vector3,
 )
 from dimos.msgs.sensor_msgs import PointCloud2
-from dimos.robot.unitree_webrtc.type.odometry import Odometry as SimOdometry
+from dimos.robot.unitree.type.odometry import Odometry as SimOdometry
 from dimos.utils.logging_config import setup_logger
 
 if TYPE_CHECKING:
-    from dimos.robot.unitree_webrtc.mujoco_connection import MujocoConnection
+    from dimos.robot.unitree.mujoco_connection import MujocoConnection
 
 logger = setup_logger()
 
@@ -60,7 +60,7 @@ def __init__(
     def start(self) -> None:
         super().start()
 
-        from dimos.robot.unitree_webrtc.mujoco_connection import MujocoConnection
+        from dimos.robot.unitree.mujoco_connection import MujocoConnection
 
         self.connection = MujocoConnection(self._global_config)
         assert self.connection is not None
diff --git a/dimos/robot/unitree_webrtc/unitree_g1_skill_container.py b/dimos/robot/unitree/g1/skill_container.py
similarity index 100%
rename from dimos/robot/unitree_webrtc/unitree_g1_skill_container.py
rename to dimos/robot/unitree/g1/skill_container.py
diff --git a/dimos/robot/unitree/go2/blueprints/__init__.py b/dimos/robot/unitree/go2/blueprints/__init__.py
new file mode 100644
index 0000000000..cbc49694f3
--- /dev/null
+++ b/dimos/robot/unitree/go2/blueprints/__init__.py
@@ -0,0 +1,37 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+"""Cascaded GO2 blueprints split into focused modules."""
+
+import lazy_loader as lazy
+
+__getattr__, __dir__, __all__ = lazy.attach(
+    __name__,
+    submod_attrs={
+        "agentic._common_agentic": ["_common_agentic"],
+        "agentic.unitree_go2_agentic": ["unitree_go2_agentic"],
+        "agentic.unitree_go2_agentic_huggingface": ["unitree_go2_agentic_huggingface"],
+        "agentic.unitree_go2_agentic_mcp": ["unitree_go2_agentic_mcp"],
+        "agentic.unitree_go2_agentic_ollama": ["unitree_go2_agentic_ollama"],
+        "agentic.unitree_go2_temporal_memory": ["unitree_go2_temporal_memory"],
+        "basic.unitree_go2_basic": ["_linux", "_mac", "unitree_go2_basic"],
+        "smart._with_jpeg": ["_with_jpeglcm"],
+        "smart.unitree_go2": ["unitree_go2"],
+        "smart.unitree_go2_detection": ["unitree_go2_detection"],
+        "smart.unitree_go2_ros": ["unitree_go2_ros"],
+        "smart.unitree_go2_spatial": ["unitree_go2_spatial"],
+        "smart.unitree_go2_vlm_stream_test": ["unitree_go2_vlm_stream_test"],
+    },
+)
diff --git a/dimos/robot/unitree/go2/blueprints/agentic/__init__.py b/dimos/robot/unitree/go2/blueprints/agentic/__init__.py
new file mode 100644
index 0000000000..84d1b41b23
--- /dev/null
+++ b/dimos/robot/unitree/go2/blueprints/agentic/__init__.py
@@ -0,0 +1,16 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+"""Agentic blueprints for Unitree GO2."""
diff --git a/dimos/robot/unitree/go2/blueprints/agentic/_common_agentic.py b/dimos/robot/unitree/go2/blueprints/agentic/_common_agentic.py
new file mode 100644
index 0000000000..cf9a0ae086
--- /dev/null
+++ b/dimos/robot/unitree/go2/blueprints/agentic/_common_agentic.py
@@ -0,0 +1,34 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+from dimos.agents.cli.human import human_input
+from dimos.agents.cli.web import web_input
+from dimos.agents.skills.navigation import navigation_skill
+from dimos.agents.skills.person_follow import person_follow_skill
+from dimos.agents.skills.speak_skill import speak_skill
+from dimos.core.blueprints import autoconnect
+from dimos.robot.unitree.go2.connection import GO2Connection
+from dimos.robot.unitree.unitree_skill_container import unitree_skills
+
+_common_agentic = autoconnect(
+    human_input(),
+    navigation_skill(),
+    person_follow_skill(camera_info=GO2Connection.camera_info_static),
+    unitree_skills(),
+    web_input(),
+    speak_skill(),
+)
+
+__all__ = ["_common_agentic"]
diff --git a/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic.py b/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic.py
new file mode 100644
index 0000000000..0db6d16980
--- /dev/null
+++ b/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic.py
@@ -0,0 +1,27 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+from dimos.agents.agent import llm_agent
+from dimos.core.blueprints import autoconnect
+from dimos.robot.unitree.go2.blueprints.agentic._common_agentic import _common_agentic
+from dimos.robot.unitree.go2.blueprints.smart.unitree_go2_spatial import unitree_go2_spatial
+
+unitree_go2_agentic = autoconnect(
+    unitree_go2_spatial,
+    llm_agent(),
+    _common_agentic,
+)
+
+__all__ = ["unitree_go2_agentic"]
diff --git a/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic_huggingface.py b/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic_huggingface.py
new file mode 100644
index 0000000000..90198c2493
--- /dev/null
+++ b/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic_huggingface.py
@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+from dimos.agents.agent import llm_agent
+from dimos.agents.spec import Provider
+from dimos.core.blueprints import autoconnect
+from dimos.robot.unitree.go2.blueprints.agentic._common_agentic import _common_agentic
+from dimos.robot.unitree.go2.blueprints.smart.unitree_go2_spatial import unitree_go2_spatial
+
+unitree_go2_agentic_huggingface = autoconnect(
+    unitree_go2_spatial,
+    llm_agent(
+        model="Qwen/Qwen2.5-1.5B-Instruct",
+        provider=Provider.HUGGINGFACE,  # type: ignore[attr-defined]
+    ),
+    _common_agentic,
+)
+
+__all__ = ["unitree_go2_agentic_huggingface"]
diff --git a/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic_mcp.py b/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic_mcp.py
new file mode 100644
index 0000000000..bbc3e4c216
--- /dev/null
+++ b/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic_mcp.py
@@ -0,0 +1,25 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+from dimos.core.blueprints import autoconnect
+from dimos.protocol.mcp.mcp import MCPModule
+from dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_agentic import unitree_go2_agentic
+
+unitree_go2_agentic_mcp = autoconnect(
+    unitree_go2_agentic,
+    MCPModule.blueprint(),
+)
+
+__all__ = ["unitree_go2_agentic_mcp"]
diff --git a/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic_ollama.py b/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic_ollama.py
new file mode 100644
index 0000000000..529f50f4ae
--- /dev/null
+++ b/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_agentic_ollama.py
@@ -0,0 +1,34 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+from dimos.agents.agent import llm_agent
+from dimos.agents.ollama_agent import ollama_installed
+from dimos.agents.spec import Provider
+from dimos.core.blueprints import autoconnect
+from dimos.robot.unitree.go2.blueprints.agentic._common_agentic import _common_agentic
+from dimos.robot.unitree.go2.blueprints.smart.unitree_go2_spatial import unitree_go2_spatial
+
+unitree_go2_agentic_ollama = autoconnect(
+    unitree_go2_spatial,
+    llm_agent(
+        model="qwen3:8b",
+        provider=Provider.OLLAMA,  # type: ignore[attr-defined]
+    ),
+    _common_agentic,
+).requirements(
+    ollama_installed,
+)
+
+__all__ = ["unitree_go2_agentic_ollama"]
diff --git a/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_temporal_memory.py b/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_temporal_memory.py
new file mode 100644
index 0000000000..017ccaba2b
--- /dev/null
+++ b/dimos/robot/unitree/go2/blueprints/agentic/unitree_go2_temporal_memory.py
@@ -0,0 +1,25 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+from dimos.core.blueprints import autoconnect
+from dimos.perception.experimental.temporal_memory import temporal_memory
+from dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_agentic import unitree_go2_agentic
+
+unitree_go2_temporal_memory = autoconnect(
+    unitree_go2_agentic,
+    temporal_memory(),
+)
+
+__all__ = ["unitree_go2_temporal_memory"]
diff --git a/dimos/robot/unitree/go2/blueprints/basic/__init__.py b/dimos/robot/unitree/go2/blueprints/basic/__init__.py
new file mode 100644
index 0000000000..79964b0297
--- /dev/null
+++ b/dimos/robot/unitree/go2/blueprints/basic/__init__.py
@@ -0,0 +1,16 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+"""Basic blueprints for Unitree GO2."""
diff --git a/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_basic.py b/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_basic.py
new file mode 100644
index 0000000000..3cb84dfd9f
--- /dev/null
+++ b/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_basic.py
@@ -0,0 +1,104 @@
+#!/usr/bin/env python3
+
+# Copyright 2025-2026 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.
+
+import platform
+
+from dimos.constants import DEFAULT_CAPACITY_COLOR_IMAGE
+from dimos.core.blueprints import autoconnect
+from dimos.core.global_config import global_config
+from dimos.core.transport import pSHMTransport
+from dimos.msgs.sensor_msgs import Image
+from dimos.protocol.pubsub.impl.lcmpubsub import LCM
+from dimos.robot.unitree.go2.connection import go2_connection
+from dimos.web.websocket_vis.websocket_vis_module import websocket_vis
+
+# Mac has some issue with high bandwidth UDP, so we use pSHMTransport for color_image
+# actually we can use pSHMTransport for all platforms, and for all streams
+# TODO need a global transport toggle on blueprints/global config
+_mac_transports: dict[tuple[str, type], pSHMTransport[Image]] = {
+    ("color_image", Image): pSHMTransport(
+        "color_image", default_capacity=DEFAULT_CAPACITY_COLOR_IMAGE
+    ),
+}
+
+_transports_base = (
+    autoconnect() if platform.system() == "Linux" else autoconnect().transports(_mac_transports)
+)
+
+rerun_config = {
+    # any pubsub that supports subscribe_all and topic that supports str(topic)
+    # is acceptable here
+    "pubsubs": [LCM(autoconf=True)],
+    # Custom converters for specific rerun entity paths
+    # Normally all these would be specified in their respectative modules
+    # Until this is implemented we have central overrides here
+    #
+    # This is unsustainable once we move to multi robot etc
+    "visual_override": {
+        "world/camera_info": lambda camera_info: camera_info.to_rerun(
+            image_topic="/world/color_image",
+            optical_frame="camera_optical",
+        ),
+        "world/global_map": lambda grid: grid.to_rerun(voxel_size=0.1),
+        "world/navigation_costmap": lambda grid: grid.to_rerun(
+            colormap="Accent",
+            z_offset=0.015,
+            opacity=0.2,
+            background="#484981",
+        ),
+    },
+    # slapping a go2 shaped box on top of tf/base_link
+    "static": {
+        "world/tf/base_link": lambda rr: [
+            rr.Boxes3D(
+                half_sizes=[0.35, 0.155, 0.2],
+                colors=[(0, 255, 127)],
+                fill_mode="wireframe",
+            ),
+            rr.Transform3D(parent_frame="tf#/base_link"),
+        ]
+    },
+}
+
+
+match global_config.viewer_backend:
+    case "foxglove":
+        from dimos.robot.foxglove_bridge import foxglove_bridge
+
+        with_vis = autoconnect(
+            _transports_base,
+            foxglove_bridge(shm_channels=["/color_image#sensor_msgs.Image"]),
+        )
+    case "rerun":
+        from dimos.visualization.rerun.bridge import rerun_bridge
+
+        with_vis = autoconnect(_transports_base, rerun_bridge(**rerun_config))
+    case "rerun-web":
+        from dimos.visualization.rerun.bridge import rerun_bridge
+
+        with_vis = autoconnect(_transports_base, rerun_bridge(viewer_mode="web", **rerun_config))
+    case _:
+        with_vis = _transports_base
+
+unitree_go2_basic = autoconnect(
+    with_vis,
+    go2_connection(),
+    websocket_vis(),
+).global_config(n_dask_workers=4, robot_model="unitree_go2")
+
+__all__ = [
+    "unitree_go2_basic",
+]
diff --git a/dimos/robot/unitree/go2/blueprints/smart/__init__.py b/dimos/robot/unitree/go2/blueprints/smart/__init__.py
new file mode 100644
index 0000000000..7d5bdbc3ab
--- /dev/null
+++ b/dimos/robot/unitree/go2/blueprints/smart/__init__.py
@@ -0,0 +1,16 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+"""Smart blueprints for Unitree GO2."""
diff --git a/dimos/robot/unitree/go2/blueprints/smart/_with_jpeg.py b/dimos/robot/unitree/go2/blueprints/smart/_with_jpeg.py
new file mode 100644
index 0000000000..9c77d599cf
--- /dev/null
+++ b/dimos/robot/unitree/go2/blueprints/smart/_with_jpeg.py
@@ -0,0 +1,26 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+from dimos.core.transport import JpegLcmTransport
+from dimos.msgs.sensor_msgs import Image
+from dimos.robot.unitree.go2.blueprints.smart.unitree_go2 import unitree_go2
+
+_with_jpeglcm = unitree_go2.transports(
+    {
+        ("color_image", Image): JpegLcmTransport("/color_image", Image),
+    }
+)
+
+__all__ = ["_with_jpeglcm"]
diff --git a/dimos/robot/unitree/go2/blueprints/smart/unitree_go2.py b/dimos/robot/unitree/go2/blueprints/smart/unitree_go2.py
new file mode 100644
index 0000000000..5d096444d5
--- /dev/null
+++ b/dimos/robot/unitree/go2/blueprints/smart/unitree_go2.py
@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+from dimos.core.blueprints import autoconnect
+from dimos.mapping.costmapper import cost_mapper
+from dimos.mapping.voxels import voxel_mapper
+from dimos.navigation.frontier_exploration import wavefront_frontier_explorer
+from dimos.navigation.replanning_a_star.module import replanning_a_star_planner
+from dimos.robot.unitree.go2.blueprints.basic.unitree_go2_basic import unitree_go2_basic
+
+unitree_go2 = autoconnect(
+    unitree_go2_basic,
+    voxel_mapper(voxel_size=0.1),
+    cost_mapper(),
+    replanning_a_star_planner(),
+    wavefront_frontier_explorer(),
+).global_config(n_dask_workers=6, robot_model="unitree_go2")
+
+__all__ = ["unitree_go2"]
diff --git a/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_detection.py b/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_detection.py
new file mode 100644
index 0000000000..f2edf2cb3b
--- /dev/null
+++ b/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_detection.py
@@ -0,0 +1,69 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+from dimos_lcm.foxglove_msgs.ImageAnnotations import (
+    ImageAnnotations,  # type: ignore[import-untyped]
+)
+from dimos_lcm.foxglove_msgs.SceneUpdate import SceneUpdate  # type: ignore[import-untyped]
+
+from dimos.core.blueprints import autoconnect
+from dimos.core.transport import LCMTransport
+from dimos.msgs.sensor_msgs import Image, PointCloud2
+from dimos.msgs.vision_msgs import Detection2DArray
+from dimos.perception.detection.module3D import Detection3DModule, detection3d_module
+from dimos.robot.unitree.go2.blueprints.smart.unitree_go2 import unitree_go2
+from dimos.robot.unitree.go2.connection import GO2Connection
+
+unitree_go2_detection = (
+    autoconnect(
+        unitree_go2,
+        detection3d_module(
+            camera_info=GO2Connection.camera_info_static,
+        ),
+    )
+    .remappings(
+        [
+            (Detection3DModule, "pointcloud", "global_map"),
+        ]
+    )
+    .transports(
+        {
+            # Detection 3D module outputs
+            ("detections", Detection3DModule): LCMTransport(
+                "/detector3d/detections", Detection2DArray
+            ),
+            ("annotations", Detection3DModule): LCMTransport(
+                "/detector3d/annotations", ImageAnnotations
+            ),
+            ("scene_update", Detection3DModule): LCMTransport(
+                "/detector3d/scene_update", SceneUpdate
+            ),
+            ("detected_pointcloud_0", Detection3DModule): LCMTransport(
+                "/detector3d/pointcloud/0", PointCloud2
+            ),
+            ("detected_pointcloud_1", Detection3DModule): LCMTransport(
+                "/detector3d/pointcloud/1", PointCloud2
+            ),
+            ("detected_pointcloud_2", Detection3DModule): LCMTransport(
+                "/detector3d/pointcloud/2", PointCloud2
+            ),
+            ("detected_image_0", Detection3DModule): LCMTransport("/detector3d/image/0", Image),
+            ("detected_image_1", Detection3DModule): LCMTransport("/detector3d/image/1", Image),
+            ("detected_image_2", Detection3DModule): LCMTransport("/detector3d/image/2", Image),
+        }
+    )
+)
+
+__all__ = ["unitree_go2_detection"]
diff --git a/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_ros.py b/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_ros.py
new file mode 100644
index 0000000000..a335b1e9af
--- /dev/null
+++ b/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_ros.py
@@ -0,0 +1,30 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+from dimos.core.transport import ROSTransport
+from dimos.msgs.geometry_msgs import PoseStamped
+from dimos.msgs.sensor_msgs import Image, PointCloud2
+from dimos.robot.unitree.go2.blueprints.smart.unitree_go2 import unitree_go2
+
+unitree_go2_ros = unitree_go2.transports(
+    {
+        ("lidar", PointCloud2): ROSTransport("lidar", PointCloud2),
+        ("global_map", PointCloud2): ROSTransport("global_map", PointCloud2),
+        ("odom", PoseStamped): ROSTransport("odom", PoseStamped),
+        ("color_image", Image): ROSTransport("color_image", Image),
+    }
+)
+
+__all__ = ["unitree_go2_ros"]
diff --git a/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_spatial.py b/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_spatial.py
new file mode 100644
index 0000000000..e2695f9bfb
--- /dev/null
+++ b/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_spatial.py
@@ -0,0 +1,27 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+from dimos.core.blueprints import autoconnect
+from dimos.perception.spatial_perception import spatial_memory
+from dimos.robot.unitree.go2.blueprints.smart.unitree_go2 import unitree_go2
+from dimos.utils.monitoring import utilization
+
+unitree_go2_spatial = autoconnect(
+    unitree_go2,
+    spatial_memory(),
+    utilization(),
+).global_config(n_dask_workers=8)
+
+__all__ = ["unitree_go2_spatial"]
diff --git a/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_vlm_stream_test.py b/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_vlm_stream_test.py
new file mode 100644
index 0000000000..194d3973c6
--- /dev/null
+++ b/dimos/robot/unitree/go2/blueprints/smart/unitree_go2_vlm_stream_test.py
@@ -0,0 +1,27 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+from dimos.agents.vlm_agent import vlm_agent
+from dimos.agents.vlm_stream_tester import vlm_stream_tester
+from dimos.core.blueprints import autoconnect
+from dimos.robot.unitree.go2.blueprints.basic.unitree_go2_basic import unitree_go2_basic
+
+unitree_go2_vlm_stream_test = autoconnect(
+    unitree_go2_basic,
+    vlm_agent(),
+    vlm_stream_tester(),
+)
+
+__all__ = ["unitree_go2_vlm_stream_test"]
diff --git a/dimos/robot/unitree/connection/go2.py b/dimos/robot/unitree/go2/connection.py
similarity index 98%
rename from dimos/robot/unitree/connection/go2.py
rename to dimos/robot/unitree/go2/connection.py
index 58145c9371..ba708ef4df 100644
--- a/dimos/robot/unitree/connection/go2.py
+++ b/dimos/robot/unitree/go2/connection.py
@@ -36,7 +36,7 @@
 from dimos.msgs.sensor_msgs.Image import ImageFormat
 from dimos.protocol.skill.skill import skill
 from dimos.protocol.skill.type import Output
-from dimos.robot.unitree.connection.connection import UnitreeWebRTCConnection
+from dimos.robot.unitree.connection import UnitreeWebRTCConnection
 from dimos.utils.data import get_data
 from dimos.utils.decorators.decorators import simple_mcache
 from dimos.utils.testing import TimedSensorReplay, TimedSensorStorage
@@ -182,7 +182,7 @@ def __init__(  # type: ignore[no-untyped-def]
         if ip in ["fake", "mock", "replay"] or connection_type == "replay":
             self.connection = ReplayConnection()
         elif ip == "mujoco" or connection_type == "mujoco":
-            from dimos.robot.unitree_webrtc.mujoco_connection import MujocoConnection
+            from dimos.robot.unitree.mujoco_connection import MujocoConnection
 
             self.connection = MujocoConnection(self._global_config)
         else:
diff --git a/dimos/robot/unitree/go2/go2.py b/dimos/robot/unitree/go2/go2.py
deleted file mode 100644
index d2e7e74674..0000000000
--- a/dimos/robot/unitree/go2/go2.py
+++ /dev/null
@@ -1,37 +0,0 @@
-# Copyright 2025-2026 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.
-
-import logging
-
-from dimos.core import DimosCluster
-from dimos.robot import foxglove_bridge
-from dimos.robot.unitree.connection import go2
-from dimos.utils.logging_config import setup_logger
-
-logger = setup_logger(level=logging.INFO)
-
-
-def deploy(dimos: DimosCluster, ip: str):  # type: ignore[no-untyped-def]
-    connection = go2.deploy(dimos, ip)
-    foxglove_bridge.deploy(dimos)
-
-    # detector = moduleDB.deploy(
-    #     dimos,
-    #     camera=connection,
-    #     lidar=connection,
-    # )
-
-    # agent = agents.deploy(dimos)
-    # agent.register_skills(detector)
-    return connection
diff --git a/dimos/robot/unitree_webrtc/keyboard_teleop.py b/dimos/robot/unitree/keyboard_teleop.py
similarity index 99%
rename from dimos/robot/unitree_webrtc/keyboard_teleop.py
rename to dimos/robot/unitree/keyboard_teleop.py
index 8e0d987127..3d7d4c263e 100644
--- a/dimos/robot/unitree_webrtc/keyboard_teleop.py
+++ b/dimos/robot/unitree/keyboard_teleop.py
@@ -45,7 +45,7 @@ def __init__(self) -> None:
         self._stop_event = threading.Event()
 
     @rpc
-    def start(self) -> bool:
+    def start(self) -> None:
         super().start()
 
         self._keys_held = set()
@@ -54,7 +54,7 @@ def start(self) -> bool:
         self._thread = threading.Thread(target=self._pygame_loop, daemon=True)
         self._thread.start()
 
-        return True
+        return
 
     @rpc
     def stop(self) -> None:
diff --git a/dimos/robot/unitree_webrtc/modular/detect.py b/dimos/robot/unitree/modular/detect.py
similarity index 96%
rename from dimos/robot/unitree_webrtc/modular/detect.py
rename to dimos/robot/unitree/modular/detect.py
index 8f92d15e81..e5999e9fd8 100644
--- a/dimos/robot/unitree_webrtc/modular/detect.py
+++ b/dimos/robot/unitree/modular/detect.py
@@ -18,8 +18,8 @@
 
 from dimos.msgs.sensor_msgs import Image, PointCloud2
 from dimos.msgs.std_msgs import Header
-from dimos.robot.unitree_webrtc.type.lidar import pointcloud2_from_webrtc_lidar
-from dimos.robot.unitree_webrtc.type.odometry import Odometry
+from dimos.robot.unitree.type.lidar import pointcloud2_from_webrtc_lidar
+from dimos.robot.unitree.type.odometry import Odometry
 
 image_resize_factor = 1
 originalwidth, originalheight = (1280, 720)
@@ -141,7 +141,7 @@ def process_data():  # type: ignore[no-untyped-def]
         Detection2DModule,
         build_imageannotations,
     )
-    from dimos.robot.unitree_webrtc.type.odometry import Odometry
+    from dimos.robot.unitree.type.odometry import Odometry
     from dimos.utils.data import get_data
     from dimos.utils.testing import TimedSensorReplay
 
diff --git a/dimos/robot/unitree_webrtc/mujoco_connection.py b/dimos/robot/unitree/mujoco_connection.py
similarity index 99%
rename from dimos/robot/unitree_webrtc/mujoco_connection.py
rename to dimos/robot/unitree/mujoco_connection.py
index 1bfdef2e3c..f998ae1dd9 100644
--- a/dimos/robot/unitree_webrtc/mujoco_connection.py
+++ b/dimos/robot/unitree/mujoco_connection.py
@@ -37,7 +37,7 @@
 from dimos.core.global_config import GlobalConfig
 from dimos.msgs.geometry_msgs import Quaternion, Twist, Vector3
 from dimos.msgs.sensor_msgs import CameraInfo, Image, ImageFormat, PointCloud2
-from dimos.robot.unitree_webrtc.type.odometry import Odometry
+from dimos.robot.unitree.type.odometry import Odometry
 from dimos.simulation.mujoco.constants import (
     LAUNCHER_PATH,
     LIDAR_FPS,
diff --git a/dimos/robot/unitree_webrtc/params/front_camera_720.yaml b/dimos/robot/unitree/params/front_camera_720.yaml
similarity index 100%
rename from dimos/robot/unitree_webrtc/params/front_camera_720.yaml
rename to dimos/robot/unitree/params/front_camera_720.yaml
diff --git a/dimos/robot/unitree_webrtc/params/sim_camera.yaml b/dimos/robot/unitree/params/sim_camera.yaml
similarity index 100%
rename from dimos/robot/unitree_webrtc/params/sim_camera.yaml
rename to dimos/robot/unitree/params/sim_camera.yaml
diff --git a/dimos/robot/unitree_webrtc/rosnav.py b/dimos/robot/unitree/rosnav.py
similarity index 98%
rename from dimos/robot/unitree_webrtc/rosnav.py
rename to dimos/robot/unitree/rosnav.py
index 3244ecfd05..7a9b98b678 100644
--- a/dimos/robot/unitree_webrtc/rosnav.py
+++ b/dimos/robot/unitree/rosnav.py
@@ -119,7 +119,7 @@ def go_to(self, pose: PoseStamped, timeout: float = 60.0) -> bool:
         return False
 
     @rpc
-    def stop(self) -> bool:
+    def stop(self) -> None:
         """
         Cancel current navigation by publishing to cancel_goal.
 
@@ -131,6 +131,6 @@ def stop(self) -> bool:
         if self.cancel_goal:
             cancel_msg = Bool(data=True)
             self.cancel_goal.publish(cancel_msg)
-            return True
+            return
 
-        return False
+        return
diff --git a/dimos/robot/unitree/run.py b/dimos/robot/unitree/run.py
deleted file mode 100644
index 5b17ad7a9d..0000000000
--- a/dimos/robot/unitree/run.py
+++ /dev/null
@@ -1,115 +0,0 @@
-#!/usr/bin/env python3
-# Copyright 2025-2026 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.
-
-"""
-Centralized runner for modular Unitree robot deployment scripts.
-
-Usage:
-    python run.py g1agent --ip 192.168.1.100
-    python run.py g1/g1zed --ip $ROBOT_IP
-    python run.py go2/go2.py --ip $ROBOT_IP
-    python run.py connection/g1.py --ip $ROBOT_IP
-"""
-
-import argparse
-import importlib
-import os
-import sys
-
-from dotenv import load_dotenv
-
-from dimos.core import start, wait_exit
-
-
-def main() -> None:
-    load_dotenv()
-
-    parser = argparse.ArgumentParser(description="Unitree Robot Modular Deployment Runner")
-    parser.add_argument(
-        "module",
-        help="Module name/path to run (e.g., g1agent, g1/g1zed, go2/go2.py)",
-    )
-    parser.add_argument(
-        "--ip",
-        default=os.getenv("ROBOT_IP"),
-        help="Robot IP address (default: ROBOT_IP from .env)",
-    )
-    parser.add_argument(
-        "--workers",
-        type=int,
-        default=8,
-        help="Number of worker threads for DimosCluster (default: 8)",
-    )
-
-    args = parser.parse_args()
-
-    # Validate IP address
-    if not args.ip:
-        print("ERROR: Robot IP address not provided")
-        print("Please provide --ip or set ROBOT_IP in .env")
-        sys.exit(1)
-
-    # Parse the module path
-    module_path = args.module
-
-    # Remove .py extension if present
-    if module_path.endswith(".py"):
-        module_path = module_path[:-3]
-
-    # Convert path separators to dots for import
-    module_path = module_path.replace("/", ".")
-
-    # Import the module
-    try:
-        # Build the full import path
-        full_module_path = f"dimos.robot.unitree.{module_path}"
-        print(f"Importing module: {full_module_path}")
-        module = importlib.import_module(full_module_path)
-    except ImportError:
-        # Try as a relative import from the unitree package
-        try:
-            module = importlib.import_module(f".{module_path}", package="dimos.robot.unitree")
-        except ImportError as e2:
-            import traceback
-
-            traceback.print_exc()
-
-            print(f"\nERROR: Could not import module '{args.module}'")
-            print("Tried importing as:")
-            print(f"  1. {full_module_path}")
-            print("  2. Relative import from dimos.robot.unitree")
-            print("Make sure the module exists in dimos/robot/unitree/")
-            print(f"Import error: {e2}")
-
-            sys.exit(1)
-
-    # Verify deploy function exists
-    if not hasattr(module, "deploy"):
-        print(f"ERROR: Module '{args.module}' does not have a 'deploy' function")
-        sys.exit(1)
-
-    print(f"Running {args.module}.deploy() with IP {args.ip}")
-
-    # Run the standard deployment pattern
-    dimos = start(args.workers)
-    try:
-        module.deploy(dimos, args.ip)
-        wait_exit()
-    finally:
-        dimos.close_all()  # type: ignore[attr-defined]
-
-
-if __name__ == "__main__":
-    main()
diff --git a/dimos/robot/unitree/testing/__init__.py b/dimos/robot/unitree/testing/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/dimos/robot/unitree_webrtc/testing/helpers.py b/dimos/robot/unitree/testing/helpers.py
similarity index 100%
rename from dimos/robot/unitree_webrtc/testing/helpers.py
rename to dimos/robot/unitree/testing/helpers.py
diff --git a/dimos/robot/unitree_webrtc/testing/mock.py b/dimos/robot/unitree/testing/mock.py
similarity index 97%
rename from dimos/robot/unitree_webrtc/testing/mock.py
rename to dimos/robot/unitree/testing/mock.py
index 2af1754cb4..26e6a90018 100644
--- a/dimos/robot/unitree_webrtc/testing/mock.py
+++ b/dimos/robot/unitree/testing/mock.py
@@ -22,7 +22,7 @@
 from reactivex.observable import Observable
 
 from dimos.msgs.sensor_msgs import PointCloud2
-from dimos.robot.unitree_webrtc.type.lidar import RawLidarMsg, pointcloud2_from_webrtc_lidar
+from dimos.robot.unitree.type.lidar import RawLidarMsg, pointcloud2_from_webrtc_lidar
 
 
 class Mock:
diff --git a/dimos/robot/unitree_webrtc/testing/test_actors.py b/dimos/robot/unitree/testing/test_actors.py
similarity index 97%
rename from dimos/robot/unitree_webrtc/testing/test_actors.py
rename to dimos/robot/unitree/testing/test_actors.py
index e02f292c8b..9366092eb6 100644
--- a/dimos/robot/unitree_webrtc/testing/test_actors.py
+++ b/dimos/robot/unitree/testing/test_actors.py
@@ -20,7 +20,7 @@
 from dimos import core
 from dimos.core import Module, rpc
 from dimos.msgs.sensor_msgs import PointCloud2
-from dimos.robot.unitree_webrtc.type.map import Map as Mapper
+from dimos.robot.unitree.type.map import Map as Mapper
 
 
 @pytest.fixture
diff --git a/dimos/robot/unitree_webrtc/testing/test_tooling.py b/dimos/robot/unitree/testing/test_tooling.py
similarity index 89%
rename from dimos/robot/unitree_webrtc/testing/test_tooling.py
rename to dimos/robot/unitree/testing/test_tooling.py
index 50b689931e..d1f2eeb169 100644
--- a/dimos/robot/unitree_webrtc/testing/test_tooling.py
+++ b/dimos/robot/unitree/testing/test_tooling.py
@@ -16,8 +16,8 @@
 
 import pytest
 
-from dimos.robot.unitree_webrtc.type.lidar import pointcloud2_from_webrtc_lidar
-from dimos.robot.unitree_webrtc.type.odometry import Odometry
+from dimos.robot.unitree.type.lidar import pointcloud2_from_webrtc_lidar
+from dimos.robot.unitree.type.odometry import Odometry
 from dimos.utils.reactive import backpressure
 from dimos.utils.testing import TimedSensorReplay
 
diff --git a/dimos/robot/unitree/type/__init__.py b/dimos/robot/unitree/type/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/dimos/robot/unitree/type/lidar.py b/dimos/robot/unitree/type/lidar.py
new file mode 100644
index 0000000000..df2909dc38
--- /dev/null
+++ b/dimos/robot/unitree/type/lidar.py
@@ -0,0 +1,74 @@
+# Copyright 2025-2026 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.
+
+"""Unitree WebRTC lidar message parsing utilities."""
+
+import time
+from typing import TypedDict
+
+import numpy as np
+import open3d as o3d  # type: ignore[import-untyped]
+
+from dimos.msgs.sensor_msgs import PointCloud2
+
+# Backwards compatibility alias for pickled data
+LidarMessage = PointCloud2
+
+
+class RawLidarPoints(TypedDict):
+    points: np.ndarray  # type: ignore[type-arg]  # Shape (N, 3) array of 3D points [x, y, z]
+
+
+class RawLidarData(TypedDict):
+    """Data portion of the LIDAR message"""
+
+    frame_id: str
+    origin: list[float]
+    resolution: float
+    src_size: int
+    stamp: float
+    width: list[int]
+    data: RawLidarPoints
+
+
+class RawLidarMsg(TypedDict):
+    """Static type definition for raw LIDAR message from Unitree WebRTC."""
+
+    type: str
+    topic: str
+    data: RawLidarData
+
+
+def pointcloud2_from_webrtc_lidar(raw_message: RawLidarMsg, ts: float | None = None) -> PointCloud2:
+    """Convert a raw Unitree WebRTC lidar message to PointCloud2.
+
+    Args:
+        raw_message: Raw lidar message from Unitree WebRTC API
+        ts: Optional timestamp override. If None, uses current time.
+
+    Returns:
+        PointCloud2 message with the lidar points
+    """
+    data = raw_message["data"]
+    points = data["data"]["points"]
+
+    pointcloud = o3d.geometry.PointCloud()
+    pointcloud.points = o3d.utility.Vector3dVector(points)
+
+    return PointCloud2(
+        pointcloud=pointcloud,
+        # webrtc stamp is broken (e.g., "stamp": 1.758148e+09), use current time
+        ts=ts if ts is not None else time.time(),
+        frame_id="world",
+    )
diff --git a/dimos/robot/unitree/type/lowstate.py b/dimos/robot/unitree/type/lowstate.py
new file mode 100644
index 0000000000..3e7926424a
--- /dev/null
+++ b/dimos/robot/unitree/type/lowstate.py
@@ -0,0 +1,93 @@
+# Copyright 2025-2026 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.
+
+from typing import Literal, TypedDict
+
+raw_odom_msg_sample = {
+    "type": "msg",
+    "topic": "rt/lf/lowstate",
+    "data": {
+        "imu_state": {"rpy": [0.008086, -0.007515, 2.981771]},
+        "motor_state": [
+            {"q": 0.098092, "temperature": 40, "lost": 0, "reserve": [0, 674]},
+            {"q": 0.757921, "temperature": 32, "lost": 0, "reserve": [0, 674]},
+            {"q": -1.490911, "temperature": 38, "lost": 6, "reserve": [0, 674]},
+            {"q": -0.072477, "temperature": 42, "lost": 0, "reserve": [0, 674]},
+            {"q": 1.020276, "temperature": 32, "lost": 5, "reserve": [0, 674]},
+            {"q": -2.007172, "temperature": 38, "lost": 5, "reserve": [0, 674]},
+            {"q": 0.071382, "temperature": 50, "lost": 5, "reserve": [0, 674]},
+            {"q": 0.963379, "temperature": 36, "lost": 6, "reserve": [0, 674]},
+            {"q": -1.978311, "temperature": 40, "lost": 5, "reserve": [0, 674]},
+            {"q": -0.051066, "temperature": 48, "lost": 0, "reserve": [0, 674]},
+            {"q": 0.73103, "temperature": 34, "lost": 10, "reserve": [0, 674]},
+            {"q": -1.466473, "temperature": 38, "lost": 6, "reserve": [0, 674]},
+            {"q": 0, "temperature": 0, "lost": 0, "reserve": [0, 0]},
+            {"q": 0, "temperature": 0, "lost": 0, "reserve": [0, 0]},
+            {"q": 0, "temperature": 0, "lost": 0, "reserve": [0, 0]},
+            {"q": 0, "temperature": 0, "lost": 0, "reserve": [0, 0]},
+            {"q": 0, "temperature": 0, "lost": 0, "reserve": [0, 0]},
+            {"q": 0, "temperature": 0, "lost": 0, "reserve": [0, 0]},
+            {"q": 0, "temperature": 0, "lost": 0, "reserve": [0, 0]},
+            {"q": 0, "temperature": 0, "lost": 0, "reserve": [0, 0]},
+        ],
+        "bms_state": {
+            "version_high": 1,
+            "version_low": 18,
+            "soc": 55,
+            "current": -2481,
+            "cycle": 56,
+            "bq_ntc": [30, 29],
+            "mcu_ntc": [33, 32],
+        },
+        "foot_force": [97, 84, 81, 81],
+        "temperature_ntc1": 48,
+        "power_v": 28.331045,
+    },
+}
+
+
+class MotorState(TypedDict):
+    q: float
+    temperature: int
+    lost: int
+    reserve: list[int]
+
+
+class ImuState(TypedDict):
+    rpy: list[float]
+
+
+class BmsState(TypedDict):
+    version_high: int
+    version_low: int
+    soc: int
+    current: int
+    cycle: int
+    bq_ntc: list[int]
+    mcu_ntc: list[int]
+
+
+class LowStateData(TypedDict):
+    imu_state: ImuState
+    motor_state: list[MotorState]
+    bms_state: BmsState
+    foot_force: list[int]
+    temperature_ntc1: int
+    power_v: float
+
+
+class LowStateMsg(TypedDict):
+    type: Literal["msg"]
+    topic: str
+    data: LowStateData
diff --git a/dimos/robot/unitree/type/map.py b/dimos/robot/unitree/type/map.py
new file mode 100644
index 0000000000..a771467246
--- /dev/null
+++ b/dimos/robot/unitree/type/map.py
@@ -0,0 +1,128 @@
+# Copyright 2025-2026 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.
+
+from pathlib import Path
+import time
+from typing import Any
+
+import open3d as o3d  # type: ignore[import-untyped]
+from reactivex import interval
+from reactivex.disposable import Disposable
+
+from dimos.core import DimosCluster, In, LCMTransport, Module, Out, rpc
+from dimos.core.global_config import GlobalConfig, global_config
+from dimos.mapping.pointclouds.accumulators.general import GeneralPointCloudAccumulator
+from dimos.mapping.pointclouds.accumulators.protocol import PointCloudAccumulator
+from dimos.mapping.pointclouds.occupancy import general_occupancy
+from dimos.msgs.nav_msgs import OccupancyGrid
+from dimos.msgs.sensor_msgs import PointCloud2
+from dimos.robot.unitree.go2.connection import Go2ConnectionProtocol
+
+
+class Map(Module):
+    lidar: In[PointCloud2]
+    global_map: Out[PointCloud2]
+    global_costmap: Out[OccupancyGrid]
+
+    _point_cloud_accumulator: PointCloudAccumulator
+    _global_config: GlobalConfig
+    _preloaded_occupancy: OccupancyGrid | None = None
+
+    def __init__(  # type: ignore[no-untyped-def]
+        self,
+        voxel_size: float = 0.05,
+        cost_resolution: float = 0.05,
+        global_publish_interval: float | None = None,
+        min_height: float = 0.10,
+        max_height: float = 0.5,
+        cfg: GlobalConfig = global_config,
+        **kwargs,
+    ) -> None:
+        self.voxel_size = voxel_size
+        self.cost_resolution = cost_resolution
+        self.global_publish_interval = global_publish_interval
+        self.min_height = min_height
+        self.max_height = max_height
+        self._global_config = cfg
+        self._point_cloud_accumulator = GeneralPointCloudAccumulator(
+            self.voxel_size, self._global_config
+        )
+
+        if self._global_config.simulation:
+            self.min_height = 0.3
+
+        super().__init__(**kwargs)
+
+    @rpc
+    def start(self) -> None:
+        super().start()
+
+        self._disposables.add(Disposable(self.lidar.subscribe(self.add_frame)))
+
+        if self.global_publish_interval is not None:
+            unsub = interval(self.global_publish_interval).subscribe(self._publish)
+            self._disposables.add(unsub)
+
+    @rpc
+    def stop(self) -> None:
+        super().stop()
+
+    def to_PointCloud2(self) -> PointCloud2:
+        return PointCloud2(
+            pointcloud=self._point_cloud_accumulator.get_point_cloud(),
+            ts=time.time(),
+        )
+
+    # TODO: Why is this RPC?
+    @rpc
+    def add_frame(self, frame: PointCloud2) -> None:
+        self._point_cloud_accumulator.add(frame.pointcloud)
+
+    @property
+    def o3d_geometry(self) -> o3d.geometry.PointCloud:
+        return self._point_cloud_accumulator.get_point_cloud()
+
+    def _publish(self, _: Any) -> None:
+        self.global_map.publish(self.to_PointCloud2())
+
+        occupancygrid = general_occupancy(
+            self.to_PointCloud2(),
+            resolution=self.cost_resolution,
+            min_height=self.min_height,
+            max_height=self.max_height,
+        )
+
+        # When debugging occupancy navigation, load a predefined occupancy grid.
+        if self._global_config.mujoco_global_costmap_from_occupancy:
+            if self._preloaded_occupancy is None:
+                path = Path(self._global_config.mujoco_global_costmap_from_occupancy)
+                self._preloaded_occupancy = OccupancyGrid.from_path(path)
+            occupancygrid = self._preloaded_occupancy
+
+        self.global_costmap.publish(occupancygrid)
+
+
+mapper = Map.blueprint
+
+
+def deploy(dimos: DimosCluster, connection: Go2ConnectionProtocol):  # type: ignore[no-untyped-def]
+    mapper = dimos.deploy(Map, global_publish_interval=1.0)  # type: ignore[attr-defined]
+    mapper.global_map.transport = LCMTransport("/global_map", PointCloud2)
+    mapper.global_costmap.transport = LCMTransport("/global_costmap", OccupancyGrid)
+    mapper.lidar.connect(connection.pointcloud)  # type: ignore[attr-defined]
+    mapper.start()
+    return mapper
+
+
+__all__ = ["Map", "mapper"]
diff --git a/dimos/robot/unitree/type/odometry.py b/dimos/robot/unitree/type/odometry.py
new file mode 100644
index 0000000000..aa664b32ef
--- /dev/null
+++ b/dimos/robot/unitree/type/odometry.py
@@ -0,0 +1,102 @@
+# Copyright 2025-2026 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.
+from typing import Literal, TypedDict
+
+from dimos.msgs.geometry_msgs import PoseStamped, Quaternion, Vector3
+from dimos.robot.unitree.type.timeseries import (
+    Timestamped,
+)
+from dimos.types.timestamped import to_timestamp
+
+raw_odometry_msg_sample = {
+    "type": "msg",
+    "topic": "rt/utlidar/robot_pose",
+    "data": {
+        "header": {"stamp": {"sec": 1746565669, "nanosec": 448350564}, "frame_id": "odom"},
+        "pose": {
+            "position": {"x": 5.961965, "y": -2.916958, "z": 0.319509},
+            "orientation": {"x": 0.002787, "y": -0.000902, "z": -0.970244, "w": -0.242112},
+        },
+    },
+}
+
+
+class TimeStamp(TypedDict):
+    sec: int
+    nanosec: int
+
+
+class Header(TypedDict):
+    stamp: TimeStamp
+    frame_id: str
+
+
+class RawPosition(TypedDict):
+    x: float
+    y: float
+    z: float
+
+
+class Orientation(TypedDict):
+    x: float
+    y: float
+    z: float
+    w: float
+
+
+class PoseData(TypedDict):
+    position: RawPosition
+    orientation: Orientation
+
+
+class OdometryData(TypedDict):
+    header: Header
+    pose: PoseData
+
+
+class RawOdometryMessage(TypedDict):
+    type: Literal["msg"]
+    topic: str
+    data: OdometryData
+
+
+class Odometry(PoseStamped, Timestamped):  # type: ignore[misc]
+    name = "geometry_msgs.PoseStamped"
+
+    def __init__(self, frame_id: str = "base_link", *args, **kwargs) -> None:  # type: ignore[no-untyped-def]
+        super().__init__(frame_id=frame_id, *args, **kwargs)  # type: ignore[misc]
+
+    @classmethod
+    def from_msg(cls, msg: RawOdometryMessage) -> "Odometry":
+        pose = msg["data"]["pose"]
+
+        # Extract position
+        pos = Vector3(
+            pose["position"].get("x"),
+            pose["position"].get("y"),
+            pose["position"].get("z"),
+        )
+
+        rot = Quaternion(
+            pose["orientation"].get("x"),
+            pose["orientation"].get("y"),
+            pose["orientation"].get("z"),
+            pose["orientation"].get("w"),
+        )
+
+        ts = to_timestamp(msg["data"]["header"]["stamp"])
+        return Odometry(position=pos, orientation=rot, ts=ts, frame_id="world")
+
+    def __repr__(self) -> str:
+        return f"Odom pos({self.position}), rot({self.orientation})"
diff --git a/dimos/robot/unitree_webrtc/type/test_lidar.py b/dimos/robot/unitree/type/test_lidar.py
similarity index 83%
rename from dimos/robot/unitree_webrtc/type/test_lidar.py
rename to dimos/robot/unitree/type/test_lidar.py
index 7543fe63a7..719088d77a 100644
--- a/dimos/robot/unitree_webrtc/type/test_lidar.py
+++ b/dimos/robot/unitree/type/test_lidar.py
@@ -14,9 +14,10 @@
 # limitations under the License.
 
 import itertools
+from typing import cast
 
 from dimos.msgs.sensor_msgs import PointCloud2
-from dimos.robot.unitree_webrtc.type.lidar import pointcloud2_from_webrtc_lidar
+from dimos.robot.unitree.type.lidar import RawLidarMsg, pointcloud2_from_webrtc_lidar
 from dimos.utils.testing import SensorReplay
 
 
@@ -25,5 +26,5 @@ def test_init() -> None:
 
     for raw_frame in itertools.islice(lidar.iterate(), 5):
         assert isinstance(raw_frame, dict)
-        frame = pointcloud2_from_webrtc_lidar(raw_frame)
+        frame = pointcloud2_from_webrtc_lidar(cast("RawLidarMsg", raw_frame))
         assert isinstance(frame, PointCloud2)
diff --git a/dimos/robot/unitree_webrtc/type/test_odometry.py b/dimos/robot/unitree/type/test_odometry.py
similarity index 97%
rename from dimos/robot/unitree_webrtc/type/test_odometry.py
rename to dimos/robot/unitree/type/test_odometry.py
index e277455cdd..0fdd5f5ad9 100644
--- a/dimos/robot/unitree_webrtc/type/test_odometry.py
+++ b/dimos/robot/unitree/type/test_odometry.py
@@ -19,7 +19,7 @@
 import pytest
 import reactivex.operators as ops
 
-from dimos.robot.unitree_webrtc.type.odometry import Odometry
+from dimos.robot.unitree.type.odometry import Odometry
 from dimos.utils.testing import SensorReplay
 
 _EXPECTED_TOTAL_RAD = -4.05212
diff --git a/dimos/robot/unitree_webrtc/type/test_timeseries.py b/dimos/robot/unitree/type/test_timeseries.py
similarity index 95%
rename from dimos/robot/unitree_webrtc/type/test_timeseries.py
rename to dimos/robot/unitree/type/test_timeseries.py
index 2c7606d9f2..5164d91a94 100644
--- a/dimos/robot/unitree_webrtc/type/test_timeseries.py
+++ b/dimos/robot/unitree/type/test_timeseries.py
@@ -14,7 +14,7 @@
 
 from datetime import datetime, timedelta
 
-from dimos.robot.unitree_webrtc.type.timeseries import TEvent, TList
+from dimos.robot.unitree.type.timeseries import TEvent, TList
 
 fixed_date = datetime(2025, 5, 13, 15, 2, 5).astimezone()
 start_event = TEvent(fixed_date, 1)
diff --git a/dimos/robot/unitree/type/timeseries.py b/dimos/robot/unitree/type/timeseries.py
new file mode 100644
index 0000000000..b75a41b932
--- /dev/null
+++ b/dimos/robot/unitree/type/timeseries.py
@@ -0,0 +1,149 @@
+# Copyright 2025-2026 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.
+
+from __future__ import annotations
+
+from abc import ABC, abstractmethod
+from datetime import datetime, timedelta, timezone
+from typing import TYPE_CHECKING, Generic, TypedDict, TypeVar, Union
+
+if TYPE_CHECKING:
+    from collections.abc import Iterable
+
+PAYLOAD = TypeVar("PAYLOAD")
+
+
+class RosStamp(TypedDict):
+    sec: int
+    nanosec: int
+
+
+EpochLike = Union[int, float, datetime, RosStamp]
+
+
+def from_ros_stamp(stamp: dict[str, int], tz: timezone | None = None) -> datetime:
+    """Convert ROS-style timestamp {'sec': int, 'nanosec': int} to datetime."""
+    return datetime.fromtimestamp(stamp["sec"] + stamp["nanosec"] / 1e9, tz=tz)
+
+
+def to_human_readable(ts: EpochLike) -> str:
+    dt = to_datetime(ts)
+    return dt.strftime("%Y-%m-%d %H:%M:%S")
+
+
+def to_datetime(ts: EpochLike, tz: timezone | None = None) -> datetime:
+    if isinstance(ts, datetime):
+        # if ts.tzinfo is None:
+        #    ts = ts.astimezone(tz)
+        return ts
+    if isinstance(ts, int | float):
+        return datetime.fromtimestamp(ts, tz=tz)
+    if isinstance(ts, dict) and "sec" in ts and "nanosec" in ts:
+        return datetime.fromtimestamp(ts["sec"] + ts["nanosec"] / 1e9, tz=tz)
+    raise TypeError("unsupported timestamp type")
+
+
+class Timestamped(ABC):
+    """Abstract class for an event with a timestamp."""
+
+    ts: datetime
+
+    def __init__(self, ts: EpochLike) -> None:
+        self.ts = to_datetime(ts)
+
+
+class TEvent(Timestamped, Generic[PAYLOAD]):
+    """Concrete class for an event with a timestamp and data."""
+
+    def __init__(self, timestamp: EpochLike, data: PAYLOAD) -> None:
+        super().__init__(timestamp)
+        self.data = data
+
+    def __eq__(self, other: object) -> bool:
+        if not isinstance(other, TEvent):
+            return NotImplemented
+        return self.ts == other.ts and self.data == other.data
+
+    def __repr__(self) -> str:
+        return f"TEvent(ts={self.ts}, data={self.data})"
+
+
+EVENT = TypeVar("EVENT", bound=Timestamped)  # any object that is a subclass of Timestamped
+
+
+class Timeseries(ABC, Generic[EVENT]):
+    """Abstract class for an iterable of events with timestamps."""
+
+    @abstractmethod
+    def __iter__(self) -> Iterable[EVENT]: ...
+
+    @property
+    def start_time(self) -> datetime:
+        """Return the timestamp of the earliest event, assuming the data is sorted."""
+        return next(iter(self)).ts  # type: ignore[call-overload, no-any-return, type-var]
+
+    @property
+    def end_time(self) -> datetime:
+        """Return the timestamp of the latest event, assuming the data is sorted."""
+        return next(reversed(list(self))).ts  # type: ignore[call-overload, no-any-return]
+
+    @property
+    def frequency(self) -> float:
+        """Calculate the frequency of events in Hz."""
+        return len(list(self)) / (self.duration().total_seconds() or 1)  # type: ignore[call-overload]
+
+    def time_range(self) -> tuple[datetime, datetime]:
+        """Return (earliest_ts, latest_ts).  Empty input ⇒ ValueError."""
+        return self.start_time, self.end_time
+
+    def duration(self) -> timedelta:
+        """Total time spanned by the iterable (Δ = last - first)."""
+        return self.end_time - self.start_time
+
+    def closest_to(self, timestamp: EpochLike) -> EVENT:
+        """Return the event closest to the given timestamp. Assumes timeseries is sorted."""
+        print("closest to", timestamp)
+        target = to_datetime(timestamp)
+        print("converted to", target)
+        target_ts = target.timestamp()
+
+        closest = None
+        min_dist = float("inf")
+
+        for event in self:  # type: ignore[attr-defined]
+            dist = abs(event.ts - target_ts)
+            if dist > min_dist:
+                break
+
+            min_dist = dist
+            closest = event
+
+        print(f"closest: {closest}")
+        return closest  # type: ignore[return-value]
+
+    def __repr__(self) -> str:
+        """Return a string representation of the Timeseries."""
+        return f"Timeseries(date={self.start_time.strftime('%Y-%m-%d')}, start={self.start_time.strftime('%H:%M:%S')}, end={self.end_time.strftime('%H:%M:%S')}, duration={self.duration()}, events={len(list(self))}, freq={self.frequency:.2f}Hz)"  # type: ignore[call-overload]
+
+    def __str__(self) -> str:
+        """Return a string representation of the Timeseries."""
+        return self.__repr__()
+
+
+class TList(list[EVENT], Timeseries[EVENT]):
+    """A test class that inherits from both list and Timeseries."""
+
+    def __repr__(self) -> str:
+        """Return a string representation of the TList using Timeseries repr method."""
+        return Timeseries.__repr__(self)
diff --git a/dimos/robot/unitree/type/vector.py b/dimos/robot/unitree/type/vector.py
new file mode 100644
index 0000000000..58438c0a98
--- /dev/null
+++ b/dimos/robot/unitree/type/vector.py
@@ -0,0 +1,442 @@
+# Copyright 2025-2026 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.
+
+import builtins
+from collections.abc import Iterable
+from typing import (
+    Any,
+    Protocol,
+    TypeVar,
+    Union,
+    runtime_checkable,
+)
+
+import numpy as np
+from numpy.typing import NDArray
+
+T = TypeVar("T", bound="Vector")
+
+
+class Vector:
+    """A wrapper around numpy arrays for vector operations with intuitive syntax."""
+
+    def __init__(self, *args: Any) -> None:
+        """Initialize a vector from components or another iterable.
+
+        Examples:
+            Vector(1, 2)       # 2D vector
+            Vector(1, 2, 3)    # 3D vector
+            Vector([1, 2, 3])  # From list
+            Vector(np.array([1, 2, 3])) # From numpy array
+        """
+        if len(args) == 1 and hasattr(args[0], "__iter__"):
+            self._data = np.array(args[0], dtype=float)
+        elif len(args) == 1:
+            self._data = np.array([args[0].x, args[0].y, args[0].z], dtype=float)
+
+        else:
+            self._data = np.array(args, dtype=float)
+
+    @property
+    def yaw(self) -> float:
+        return self.x
+
+    @property
+    def tuple(self) -> tuple[float, ...]:
+        """Tuple representation of the vector."""
+        return tuple(self._data)
+
+    @property
+    def x(self) -> float:
+        """X component of the vector."""
+        return self._data[0] if len(self._data) > 0 else 0.0
+
+    @property
+    def y(self) -> float:
+        """Y component of the vector."""
+        return self._data[1] if len(self._data) > 1 else 0.0
+
+    @property
+    def z(self) -> float:
+        """Z component of the vector."""
+        return self._data[2] if len(self._data) > 2 else 0.0
+
+    @property
+    def dim(self) -> int:
+        """Dimensionality of the vector."""
+        return len(self._data)
+
+    @property
+    def data(self) -> NDArray[np.float64]:
+        """Get the underlying numpy array."""
+        return self._data
+
+    def __len__(self) -> int:
+        return len(self._data)
+
+    def __getitem__(self, idx: int) -> float:
+        return float(self._data[idx])
+
+    def __iter__(self) -> Iterable[float]:
+        return iter(self._data)  # type: ignore[no-any-return]
+
+    def __repr__(self) -> str:
+        components = ",".join(f"{x:.6g}" for x in self._data)
+        return f"({components})"
+
+    def __str__(self) -> str:
+        if self.dim < 2:
+            return self.__repr__()
+
+        def getArrow() -> str:
+            repr = ["←", "↖", "↑", "↗", "→", "↘", "↓", "↙"]
+
+            if self.y == 0 and self.x == 0:
+                return "·"
+
+            # Calculate angle in radians and convert to directional index
+            angle = np.arctan2(self.y, self.x)
+            # Map angle to 0-7 index (8 directions) with proper orientation
+            dir_index = int(((angle + np.pi) * 4 / np.pi) % 8)
+            # Get directional arrow symbol
+            return repr[dir_index]
+
+        return f"{getArrow()} Vector {self.__repr__()}"
+
+    def serialize(self) -> dict:  # type: ignore[type-arg]
+        """Serialize the vector to a dictionary."""
+        return {"type": "vector", "c": self._data.tolist()}
+
+    def __eq__(self, other: Any) -> bool:
+        if isinstance(other, Vector):
+            return np.array_equal(self._data, other._data)
+        return np.array_equal(self._data, np.array(other, dtype=float))
+
+    def __add__(self: T, other: Union["Vector", Iterable[float]]) -> T:
+        if isinstance(other, Vector):
+            return self.__class__(self._data + other._data)
+        return self.__class__(self._data + np.array(other, dtype=float))
+
+    def __sub__(self: T, other: Union["Vector", Iterable[float]]) -> T:
+        if isinstance(other, Vector):
+            return self.__class__(self._data - other._data)
+        return self.__class__(self._data - np.array(other, dtype=float))
+
+    def __mul__(self: T, scalar: float) -> T:
+        return self.__class__(self._data * scalar)
+
+    def __rmul__(self: T, scalar: float) -> T:
+        return self.__mul__(scalar)
+
+    def __truediv__(self: T, scalar: float) -> T:
+        return self.__class__(self._data / scalar)
+
+    def __neg__(self: T) -> T:
+        return self.__class__(-self._data)
+
+    def dot(self, other: Union["Vector", Iterable[float]]) -> float:
+        """Compute dot product."""
+        if isinstance(other, Vector):
+            return float(np.dot(self._data, other._data))
+        return float(np.dot(self._data, np.array(other, dtype=float)))
+
+    def cross(self: T, other: Union["Vector", Iterable[float]]) -> T:
+        """Compute cross product (3D vectors only)."""
+        if self.dim != 3:
+            raise ValueError("Cross product is only defined for 3D vectors")
+
+        if isinstance(other, Vector):
+            other_data = other._data
+        else:
+            other_data = np.array(other, dtype=float)
+
+        if len(other_data) != 3:
+            raise ValueError("Cross product requires two 3D vectors")
+
+        return self.__class__(np.cross(self._data, other_data))
+
+    def length(self) -> float:
+        """Compute the Euclidean length (magnitude) of the vector."""
+        return float(np.linalg.norm(self._data))
+
+    def length_squared(self) -> float:
+        """Compute the squared length of the vector (faster than length())."""
+        return float(np.sum(self._data * self._data))
+
+    def normalize(self: T) -> T:
+        """Return a normalized unit vector in the same direction."""
+        length = self.length()
+        if length < 1e-10:  # Avoid division by near-zero
+            return self.__class__(np.zeros_like(self._data))
+        return self.__class__(self._data / length)
+
+    def to_2d(self: T) -> T:
+        """Convert a vector to a 2D vector by taking only the x and y components."""
+        return self.__class__(self._data[:2])
+
+    def distance(self, other: Union["Vector", Iterable[float]]) -> float:
+        """Compute Euclidean distance to another vector."""
+        if isinstance(other, Vector):
+            return float(np.linalg.norm(self._data - other._data))
+        return float(np.linalg.norm(self._data - np.array(other, dtype=float)))
+
+    def distance_squared(self, other: Union["Vector", Iterable[float]]) -> float:
+        """Compute squared Euclidean distance to another vector (faster than distance())."""
+        if isinstance(other, Vector):
+            diff = self._data - other._data
+        else:
+            diff = self._data - np.array(other, dtype=float)
+        return float(np.sum(diff * diff))
+
+    def angle(self, other: Union["Vector", Iterable[float]]) -> float:
+        """Compute the angle (in radians) between this vector and another."""
+        if self.length() < 1e-10 or (isinstance(other, Vector) and other.length() < 1e-10):
+            return 0.0
+
+        if isinstance(other, Vector):
+            other_data = other._data
+        else:
+            other_data = np.array(other, dtype=float)
+
+        cos_angle = np.clip(
+            np.dot(self._data, other_data)
+            / (np.linalg.norm(self._data) * np.linalg.norm(other_data)),
+            -1.0,
+            1.0,
+        )
+        return float(np.arccos(cos_angle))
+
+    def project(self: T, onto: Union["Vector", Iterable[float]]) -> T:
+        """Project this vector onto another vector."""
+        if isinstance(onto, Vector):
+            onto_data = onto._data
+        else:
+            onto_data = np.array(onto, dtype=float)
+
+        onto_length_sq = np.sum(onto_data * onto_data)
+        if onto_length_sq < 1e-10:
+            return self.__class__(np.zeros_like(self._data))
+
+        scalar_projection = np.dot(self._data, onto_data) / onto_length_sq
+        return self.__class__(scalar_projection * onto_data)
+
+    @classmethod
+    def zeros(cls: type[T], dim: int) -> T:
+        """Create a zero vector of given dimension."""
+        return cls(np.zeros(dim))
+
+    @classmethod
+    def ones(cls: type[T], dim: int) -> T:
+        """Create a vector of ones with given dimension."""
+        return cls(np.ones(dim))
+
+    @classmethod
+    def unit_x(cls: type[T], dim: int = 3) -> T:
+        """Create a unit vector in the x direction."""
+        v = np.zeros(dim)
+        v[0] = 1.0
+        return cls(v)
+
+    @classmethod
+    def unit_y(cls: type[T], dim: int = 3) -> T:
+        """Create a unit vector in the y direction."""
+        v = np.zeros(dim)
+        v[1] = 1.0
+        return cls(v)
+
+    @classmethod
+    def unit_z(cls: type[T], dim: int = 3) -> T:
+        """Create a unit vector in the z direction."""
+        v = np.zeros(dim)
+        if dim > 2:
+            v[2] = 1.0
+        return cls(v)
+
+    def to_list(self) -> list[float]:
+        """Convert the vector to a list."""
+        return [float(x) for x in self._data]
+
+    def to_tuple(self) -> builtins.tuple[float, ...]:
+        """Convert the vector to a tuple."""
+        return tuple(self._data)
+
+    def to_numpy(self) -> NDArray[np.float64]:
+        """Convert the vector to a numpy array."""
+        return self._data
+
+
+# Protocol approach for static type checking
+@runtime_checkable
+class VectorLike(Protocol):
+    """Protocol for types that can be treated as vectors."""
+
+    def __getitem__(self, key: int) -> float: ...
+    def __len__(self) -> int: ...
+    def __iter__(self) -> Iterable[float]: ...
+
+
+def to_numpy(value: VectorLike) -> NDArray[np.float64]:
+    """Convert a vector-compatible value to a numpy array.
+
+    Args:
+        value: Any vector-like object (Vector, numpy array, tuple, list)
+
+    Returns:
+        Numpy array representation
+    """
+    if isinstance(value, Vector):
+        return value.data
+    elif isinstance(value, np.ndarray):
+        return value
+    else:
+        return np.array(value, dtype=float)
+
+
+def to_vector(value: VectorLike) -> Vector:
+    """Convert a vector-compatible value to a Vector object.
+
+    Args:
+        value: Any vector-like object (Vector, numpy array, tuple, list)
+
+    Returns:
+        Vector object
+    """
+    if isinstance(value, Vector):
+        return value
+    else:
+        return Vector(value)
+
+
+def to_tuple(value: VectorLike) -> tuple[float, ...]:
+    """Convert a vector-compatible value to a tuple.
+
+    Args:
+        value: Any vector-like object (Vector, numpy array, tuple, list)
+
+    Returns:
+        Tuple of floats
+    """
+    if isinstance(value, Vector):
+        return tuple(float(x) for x in value.data)
+    elif isinstance(value, np.ndarray):
+        return tuple(float(x) for x in value)
+    elif isinstance(value, tuple):
+        return tuple(float(x) for x in value)
+    else:
+        # Convert to list first to ensure we have an indexable sequence
+        data = [value[i] for i in range(len(value))]
+        return tuple(float(x) for x in data)
+
+
+def to_list(value: VectorLike) -> list[float]:
+    """Convert a vector-compatible value to a list.
+
+    Args:
+        value: Any vector-like object (Vector, numpy array, tuple, list)
+
+    Returns:
+        List of floats
+    """
+    if isinstance(value, Vector):
+        return [float(x) for x in value.data]
+    elif isinstance(value, np.ndarray):
+        return [float(x) for x in value]
+    elif isinstance(value, list):
+        return [float(x) for x in value]
+    else:
+        # Convert to list using indexing
+        return [float(value[i]) for i in range(len(value))]
+
+
+# Helper functions to check dimensionality
+def is_2d(value: VectorLike) -> bool:
+    """Check if a vector-compatible value is 2D.
+
+    Args:
+        value: Any vector-like object (Vector, numpy array, tuple, list)
+
+    Returns:
+        True if the value is 2D
+    """
+    if isinstance(value, Vector):
+        return len(value) == 2
+    elif isinstance(value, np.ndarray):
+        return value.shape[-1] == 2 or value.size == 2
+    else:
+        return len(value) == 2
+
+
+def is_3d(value: VectorLike) -> bool:
+    """Check if a vector-compatible value is 3D.
+
+    Args:
+        value: Any vector-like object (Vector, numpy array, tuple, list)
+
+    Returns:
+        True if the value is 3D
+    """
+    if isinstance(value, Vector):
+        return len(value) == 3
+    elif isinstance(value, np.ndarray):
+        return value.shape[-1] == 3 or value.size == 3
+    else:
+        return len(value) == 3
+
+
+# Extraction functions for XYZ components
+def x(value: VectorLike) -> float:
+    """Get the X component of a vector-compatible value.
+
+    Args:
+        value: Any vector-like object (Vector, numpy array, tuple, list)
+
+    Returns:
+        X component as a float
+    """
+    if isinstance(value, Vector):
+        return value.x
+    else:
+        return float(to_numpy(value)[0])
+
+
+def y(value: VectorLike) -> float:
+    """Get the Y component of a vector-compatible value.
+
+    Args:
+        value: Any vector-like object (Vector, numpy array, tuple, list)
+
+    Returns:
+        Y component as a float
+    """
+    if isinstance(value, Vector):
+        return value.y
+    else:
+        arr = to_numpy(value)
+        return float(arr[1]) if len(arr) > 1 else 0.0
+
+
+def z(value: VectorLike) -> float:
+    """Get the Z component of a vector-compatible value.
+
+    Args:
+        value: Any vector-like object (Vector, numpy array, tuple, list)
+
+    Returns:
+        Z component as a float
+    """
+    if isinstance(value, Vector):
+        return value.z
+    else:
+        arr = to_numpy(value)
+        return float(arr[2]) if len(arr) > 2 else 0.0
diff --git a/dimos/robot/unitree_webrtc/unitree_skill_container.py b/dimos/robot/unitree/unitree_skill_container.py
similarity index 98%
rename from dimos/robot/unitree_webrtc/unitree_skill_container.py
rename to dimos/robot/unitree/unitree_skill_container.py
index c3dea43424..5cab15c369 100644
--- a/dimos/robot/unitree_webrtc/unitree_skill_container.py
+++ b/dimos/robot/unitree/unitree_skill_container.py
@@ -27,7 +27,7 @@
 from dimos.navigation.base import NavigationState
 from dimos.protocol.skill.skill import skill
 from dimos.protocol.skill.type import Reducer, Stream
-from dimos.robot.unitree_webrtc.unitree_skills import UNITREE_WEBRTC_CONTROLS
+from dimos.robot.unitree.unitree_skills import UNITREE_WEBRTC_CONTROLS
 from dimos.utils.logging_config import setup_logger
 
 logger = setup_logger()
diff --git a/dimos/robot/unitree_webrtc/unitree_skills.py b/dimos/robot/unitree/unitree_skills.py
similarity index 100%
rename from dimos/robot/unitree_webrtc/unitree_skills.py
rename to dimos/robot/unitree/unitree_skills.py
diff --git a/dimos/robot/unitree_webrtc/README.md b/dimos/robot/unitree_webrtc/README.md
new file mode 100644
index 0000000000..ce39201c8b
--- /dev/null
+++ b/dimos/robot/unitree_webrtc/README.md
@@ -0,0 +1 @@
+This directory only exists because some of the --replay tests depend on its existence (python pickle uses module names/paths so we would need to redo the pickle files).
diff --git a/dimos/robot/unitree_webrtc/__init__.py b/dimos/robot/unitree_webrtc/__init__.py
index e69de29bb2..b8660ff6fd 100644
--- a/dimos/robot/unitree_webrtc/__init__.py
+++ b/dimos/robot/unitree_webrtc/__init__.py
@@ -0,0 +1,33 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+"""Compatibility package for legacy dimos.robot.unitree_webrtc imports."""
+
+from importlib import import_module
+import sys
+
+_ALIAS_MODULES = {
+    "demo_error_on_name_conflicts": "dimos.robot.unitree.demo_error_on_name_conflicts",
+    "depth_module": "dimos.robot.unitree.depth_module",
+    "keyboard_teleop": "dimos.robot.unitree.keyboard_teleop",
+    "mujoco_connection": "dimos.robot.unitree.mujoco_connection",
+    "type": "dimos.robot.unitree.type",
+    "unitree_g1_skill_container": "dimos.robot.unitree.g1.skill_container",
+    "unitree_skill_container": "dimos.robot.unitree.unitree_skill_container",
+    "unitree_skills": "dimos.robot.unitree.unitree_skills",
+}
+
+for alias, target in _ALIAS_MODULES.items():
+    sys.modules[f"{__name__}.{alias}"] = import_module(target)
diff --git a/dimos/robot/unitree_webrtc/type/__init__.py b/dimos/robot/unitree_webrtc/type/__init__.py
index e69de29bb2..03ff4f4563 100644
--- a/dimos/robot/unitree_webrtc/type/__init__.py
+++ b/dimos/robot/unitree_webrtc/type/__init__.py
@@ -0,0 +1,33 @@
+#!/usr/bin/env python3
+# Copyright 2025-2026 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.
+
+"""Compatibility re-exports for legacy dimos.robot.unitree_webrtc.type.* imports."""
+
+import importlib
+
+__all__ = []
+
+
+def __getattr__(name: str):  # type: ignore[no-untyped-def]
+    module = importlib.import_module("dimos.robot.unitree.type")
+    try:
+        return getattr(module, name)
+    except AttributeError as exc:
+        raise AttributeError(f"No {__name__} attribute {name}") from exc
+
+
+def __dir__() -> list[str]:
+    module = importlib.import_module("dimos.robot.unitree.type")
+    return [name for name in dir(module) if not name.startswith("_")]
diff --git a/dimos/robot/unitree_webrtc/type/lidar.py b/dimos/robot/unitree_webrtc/type/lidar.py
index df2909dc38..d8dbe98fd2 100644
--- a/dimos/robot/unitree_webrtc/type/lidar.py
+++ b/dimos/robot/unitree_webrtc/type/lidar.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 # Copyright 2025-2026 Dimensional Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -12,63 +13,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Unitree WebRTC lidar message parsing utilities."""
+"""Compatibility re-export for dimos.robot.unitree_webrtc.type.${name}."""
 
-import time
-from typing import TypedDict
-
-import numpy as np
-import open3d as o3d  # type: ignore[import-untyped]
-
-from dimos.msgs.sensor_msgs import PointCloud2
-
-# Backwards compatibility alias for pickled data
-LidarMessage = PointCloud2
-
-
-class RawLidarPoints(TypedDict):
-    points: np.ndarray  # type: ignore[type-arg]  # Shape (N, 3) array of 3D points [x, y, z]
-
-
-class RawLidarData(TypedDict):
-    """Data portion of the LIDAR message"""
-
-    frame_id: str
-    origin: list[float]
-    resolution: float
-    src_size: int
-    stamp: float
-    width: list[int]
-    data: RawLidarPoints
-
-
-class RawLidarMsg(TypedDict):
-    """Static type definition for raw LIDAR message from Unitree WebRTC."""
-
-    type: str
-    topic: str
-    data: RawLidarData
-
-
-def pointcloud2_from_webrtc_lidar(raw_message: RawLidarMsg, ts: float | None = None) -> PointCloud2:
-    """Convert a raw Unitree WebRTC lidar message to PointCloud2.
-
-    Args:
-        raw_message: Raw lidar message from Unitree WebRTC API
-        ts: Optional timestamp override. If None, uses current time.
-
-    Returns:
-        PointCloud2 message with the lidar points
-    """
-    data = raw_message["data"]
-    points = data["data"]["points"]
-
-    pointcloud = o3d.geometry.PointCloud()
-    pointcloud.points = o3d.utility.Vector3dVector(points)
-
-    return PointCloud2(
-        pointcloud=pointcloud,
-        # webrtc stamp is broken (e.g., "stamp": 1.758148e+09), use current time
-        ts=ts if ts is not None else time.time(),
-        frame_id="world",
-    )
+from dimos.robot.unitree.type.lidar import *  # noqa: F403
diff --git a/dimos/robot/unitree_webrtc/type/lowstate.py b/dimos/robot/unitree_webrtc/type/lowstate.py
index 3e7926424a..d92ee4d5b1 100644
--- a/dimos/robot/unitree_webrtc/type/lowstate.py
+++ b/dimos/robot/unitree_webrtc/type/lowstate.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 # Copyright 2025-2026 Dimensional Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -12,82 +13,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from typing import Literal, TypedDict
+"""Compatibility re-export for dimos.robot.unitree_webrtc.type.${name}."""
 
-raw_odom_msg_sample = {
-    "type": "msg",
-    "topic": "rt/lf/lowstate",
-    "data": {
-        "imu_state": {"rpy": [0.008086, -0.007515, 2.981771]},
-        "motor_state": [
-            {"q": 0.098092, "temperature": 40, "lost": 0, "reserve": [0, 674]},
-            {"q": 0.757921, "temperature": 32, "lost": 0, "reserve": [0, 674]},
-            {"q": -1.490911, "temperature": 38, "lost": 6, "reserve": [0, 674]},
-            {"q": -0.072477, "temperature": 42, "lost": 0, "reserve": [0, 674]},
-            {"q": 1.020276, "temperature": 32, "lost": 5, "reserve": [0, 674]},
-            {"q": -2.007172, "temperature": 38, "lost": 5, "reserve": [0, 674]},
-            {"q": 0.071382, "temperature": 50, "lost": 5, "reserve": [0, 674]},
-            {"q": 0.963379, "temperature": 36, "lost": 6, "reserve": [0, 674]},
-            {"q": -1.978311, "temperature": 40, "lost": 5, "reserve": [0, 674]},
-            {"q": -0.051066, "temperature": 48, "lost": 0, "reserve": [0, 674]},
-            {"q": 0.73103, "temperature": 34, "lost": 10, "reserve": [0, 674]},
-            {"q": -1.466473, "temperature": 38, "lost": 6, "reserve": [0, 674]},
-            {"q": 0, "temperature": 0, "lost": 0, "reserve": [0, 0]},
-            {"q": 0, "temperature": 0, "lost": 0, "reserve": [0, 0]},
-            {"q": 0, "temperature": 0, "lost": 0, "reserve": [0, 0]},
-            {"q": 0, "temperature": 0, "lost": 0, "reserve": [0, 0]},
-            {"q": 0, "temperature": 0, "lost": 0, "reserve": [0, 0]},
-            {"q": 0, "temperature": 0, "lost": 0, "reserve": [0, 0]},
-            {"q": 0, "temperature": 0, "lost": 0, "reserve": [0, 0]},
-            {"q": 0, "temperature": 0, "lost": 0, "reserve": [0, 0]},
-        ],
-        "bms_state": {
-            "version_high": 1,
-            "version_low": 18,
-            "soc": 55,
-            "current": -2481,
-            "cycle": 56,
-            "bq_ntc": [30, 29],
-            "mcu_ntc": [33, 32],
-        },
-        "foot_force": [97, 84, 81, 81],
-        "temperature_ntc1": 48,
-        "power_v": 28.331045,
-    },
-}
-
-
-class MotorState(TypedDict):
-    q: float
-    temperature: int
-    lost: int
-    reserve: list[int]
-
-
-class ImuState(TypedDict):
-    rpy: list[float]
-
-
-class BmsState(TypedDict):
-    version_high: int
-    version_low: int
-    soc: int
-    current: int
-    cycle: int
-    bq_ntc: list[int]
-    mcu_ntc: list[int]
-
-
-class LowStateData(TypedDict):
-    imu_state: ImuState
-    motor_state: list[MotorState]
-    bms_state: BmsState
-    foot_force: list[int]
-    temperature_ntc1: int
-    power_v: float
-
-
-class LowStateMsg(TypedDict):
-    type: Literal["msg"]
-    topic: str
-    data: LowStateData
+from dimos.robot.unitree.type.lowstate import *  # noqa: F403
diff --git a/dimos/robot/unitree_webrtc/type/map.py b/dimos/robot/unitree_webrtc/type/map.py
index aa107ca48a..69bbb409c7 100644
--- a/dimos/robot/unitree_webrtc/type/map.py
+++ b/dimos/robot/unitree_webrtc/type/map.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 # Copyright 2025-2026 Dimensional Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -12,117 +13,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from pathlib import Path
-import time
-from typing import Any
+"""Compatibility re-export for dimos.robot.unitree_webrtc.type.${name}."""
 
-import open3d as o3d  # type: ignore[import-untyped]
-from reactivex import interval
-from reactivex.disposable import Disposable
-
-from dimos.core import DimosCluster, In, LCMTransport, Module, Out, rpc
-from dimos.core.global_config import GlobalConfig, global_config
-from dimos.mapping.pointclouds.accumulators.general import GeneralPointCloudAccumulator
-from dimos.mapping.pointclouds.accumulators.protocol import PointCloudAccumulator
-from dimos.mapping.pointclouds.occupancy import general_occupancy
-from dimos.msgs.nav_msgs import OccupancyGrid
-from dimos.msgs.sensor_msgs import PointCloud2
-from dimos.robot.unitree.connection.go2 import Go2ConnectionProtocol
-
-
-class Map(Module):
-    lidar: In[PointCloud2]
-    global_map: Out[PointCloud2]
-    global_costmap: Out[OccupancyGrid]
-
-    _point_cloud_accumulator: PointCloudAccumulator
-    _global_config: GlobalConfig
-    _preloaded_occupancy: OccupancyGrid | None = None
-
-    def __init__(  # type: ignore[no-untyped-def]
-        self,
-        voxel_size: float = 0.05,
-        cost_resolution: float = 0.05,
-        global_publish_interval: float | None = None,
-        min_height: float = 0.10,
-        max_height: float = 0.5,
-        cfg: GlobalConfig = global_config,
-        **kwargs,
-    ) -> None:
-        self.voxel_size = voxel_size
-        self.cost_resolution = cost_resolution
-        self.global_publish_interval = global_publish_interval
-        self.min_height = min_height
-        self.max_height = max_height
-        self._global_config = cfg
-        self._point_cloud_accumulator = GeneralPointCloudAccumulator(
-            self.voxel_size, self._global_config
-        )
-
-        if self._global_config.simulation:
-            self.min_height = 0.3
-
-        super().__init__(**kwargs)
-
-    @rpc
-    def start(self) -> None:
-        super().start()
-
-        self._disposables.add(Disposable(self.lidar.subscribe(self.add_frame)))
-
-        if self.global_publish_interval is not None:
-            unsub = interval(self.global_publish_interval).subscribe(self._publish)
-            self._disposables.add(unsub)
-
-    @rpc
-    def stop(self) -> None:
-        super().stop()
-
-    def to_PointCloud2(self) -> PointCloud2:
-        return PointCloud2(
-            pointcloud=self._point_cloud_accumulator.get_point_cloud(),
-            ts=time.time(),
-        )
-
-    # TODO: Why is this RPC?
-    @rpc
-    def add_frame(self, frame: PointCloud2) -> None:
-        self._point_cloud_accumulator.add(frame.pointcloud)
-
-    @property
-    def o3d_geometry(self) -> o3d.geometry.PointCloud:
-        return self._point_cloud_accumulator.get_point_cloud()
-
-    def _publish(self, _: Any) -> None:
-        self.global_map.publish(self.to_PointCloud2())
-
-        occupancygrid = general_occupancy(
-            self.to_PointCloud2(),
-            resolution=self.cost_resolution,
-            min_height=self.min_height,
-            max_height=self.max_height,
-        )
-
-        # When debugging occupancy navigation, load a predefined occupancy grid.
-        if self._global_config.mujoco_global_costmap_from_occupancy:
-            if self._preloaded_occupancy is None:
-                path = Path(self._global_config.mujoco_global_costmap_from_occupancy)
-                self._preloaded_occupancy = OccupancyGrid.from_path(path)
-            occupancygrid = self._preloaded_occupancy
-
-        self.global_costmap.publish(occupancygrid)
-
-
-mapper = Map.blueprint
-
-
-def deploy(dimos: DimosCluster, connection: Go2ConnectionProtocol):  # type: ignore[no-untyped-def]
-    mapper = dimos.deploy(Map, global_publish_interval=1.0)  # type: ignore[attr-defined]
-    mapper.global_map.transport = LCMTransport("/global_map", PointCloud2)
-    mapper.global_costmap.transport = LCMTransport("/global_costmap", OccupancyGrid)
-    mapper.lidar.connect(connection.pointcloud)  # type: ignore[attr-defined]
-    mapper.start()
-    return mapper
-
-
-__all__ = ["Map", "mapper"]
+from dimos.robot.unitree.type.map import *  # noqa: F403
diff --git a/dimos/robot/unitree_webrtc/type/odometry.py b/dimos/robot/unitree_webrtc/type/odometry.py
index 9f0b400691..111ba0b945 100644
--- a/dimos/robot/unitree_webrtc/type/odometry.py
+++ b/dimos/robot/unitree_webrtc/type/odometry.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 # Copyright 2025-2026 Dimensional Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -11,92 +12,7 @@
 # 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.
-from typing import Literal, TypedDict
 
-from dimos.msgs.geometry_msgs import PoseStamped, Quaternion, Vector3
-from dimos.robot.unitree_webrtc.type.timeseries import (
-    Timestamped,
-)
-from dimos.types.timestamped import to_timestamp
+"""Compatibility re-export for dimos.robot.unitree_webrtc.type.${name}."""
 
-raw_odometry_msg_sample = {
-    "type": "msg",
-    "topic": "rt/utlidar/robot_pose",
-    "data": {
-        "header": {"stamp": {"sec": 1746565669, "nanosec": 448350564}, "frame_id": "odom"},
-        "pose": {
-            "position": {"x": 5.961965, "y": -2.916958, "z": 0.319509},
-            "orientation": {"x": 0.002787, "y": -0.000902, "z": -0.970244, "w": -0.242112},
-        },
-    },
-}
-
-
-class TimeStamp(TypedDict):
-    sec: int
-    nanosec: int
-
-
-class Header(TypedDict):
-    stamp: TimeStamp
-    frame_id: str
-
-
-class RawPosition(TypedDict):
-    x: float
-    y: float
-    z: float
-
-
-class Orientation(TypedDict):
-    x: float
-    y: float
-    z: float
-    w: float
-
-
-class PoseData(TypedDict):
-    position: RawPosition
-    orientation: Orientation
-
-
-class OdometryData(TypedDict):
-    header: Header
-    pose: PoseData
-
-
-class RawOdometryMessage(TypedDict):
-    type: Literal["msg"]
-    topic: str
-    data: OdometryData
-
-
-class Odometry(PoseStamped, Timestamped):  # type: ignore[misc]
-    name = "geometry_msgs.PoseStamped"
-
-    def __init__(self, frame_id: str = "base_link", *args, **kwargs) -> None:  # type: ignore[no-untyped-def]
-        super().__init__(frame_id=frame_id, *args, **kwargs)  # type: ignore[misc]
-
-    @classmethod
-    def from_msg(cls, msg: RawOdometryMessage) -> "Odometry":
-        pose = msg["data"]["pose"]
-
-        # Extract position
-        pos = Vector3(
-            pose["position"].get("x"),
-            pose["position"].get("y"),
-            pose["position"].get("z"),
-        )
-
-        rot = Quaternion(
-            pose["orientation"].get("x"),
-            pose["orientation"].get("y"),
-            pose["orientation"].get("z"),
-            pose["orientation"].get("w"),
-        )
-
-        ts = to_timestamp(msg["data"]["header"]["stamp"])
-        return Odometry(position=pos, orientation=rot, ts=ts, frame_id="world")
-
-    def __repr__(self) -> str:
-        return f"Odom pos({self.position}), rot({self.orientation})"
+from dimos.robot.unitree.type.odometry import *  # noqa: F403
diff --git a/dimos/robot/unitree_webrtc/type/timeseries.py b/dimos/robot/unitree_webrtc/type/timeseries.py
index b75a41b932..34f9587ade 100644
--- a/dimos/robot/unitree_webrtc/type/timeseries.py
+++ b/dimos/robot/unitree_webrtc/type/timeseries.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 # Copyright 2025-2026 Dimensional Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -12,138 +13,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from __future__ import annotations
+"""Compatibility re-export for dimos.robot.unitree_webrtc.type.${name}."""
 
-from abc import ABC, abstractmethod
-from datetime import datetime, timedelta, timezone
-from typing import TYPE_CHECKING, Generic, TypedDict, TypeVar, Union
-
-if TYPE_CHECKING:
-    from collections.abc import Iterable
-
-PAYLOAD = TypeVar("PAYLOAD")
-
-
-class RosStamp(TypedDict):
-    sec: int
-    nanosec: int
-
-
-EpochLike = Union[int, float, datetime, RosStamp]
-
-
-def from_ros_stamp(stamp: dict[str, int], tz: timezone | None = None) -> datetime:
-    """Convert ROS-style timestamp {'sec': int, 'nanosec': int} to datetime."""
-    return datetime.fromtimestamp(stamp["sec"] + stamp["nanosec"] / 1e9, tz=tz)
-
-
-def to_human_readable(ts: EpochLike) -> str:
-    dt = to_datetime(ts)
-    return dt.strftime("%Y-%m-%d %H:%M:%S")
-
-
-def to_datetime(ts: EpochLike, tz: timezone | None = None) -> datetime:
-    if isinstance(ts, datetime):
-        # if ts.tzinfo is None:
-        #    ts = ts.astimezone(tz)
-        return ts
-    if isinstance(ts, int | float):
-        return datetime.fromtimestamp(ts, tz=tz)
-    if isinstance(ts, dict) and "sec" in ts and "nanosec" in ts:
-        return datetime.fromtimestamp(ts["sec"] + ts["nanosec"] / 1e9, tz=tz)
-    raise TypeError("unsupported timestamp type")
-
-
-class Timestamped(ABC):
-    """Abstract class for an event with a timestamp."""
-
-    ts: datetime
-
-    def __init__(self, ts: EpochLike) -> None:
-        self.ts = to_datetime(ts)
-
-
-class TEvent(Timestamped, Generic[PAYLOAD]):
-    """Concrete class for an event with a timestamp and data."""
-
-    def __init__(self, timestamp: EpochLike, data: PAYLOAD) -> None:
-        super().__init__(timestamp)
-        self.data = data
-
-    def __eq__(self, other: object) -> bool:
-        if not isinstance(other, TEvent):
-            return NotImplemented
-        return self.ts == other.ts and self.data == other.data
-
-    def __repr__(self) -> str:
-        return f"TEvent(ts={self.ts}, data={self.data})"
-
-
-EVENT = TypeVar("EVENT", bound=Timestamped)  # any object that is a subclass of Timestamped
-
-
-class Timeseries(ABC, Generic[EVENT]):
-    """Abstract class for an iterable of events with timestamps."""
-
-    @abstractmethod
-    def __iter__(self) -> Iterable[EVENT]: ...
-
-    @property
-    def start_time(self) -> datetime:
-        """Return the timestamp of the earliest event, assuming the data is sorted."""
-        return next(iter(self)).ts  # type: ignore[call-overload, no-any-return, type-var]
-
-    @property
-    def end_time(self) -> datetime:
-        """Return the timestamp of the latest event, assuming the data is sorted."""
-        return next(reversed(list(self))).ts  # type: ignore[call-overload, no-any-return]
-
-    @property
-    def frequency(self) -> float:
-        """Calculate the frequency of events in Hz."""
-        return len(list(self)) / (self.duration().total_seconds() or 1)  # type: ignore[call-overload]
-
-    def time_range(self) -> tuple[datetime, datetime]:
-        """Return (earliest_ts, latest_ts).  Empty input ⇒ ValueError."""
-        return self.start_time, self.end_time
-
-    def duration(self) -> timedelta:
-        """Total time spanned by the iterable (Δ = last - first)."""
-        return self.end_time - self.start_time
-
-    def closest_to(self, timestamp: EpochLike) -> EVENT:
-        """Return the event closest to the given timestamp. Assumes timeseries is sorted."""
-        print("closest to", timestamp)
-        target = to_datetime(timestamp)
-        print("converted to", target)
-        target_ts = target.timestamp()
-
-        closest = None
-        min_dist = float("inf")
-
-        for event in self:  # type: ignore[attr-defined]
-            dist = abs(event.ts - target_ts)
-            if dist > min_dist:
-                break
-
-            min_dist = dist
-            closest = event
-
-        print(f"closest: {closest}")
-        return closest  # type: ignore[return-value]
-
-    def __repr__(self) -> str:
-        """Return a string representation of the Timeseries."""
-        return f"Timeseries(date={self.start_time.strftime('%Y-%m-%d')}, start={self.start_time.strftime('%H:%M:%S')}, end={self.end_time.strftime('%H:%M:%S')}, duration={self.duration()}, events={len(list(self))}, freq={self.frequency:.2f}Hz)"  # type: ignore[call-overload]
-
-    def __str__(self) -> str:
-        """Return a string representation of the Timeseries."""
-        return self.__repr__()
-
-
-class TList(list[EVENT], Timeseries[EVENT]):
-    """A test class that inherits from both list and Timeseries."""
-
-    def __repr__(self) -> str:
-        """Return a string representation of the TList using Timeseries repr method."""
-        return Timeseries.__repr__(self)
+from dimos.robot.unitree.type.timeseries import *  # noqa: F403
diff --git a/dimos/robot/unitree_webrtc/type/vector.py b/dimos/robot/unitree_webrtc/type/vector.py
index 58438c0a98..20d07c76e8 100644
--- a/dimos/robot/unitree_webrtc/type/vector.py
+++ b/dimos/robot/unitree_webrtc/type/vector.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 # Copyright 2025-2026 Dimensional Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -12,431 +13,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import builtins
-from collections.abc import Iterable
-from typing import (
-    Any,
-    Protocol,
-    TypeVar,
-    Union,
-    runtime_checkable,
-)
+"""Compatibility re-export for dimos.robot.unitree_webrtc.type.${name}."""
 
-import numpy as np
-from numpy.typing import NDArray
-
-T = TypeVar("T", bound="Vector")
-
-
-class Vector:
-    """A wrapper around numpy arrays for vector operations with intuitive syntax."""
-
-    def __init__(self, *args: Any) -> None:
-        """Initialize a vector from components or another iterable.
-
-        Examples:
-            Vector(1, 2)       # 2D vector
-            Vector(1, 2, 3)    # 3D vector
-            Vector([1, 2, 3])  # From list
-            Vector(np.array([1, 2, 3])) # From numpy array
-        """
-        if len(args) == 1 and hasattr(args[0], "__iter__"):
-            self._data = np.array(args[0], dtype=float)
-        elif len(args) == 1:
-            self._data = np.array([args[0].x, args[0].y, args[0].z], dtype=float)
-
-        else:
-            self._data = np.array(args, dtype=float)
-
-    @property
-    def yaw(self) -> float:
-        return self.x
-
-    @property
-    def tuple(self) -> tuple[float, ...]:
-        """Tuple representation of the vector."""
-        return tuple(self._data)
-
-    @property
-    def x(self) -> float:
-        """X component of the vector."""
-        return self._data[0] if len(self._data) > 0 else 0.0
-
-    @property
-    def y(self) -> float:
-        """Y component of the vector."""
-        return self._data[1] if len(self._data) > 1 else 0.0
-
-    @property
-    def z(self) -> float:
-        """Z component of the vector."""
-        return self._data[2] if len(self._data) > 2 else 0.0
-
-    @property
-    def dim(self) -> int:
-        """Dimensionality of the vector."""
-        return len(self._data)
-
-    @property
-    def data(self) -> NDArray[np.float64]:
-        """Get the underlying numpy array."""
-        return self._data
-
-    def __len__(self) -> int:
-        return len(self._data)
-
-    def __getitem__(self, idx: int) -> float:
-        return float(self._data[idx])
-
-    def __iter__(self) -> Iterable[float]:
-        return iter(self._data)  # type: ignore[no-any-return]
-
-    def __repr__(self) -> str:
-        components = ",".join(f"{x:.6g}" for x in self._data)
-        return f"({components})"
-
-    def __str__(self) -> str:
-        if self.dim < 2:
-            return self.__repr__()
-
-        def getArrow() -> str:
-            repr = ["←", "↖", "↑", "↗", "→", "↘", "↓", "↙"]
-
-            if self.y == 0 and self.x == 0:
-                return "·"
-
-            # Calculate angle in radians and convert to directional index
-            angle = np.arctan2(self.y, self.x)
-            # Map angle to 0-7 index (8 directions) with proper orientation
-            dir_index = int(((angle + np.pi) * 4 / np.pi) % 8)
-            # Get directional arrow symbol
-            return repr[dir_index]
-
-        return f"{getArrow()} Vector {self.__repr__()}"
-
-    def serialize(self) -> dict:  # type: ignore[type-arg]
-        """Serialize the vector to a dictionary."""
-        return {"type": "vector", "c": self._data.tolist()}
-
-    def __eq__(self, other: Any) -> bool:
-        if isinstance(other, Vector):
-            return np.array_equal(self._data, other._data)
-        return np.array_equal(self._data, np.array(other, dtype=float))
-
-    def __add__(self: T, other: Union["Vector", Iterable[float]]) -> T:
-        if isinstance(other, Vector):
-            return self.__class__(self._data + other._data)
-        return self.__class__(self._data + np.array(other, dtype=float))
-
-    def __sub__(self: T, other: Union["Vector", Iterable[float]]) -> T:
-        if isinstance(other, Vector):
-            return self.__class__(self._data - other._data)
-        return self.__class__(self._data - np.array(other, dtype=float))
-
-    def __mul__(self: T, scalar: float) -> T:
-        return self.__class__(self._data * scalar)
-
-    def __rmul__(self: T, scalar: float) -> T:
-        return self.__mul__(scalar)
-
-    def __truediv__(self: T, scalar: float) -> T:
-        return self.__class__(self._data / scalar)
-
-    def __neg__(self: T) -> T:
-        return self.__class__(-self._data)
-
-    def dot(self, other: Union["Vector", Iterable[float]]) -> float:
-        """Compute dot product."""
-        if isinstance(other, Vector):
-            return float(np.dot(self._data, other._data))
-        return float(np.dot(self._data, np.array(other, dtype=float)))
-
-    def cross(self: T, other: Union["Vector", Iterable[float]]) -> T:
-        """Compute cross product (3D vectors only)."""
-        if self.dim != 3:
-            raise ValueError("Cross product is only defined for 3D vectors")
-
-        if isinstance(other, Vector):
-            other_data = other._data
-        else:
-            other_data = np.array(other, dtype=float)
-
-        if len(other_data) != 3:
-            raise ValueError("Cross product requires two 3D vectors")
-
-        return self.__class__(np.cross(self._data, other_data))
-
-    def length(self) -> float:
-        """Compute the Euclidean length (magnitude) of the vector."""
-        return float(np.linalg.norm(self._data))
-
-    def length_squared(self) -> float:
-        """Compute the squared length of the vector (faster than length())."""
-        return float(np.sum(self._data * self._data))
-
-    def normalize(self: T) -> T:
-        """Return a normalized unit vector in the same direction."""
-        length = self.length()
-        if length < 1e-10:  # Avoid division by near-zero
-            return self.__class__(np.zeros_like(self._data))
-        return self.__class__(self._data / length)
-
-    def to_2d(self: T) -> T:
-        """Convert a vector to a 2D vector by taking only the x and y components."""
-        return self.__class__(self._data[:2])
-
-    def distance(self, other: Union["Vector", Iterable[float]]) -> float:
-        """Compute Euclidean distance to another vector."""
-        if isinstance(other, Vector):
-            return float(np.linalg.norm(self._data - other._data))
-        return float(np.linalg.norm(self._data - np.array(other, dtype=float)))
-
-    def distance_squared(self, other: Union["Vector", Iterable[float]]) -> float:
-        """Compute squared Euclidean distance to another vector (faster than distance())."""
-        if isinstance(other, Vector):
-            diff = self._data - other._data
-        else:
-            diff = self._data - np.array(other, dtype=float)
-        return float(np.sum(diff * diff))
-
-    def angle(self, other: Union["Vector", Iterable[float]]) -> float:
-        """Compute the angle (in radians) between this vector and another."""
-        if self.length() < 1e-10 or (isinstance(other, Vector) and other.length() < 1e-10):
-            return 0.0
-
-        if isinstance(other, Vector):
-            other_data = other._data
-        else:
-            other_data = np.array(other, dtype=float)
-
-        cos_angle = np.clip(
-            np.dot(self._data, other_data)
-            / (np.linalg.norm(self._data) * np.linalg.norm(other_data)),
-            -1.0,
-            1.0,
-        )
-        return float(np.arccos(cos_angle))
-
-    def project(self: T, onto: Union["Vector", Iterable[float]]) -> T:
-        """Project this vector onto another vector."""
-        if isinstance(onto, Vector):
-            onto_data = onto._data
-        else:
-            onto_data = np.array(onto, dtype=float)
-
-        onto_length_sq = np.sum(onto_data * onto_data)
-        if onto_length_sq < 1e-10:
-            return self.__class__(np.zeros_like(self._data))
-
-        scalar_projection = np.dot(self._data, onto_data) / onto_length_sq
-        return self.__class__(scalar_projection * onto_data)
-
-    @classmethod
-    def zeros(cls: type[T], dim: int) -> T:
-        """Create a zero vector of given dimension."""
-        return cls(np.zeros(dim))
-
-    @classmethod
-    def ones(cls: type[T], dim: int) -> T:
-        """Create a vector of ones with given dimension."""
-        return cls(np.ones(dim))
-
-    @classmethod
-    def unit_x(cls: type[T], dim: int = 3) -> T:
-        """Create a unit vector in the x direction."""
-        v = np.zeros(dim)
-        v[0] = 1.0
-        return cls(v)
-
-    @classmethod
-    def unit_y(cls: type[T], dim: int = 3) -> T:
-        """Create a unit vector in the y direction."""
-        v = np.zeros(dim)
-        v[1] = 1.0
-        return cls(v)
-
-    @classmethod
-    def unit_z(cls: type[T], dim: int = 3) -> T:
-        """Create a unit vector in the z direction."""
-        v = np.zeros(dim)
-        if dim > 2:
-            v[2] = 1.0
-        return cls(v)
-
-    def to_list(self) -> list[float]:
-        """Convert the vector to a list."""
-        return [float(x) for x in self._data]
-
-    def to_tuple(self) -> builtins.tuple[float, ...]:
-        """Convert the vector to a tuple."""
-        return tuple(self._data)
-
-    def to_numpy(self) -> NDArray[np.float64]:
-        """Convert the vector to a numpy array."""
-        return self._data
-
-
-# Protocol approach for static type checking
-@runtime_checkable
-class VectorLike(Protocol):
-    """Protocol for types that can be treated as vectors."""
-
-    def __getitem__(self, key: int) -> float: ...
-    def __len__(self) -> int: ...
-    def __iter__(self) -> Iterable[float]: ...
-
-
-def to_numpy(value: VectorLike) -> NDArray[np.float64]:
-    """Convert a vector-compatible value to a numpy array.
-
-    Args:
-        value: Any vector-like object (Vector, numpy array, tuple, list)
-
-    Returns:
-        Numpy array representation
-    """
-    if isinstance(value, Vector):
-        return value.data
-    elif isinstance(value, np.ndarray):
-        return value
-    else:
-        return np.array(value, dtype=float)
-
-
-def to_vector(value: VectorLike) -> Vector:
-    """Convert a vector-compatible value to a Vector object.
-
-    Args:
-        value: Any vector-like object (Vector, numpy array, tuple, list)
-
-    Returns:
-        Vector object
-    """
-    if isinstance(value, Vector):
-        return value
-    else:
-        return Vector(value)
-
-
-def to_tuple(value: VectorLike) -> tuple[float, ...]:
-    """Convert a vector-compatible value to a tuple.
-
-    Args:
-        value: Any vector-like object (Vector, numpy array, tuple, list)
-
-    Returns:
-        Tuple of floats
-    """
-    if isinstance(value, Vector):
-        return tuple(float(x) for x in value.data)
-    elif isinstance(value, np.ndarray):
-        return tuple(float(x) for x in value)
-    elif isinstance(value, tuple):
-        return tuple(float(x) for x in value)
-    else:
-        # Convert to list first to ensure we have an indexable sequence
-        data = [value[i] for i in range(len(value))]
-        return tuple(float(x) for x in data)
-
-
-def to_list(value: VectorLike) -> list[float]:
-    """Convert a vector-compatible value to a list.
-
-    Args:
-        value: Any vector-like object (Vector, numpy array, tuple, list)
-
-    Returns:
-        List of floats
-    """
-    if isinstance(value, Vector):
-        return [float(x) for x in value.data]
-    elif isinstance(value, np.ndarray):
-        return [float(x) for x in value]
-    elif isinstance(value, list):
-        return [float(x) for x in value]
-    else:
-        # Convert to list using indexing
-        return [float(value[i]) for i in range(len(value))]
-
-
-# Helper functions to check dimensionality
-def is_2d(value: VectorLike) -> bool:
-    """Check if a vector-compatible value is 2D.
-
-    Args:
-        value: Any vector-like object (Vector, numpy array, tuple, list)
-
-    Returns:
-        True if the value is 2D
-    """
-    if isinstance(value, Vector):
-        return len(value) == 2
-    elif isinstance(value, np.ndarray):
-        return value.shape[-1] == 2 or value.size == 2
-    else:
-        return len(value) == 2
-
-
-def is_3d(value: VectorLike) -> bool:
-    """Check if a vector-compatible value is 3D.
-
-    Args:
-        value: Any vector-like object (Vector, numpy array, tuple, list)
-
-    Returns:
-        True if the value is 3D
-    """
-    if isinstance(value, Vector):
-        return len(value) == 3
-    elif isinstance(value, np.ndarray):
-        return value.shape[-1] == 3 or value.size == 3
-    else:
-        return len(value) == 3
-
-
-# Extraction functions for XYZ components
-def x(value: VectorLike) -> float:
-    """Get the X component of a vector-compatible value.
-
-    Args:
-        value: Any vector-like object (Vector, numpy array, tuple, list)
-
-    Returns:
-        X component as a float
-    """
-    if isinstance(value, Vector):
-        return value.x
-    else:
-        return float(to_numpy(value)[0])
-
-
-def y(value: VectorLike) -> float:
-    """Get the Y component of a vector-compatible value.
-
-    Args:
-        value: Any vector-like object (Vector, numpy array, tuple, list)
-
-    Returns:
-        Y component as a float
-    """
-    if isinstance(value, Vector):
-        return value.y
-    else:
-        arr = to_numpy(value)
-        return float(arr[1]) if len(arr) > 1 else 0.0
-
-
-def z(value: VectorLike) -> float:
-    """Get the Z component of a vector-compatible value.
-
-    Args:
-        value: Any vector-like object (Vector, numpy array, tuple, list)
-
-    Returns:
-        Z component as a float
-    """
-    if isinstance(value, Vector):
-        return value.z
-    else:
-        arr = to_numpy(value)
-        return float(arr[2]) if len(arr) > 2 else 0.0
+from dimos.robot.unitree.type.vector import *  # noqa: F403
diff --git a/dimos/robot/unitree_webrtc/unitree_g1_blueprints.py b/dimos/robot/unitree_webrtc/unitree_g1_blueprints.py
deleted file mode 100644
index 562b65838f..0000000000
--- a/dimos/robot/unitree_webrtc/unitree_g1_blueprints.py
+++ /dev/null
@@ -1,268 +0,0 @@
-#!/usr/bin/env python3
-# Copyright 2025-2026 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.
-
-"""Blueprint configurations for Unitree G1 humanoid robot.
-
-This module provides pre-configured blueprints for various G1 robot setups,
-from basic teleoperation to full autonomous agent configurations.
-"""
-
-from dimos_lcm.foxglove_msgs import SceneUpdate
-from dimos_lcm.foxglove_msgs.ImageAnnotations import (
-    ImageAnnotations,
-)
-from dimos_lcm.sensor_msgs import CameraInfo
-
-from dimos.agents.agent import llm_agent
-from dimos.agents.cli.human import human_input
-from dimos.agents.skills.navigation import navigation_skill
-from dimos.constants import DEFAULT_CAPACITY_COLOR_IMAGE
-from dimos.core.blueprints import autoconnect
-from dimos.core.transport import LCMTransport, pSHMTransport
-from dimos.hardware.sensors.camera import zed
-from dimos.hardware.sensors.camera.module import camera_module  # type: ignore[attr-defined]
-from dimos.hardware.sensors.camera.webcam import Webcam
-from dimos.mapping.costmapper import cost_mapper
-from dimos.mapping.voxels import voxel_mapper
-from dimos.msgs.geometry_msgs import (
-    PoseStamped,
-    Quaternion,
-    Transform,
-    Twist,
-    Vector3,
-)
-from dimos.msgs.nav_msgs import Odometry, Path
-from dimos.msgs.sensor_msgs import Image, PointCloud2
-from dimos.msgs.std_msgs import Bool
-from dimos.msgs.vision_msgs import Detection2DArray
-from dimos.navigation.frontier_exploration import wavefront_frontier_explorer
-from dimos.navigation.replanning_a_star.module import replanning_a_star_planner
-from dimos.navigation.rosnav import ros_nav
-from dimos.perception.detection.detectors.person.yolo import YoloPersonDetector
-from dimos.perception.detection.module3D import Detection3DModule, detection3d_module
-from dimos.perception.detection.moduleDB import ObjectDBModule, detection_db_module
-from dimos.perception.detection.person_tracker import PersonTracker, person_tracker_module
-from dimos.perception.object_tracker import object_tracking
-from dimos.perception.spatial_perception import spatial_memory
-from dimos.robot.foxglove_bridge import foxglove_bridge
-from dimos.robot.unitree.connection.g1 import g1_connection
-from dimos.robot.unitree.connection.g1sim import g1_sim_connection
-from dimos.robot.unitree_webrtc.keyboard_teleop import keyboard_teleop
-from dimos.robot.unitree_webrtc.unitree_g1_skill_container import g1_skills
-from dimos.utils.monitoring import utilization
-from dimos.web.websocket_vis.websocket_vis_module import websocket_vis
-
-_basic_no_nav = (
-    autoconnect(
-        camera_module(
-            transform=Transform(
-                translation=Vector3(0.05, 0.0, 0.6),  # height of camera on G1 robot
-                rotation=Quaternion.from_euler(Vector3(0.0, 0.2, 0.0)),
-                frame_id="sensor",
-                child_frame_id="camera_link",
-            ),
-            hardware=lambda: Webcam(
-                camera_index=0,
-                fps=15,
-                stereo_slice="left",
-                camera_info=zed.CameraInfo.SingleWebcam,
-            ),
-        ),
-        voxel_mapper(voxel_size=0.1),
-        cost_mapper(),
-        wavefront_frontier_explorer(),
-        # Visualization
-        websocket_vis(),
-        foxglove_bridge(),
-    )
-    .global_config(n_dask_workers=4, robot_model="unitree_g1")
-    .transports(
-        {
-            # G1 uses Twist for movement commands
-            ("cmd_vel", Twist): LCMTransport("/cmd_vel", Twist),
-            # State estimation from ROS
-            ("state_estimation", Odometry): LCMTransport("/state_estimation", Odometry),
-            # Odometry output from ROSNavigationModule
-            ("odom", PoseStamped): LCMTransport("/odom", PoseStamped),
-            # Navigation module topics from nav_bot
-            ("goal_req", PoseStamped): LCMTransport("/goal_req", PoseStamped),
-            ("goal_active", PoseStamped): LCMTransport("/goal_active", PoseStamped),
-            ("path_active", Path): LCMTransport("/path_active", Path),
-            ("pointcloud", PointCloud2): LCMTransport("/lidar", PointCloud2),
-            ("global_pointcloud", PointCloud2): LCMTransport("/map", PointCloud2),
-            # Original navigation topics for backwards compatibility
-            ("goal_pose", PoseStamped): LCMTransport("/goal_pose", PoseStamped),
-            ("goal_reached", Bool): LCMTransport("/goal_reached", Bool),
-            ("cancel_goal", Bool): LCMTransport("/cancel_goal", Bool),
-            # Camera topics (if camera module is added)
-            ("color_image", Image): LCMTransport("/g1/color_image", Image),
-            ("camera_info", CameraInfo): LCMTransport("/g1/camera_info", CameraInfo),
-        }
-    )
-)
-
-unitree_g1_basic = autoconnect(
-    _basic_no_nav,
-    g1_connection(),
-    ros_nav(),
-)
-
-unitree_g1_basic_sim = autoconnect(
-    _basic_no_nav,
-    g1_sim_connection(),
-    replanning_a_star_planner(),
-)
-
-_perception_and_memory = autoconnect(
-    spatial_memory(),
-    object_tracking(frame_id="camera_link"),
-    utilization(),
-)
-
-unitree_g1 = autoconnect(
-    unitree_g1_basic,
-    _perception_and_memory,
-).global_config(n_dask_workers=8)
-
-unitree_g1_sim = autoconnect(
-    unitree_g1_basic_sim,
-    _perception_and_memory,
-).global_config(n_dask_workers=8)
-
-# Optimized configuration using shared memory for images
-unitree_g1_shm = autoconnect(
-    unitree_g1.transports(
-        {
-            ("color_image", Image): pSHMTransport(
-                "/g1/color_image", default_capacity=DEFAULT_CAPACITY_COLOR_IMAGE
-            ),
-        }
-    ),
-    foxglove_bridge(
-        shm_channels=[
-            "/g1/color_image#sensor_msgs.Image",
-        ]
-    ),
-)
-
-_agentic_skills = autoconnect(
-    llm_agent(),
-    human_input(),
-    navigation_skill(),
-    g1_skills(),
-)
-
-# Full agentic configuration with LLM and skills
-unitree_g1_agentic = autoconnect(
-    unitree_g1,
-    _agentic_skills,
-)
-
-unitree_g1_agentic_sim = autoconnect(
-    unitree_g1_sim,
-    _agentic_skills,
-)
-
-# Configuration with joystick control for teleoperation
-unitree_g1_joystick = autoconnect(
-    unitree_g1_basic,
-    keyboard_teleop(),  # Pygame-based joystick control
-)
-
-# Detection configuration with person tracking and 3D detection
-unitree_g1_detection = (
-    autoconnect(
-        unitree_g1_basic,
-        # Person detection modules with YOLO
-        detection3d_module(
-            camera_info=zed.CameraInfo.SingleWebcam,
-            detector=YoloPersonDetector,
-        ),
-        detection_db_module(
-            camera_info=zed.CameraInfo.SingleWebcam,
-            filter=lambda det: det.class_id == 0,  # Filter for person class only
-        ),
-        person_tracker_module(
-            cameraInfo=zed.CameraInfo.SingleWebcam,
-        ),
-    )
-    .global_config(n_dask_workers=8)
-    .remappings(
-        [
-            # Connect detection modules to camera and lidar
-            (Detection3DModule, "image", "color_image"),
-            (Detection3DModule, "pointcloud", "pointcloud"),
-            (ObjectDBModule, "image", "color_image"),
-            (ObjectDBModule, "pointcloud", "pointcloud"),
-            (PersonTracker, "image", "color_image"),
-            (PersonTracker, "detections", "detections_2d"),
-        ]
-    )
-    .transports(
-        {
-            # Detection 3D module outputs
-            ("detections", Detection3DModule): LCMTransport(
-                "/detector3d/detections", Detection2DArray
-            ),
-            ("annotations", Detection3DModule): LCMTransport(
-                "/detector3d/annotations", ImageAnnotations
-            ),
-            ("scene_update", Detection3DModule): LCMTransport(
-                "/detector3d/scene_update", SceneUpdate
-            ),
-            ("detected_pointcloud_0", Detection3DModule): LCMTransport(
-                "/detector3d/pointcloud/0", PointCloud2
-            ),
-            ("detected_pointcloud_1", Detection3DModule): LCMTransport(
-                "/detector3d/pointcloud/1", PointCloud2
-            ),
-            ("detected_pointcloud_2", Detection3DModule): LCMTransport(
-                "/detector3d/pointcloud/2", PointCloud2
-            ),
-            ("detected_image_0", Detection3DModule): LCMTransport("/detector3d/image/0", Image),
-            ("detected_image_1", Detection3DModule): LCMTransport("/detector3d/image/1", Image),
-            ("detected_image_2", Detection3DModule): LCMTransport("/detector3d/image/2", Image),
-            # Detection DB module outputs
-            ("detections", ObjectDBModule): LCMTransport(
-                "/detectorDB/detections", Detection2DArray
-            ),
-            ("annotations", ObjectDBModule): LCMTransport(
-                "/detectorDB/annotations", ImageAnnotations
-            ),
-            ("scene_update", ObjectDBModule): LCMTransport("/detectorDB/scene_update", SceneUpdate),
-            ("detected_pointcloud_0", ObjectDBModule): LCMTransport(
-                "/detectorDB/pointcloud/0", PointCloud2
-            ),
-            ("detected_pointcloud_1", ObjectDBModule): LCMTransport(
-                "/detectorDB/pointcloud/1", PointCloud2
-            ),
-            ("detected_pointcloud_2", ObjectDBModule): LCMTransport(
-                "/detectorDB/pointcloud/2", PointCloud2
-            ),
-            ("detected_image_0", ObjectDBModule): LCMTransport("/detectorDB/image/0", Image),
-            ("detected_image_1", ObjectDBModule): LCMTransport("/detectorDB/image/1", Image),
-            ("detected_image_2", ObjectDBModule): LCMTransport("/detectorDB/image/2", Image),
-            # Person tracker outputs
-            ("target", PersonTracker): LCMTransport("/person_tracker/target", PoseStamped),
-        }
-    )
-)
-
-# Full featured configuration with everything
-unitree_g1_full = autoconnect(
-    unitree_g1_shm,
-    _agentic_skills,
-    keyboard_teleop(),
-)
diff --git a/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py b/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py
deleted file mode 100644
index 56a3710dcf..0000000000
--- a/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py
+++ /dev/null
@@ -1,259 +0,0 @@
-#!/usr/bin/env python3
-
-# Copyright 2025-2026 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.
-
-
-import platform
-
-from dimos_lcm.foxglove_msgs.ImageAnnotations import (
-    ImageAnnotations,  # type: ignore[import-untyped]
-)
-from dimos_lcm.foxglove_msgs.SceneUpdate import SceneUpdate  # type: ignore[import-untyped]
-
-from dimos.agents.agent import llm_agent
-from dimos.agents.cli.human import human_input
-from dimos.agents.cli.web import web_input
-from dimos.agents.ollama_agent import ollama_installed
-from dimos.agents.skills.navigation import navigation_skill
-from dimos.agents.skills.person_follow import person_follow_skill
-from dimos.agents.skills.speak_skill import speak_skill
-from dimos.agents.spec import Provider
-from dimos.agents.vlm_agent import vlm_agent
-from dimos.agents.vlm_stream_tester import vlm_stream_tester
-from dimos.constants import DEFAULT_CAPACITY_COLOR_IMAGE
-from dimos.core.blueprints import autoconnect
-from dimos.core.global_config import global_config
-from dimos.core.transport import (
-    JpegLcmTransport,
-    LCMTransport,
-    ROSTransport,
-    pSHMTransport,
-)
-from dimos.mapping.costmapper import cost_mapper
-from dimos.mapping.voxels import voxel_mapper
-from dimos.msgs.geometry_msgs import PoseStamped
-from dimos.msgs.sensor_msgs import Image, PointCloud2
-from dimos.msgs.vision_msgs import Detection2DArray
-from dimos.navigation.frontier_exploration import (
-    wavefront_frontier_explorer,
-)
-from dimos.navigation.replanning_a_star.module import (
-    replanning_a_star_planner,
-)
-from dimos.perception.detection.module3D import Detection3DModule, detection3d_module
-from dimos.perception.experimental.temporal_memory import temporal_memory
-from dimos.perception.spatial_perception import spatial_memory
-from dimos.protocol.mcp.mcp import MCPModule
-from dimos.protocol.pubsub.impl.lcmpubsub import LCM
-from dimos.robot.unitree.connection.go2 import GO2Connection, go2_connection
-from dimos.robot.unitree_webrtc.unitree_skill_container import unitree_skills
-from dimos.utils.monitoring import utilization
-from dimos.web.websocket_vis.websocket_vis_module import websocket_vis
-
-# Mac has some issue with high bandwidth UDP, so we use pSHMTransport for color_image
-# actually we can use pSHMTransport for all platforms, and for all streams
-# TODO need a global transport toggle on blueprints/global config
-mac_transports: dict[tuple[str, type], pSHMTransport[Image]] = {
-    ("color_image", Image): pSHMTransport(
-        "color_image", default_capacity=DEFAULT_CAPACITY_COLOR_IMAGE
-    ),
-}
-
-base = autoconnect() if platform.system() == "Linux" else autoconnect().transports(mac_transports)
-
-
-rerun_config = {
-    # any pubsub that supports subscribe_all and topic that supports str(topic)
-    # is acceptable here
-    "pubsubs": [LCM(autoconf=True)],
-    # Custom converters for specific rerun entity paths
-    # Normally all these would be specified in their respectative modules
-    # Until this is implemented we have central overrides here
-    #
-    # This is unsustainable once we move to multi robot etc
-    "visual_override": {
-        "world/camera_info": lambda camera_info: camera_info.to_rerun(
-            image_topic="/world/color_image",
-            optical_frame="camera_optical",
-        ),
-        "world/global_map": lambda grid: grid.to_rerun(voxel_size=0.1),
-        "world/navigation_costmap": lambda grid: grid.to_rerun(
-            colormap="Accent",
-            z_offset=0.015,
-            opacity=0.2,
-            background="#484981",
-        ),
-    },
-    # slapping a go2 shaped box on top of tf/base_link
-    "static": {
-        "world/tf/base_link": lambda rr: [
-            rr.Boxes3D(
-                half_sizes=[0.35, 0.155, 0.2],
-                colors=[(0, 255, 127)],
-                fill_mode="wireframe",
-            ),
-            rr.Transform3D(parent_frame="tf#/base_link"),
-        ]
-    },
-}
-
-
-match global_config.viewer_backend:
-    case "foxglove":
-        from dimos.robot.foxglove_bridge import foxglove_bridge
-
-        with_vis = autoconnect(
-            base,
-            foxglove_bridge(shm_channels=["/color_image#sensor_msgs.Image"]),
-        )
-    case "rerun":
-        from dimos.visualization.rerun.bridge import rerun_bridge
-
-        with_vis = autoconnect(base, rerun_bridge(**rerun_config))
-    case "rerun-web":
-        from dimos.visualization.rerun.bridge import rerun_bridge
-
-        with_vis = autoconnect(base, rerun_bridge(viewer_mode="web", **rerun_config))
-    case _:
-        with_vis = base
-
-
-unitree_go2_basic = autoconnect(
-    with_vis,
-    go2_connection(),
-    websocket_vis(),
-).global_config(n_dask_workers=4, robot_model="unitree_go2")
-
-unitree_go2 = autoconnect(
-    unitree_go2_basic,
-    voxel_mapper(voxel_size=0.1),
-    cost_mapper(),
-    replanning_a_star_planner(),
-    wavefront_frontier_explorer(),
-).global_config(n_dask_workers=6, robot_model="unitree_go2")
-
-
-unitree_go2_ros = unitree_go2.transports(
-    {
-        ("lidar", PointCloud2): ROSTransport("lidar", PointCloud2),
-        ("global_map", PointCloud2): ROSTransport("global_map", PointCloud2),
-        ("odom", PoseStamped): ROSTransport("odom", PoseStamped),
-        ("color_image", Image): ROSTransport("color_image", Image),
-    }
-)
-
-unitree_go2_detection = (
-    autoconnect(
-        unitree_go2,
-        detection3d_module(
-            camera_info=GO2Connection.camera_info_static,
-        ),
-    )
-    .remappings(
-        [
-            (Detection3DModule, "pointcloud", "global_map"),
-        ]
-    )
-    .transports(
-        {
-            # Detection 3D module outputs
-            ("detections", Detection3DModule): LCMTransport(
-                "/detector3d/detections", Detection2DArray
-            ),
-            ("annotations", Detection3DModule): LCMTransport(
-                "/detector3d/annotations", ImageAnnotations
-            ),
-            ("scene_update", Detection3DModule): LCMTransport(
-                "/detector3d/scene_update", SceneUpdate
-            ),
-            ("detected_pointcloud_0", Detection3DModule): LCMTransport(
-                "/detector3d/pointcloud/0", PointCloud2
-            ),
-            ("detected_pointcloud_1", Detection3DModule): LCMTransport(
-                "/detector3d/pointcloud/1", PointCloud2
-            ),
-            ("detected_pointcloud_2", Detection3DModule): LCMTransport(
-                "/detector3d/pointcloud/2", PointCloud2
-            ),
-            ("detected_image_0", Detection3DModule): LCMTransport("/detector3d/image/0", Image),
-            ("detected_image_1", Detection3DModule): LCMTransport("/detector3d/image/1", Image),
-            ("detected_image_2", Detection3DModule): LCMTransport("/detector3d/image/2", Image),
-        }
-    )
-)
-
-
-unitree_go2_spatial = autoconnect(
-    unitree_go2,
-    spatial_memory(),
-    utilization(),
-).global_config(n_dask_workers=8)
-
-_with_jpeglcm = unitree_go2.transports(
-    {
-        ("color_image", Image): JpegLcmTransport("/color_image", Image),
-    }
-)
-
-_common_agentic = autoconnect(
-    human_input(),
-    navigation_skill(),
-    person_follow_skill(camera_info=GO2Connection.camera_info_static),
-    unitree_skills(),
-    web_input(),
-    speak_skill(),
-)
-
-unitree_go2_agentic = autoconnect(
-    unitree_go2_spatial,
-    llm_agent(),
-    _common_agentic,
-)
-
-unitree_go2_agentic_mcp = autoconnect(
-    unitree_go2_agentic,
-    MCPModule.blueprint(),
-)
-
-unitree_go2_agentic_ollama = autoconnect(
-    unitree_go2_spatial,
-    llm_agent(
-        model="qwen3:8b",
-        provider=Provider.OLLAMA,  # type: ignore[attr-defined]
-    ),
-    _common_agentic,
-).requirements(
-    ollama_installed,
-)
-
-unitree_go2_agentic_huggingface = autoconnect(
-    unitree_go2_spatial,
-    llm_agent(
-        model="Qwen/Qwen2.5-1.5B-Instruct",
-        provider=Provider.HUGGINGFACE,  # type: ignore[attr-defined]
-    ),
-    _common_agentic,
-)
-
-unitree_go2_vlm_stream_test = autoconnect(
-    unitree_go2_basic,
-    vlm_agent(),
-    vlm_stream_tester(),
-)
-
-unitree_go2_temporal_memory = autoconnect(
-    unitree_go2_agentic,
-    temporal_memory(),
-)
diff --git a/dimos/simulation/mujoco/mujoco_process.py b/dimos/simulation/mujoco/mujoco_process.py
index f3e6eba279..8529de976b 100755
--- a/dimos/simulation/mujoco/mujoco_process.py
+++ b/dimos/simulation/mujoco/mujoco_process.py
@@ -63,7 +63,8 @@ def get_command(self) -> NDArray[Any]:
             self._command[0] = linear[0]  # forward/backward
             self._command[1] = linear[1]  # left/right
             self._command[2] = angular[2]  # rotation
-        return self._command.copy()
+        result: NDArray[Any] = self._command.copy()
+        return result
 
     def stop(self) -> None:
         """Stop method to satisfy InputController protocol."""
diff --git a/dimos/stream/video_operators.py b/dimos/stream/video_operators.py
index 548bba7598..a94b6fa3a1 100644
--- a/dimos/stream/video_operators.py
+++ b/dimos/stream/video_operators.py
@@ -231,7 +231,7 @@ def _encode_image(image: np.ndarray) -> tuple[str, tuple[int, int]]:  # type: ig
                     _, buffer = cv2.imencode(".jpg", image)
                     if buffer is None:
                         raise ValueError("Failed to encode image")
-                    base64_image = base64.b64encode(buffer).decode("utf-8")
+                    base64_image = base64.b64encode(buffer.tobytes()).decode("utf-8")
                     return base64_image, (width, height)
                 except Exception as e:
                     raise e
diff --git a/dimos/utils/testing/__init__.py b/dimos/utils/testing/__init__.py
index ffb640de39..568cd3604f 100644
--- a/dimos/utils/testing/__init__.py
+++ b/dimos/utils/testing/__init__.py
@@ -1,11 +1,9 @@
-from dimos.utils.testing.moment import Moment, OutputMoment, SensorMoment
-from dimos.utils.testing.replay import SensorReplay, TimedSensorReplay, TimedSensorStorage
+import lazy_loader as lazy
 
-__all__ = [
-    "Moment",
-    "OutputMoment",
-    "SensorMoment",
-    "SensorReplay",
-    "TimedSensorReplay",
-    "TimedSensorStorage",
-]
+__getattr__, __dir__, __all__ = lazy.attach(
+    __name__,
+    submod_attrs={
+        "moment": ["Moment", "OutputMoment", "SensorMoment"],
+        "replay": ["SensorReplay", "TimedSensorReplay", "TimedSensorStorage"],
+    },
+)
diff --git a/dimos/utils/testing/test_moment.py b/dimos/utils/testing/test_moment.py
index 92b71e59ac..6764610d0e 100644
--- a/dimos/utils/testing/test_moment.py
+++ b/dimos/utils/testing/test_moment.py
@@ -17,7 +17,7 @@
 from dimos.msgs.geometry_msgs import PoseStamped, Transform
 from dimos.msgs.sensor_msgs import CameraInfo, Image, PointCloud2
 from dimos.protocol.tf import TF
-from dimos.robot.unitree.connection import go2
+from dimos.robot.unitree.go2 import connection
 from dimos.utils.data import get_data
 from dimos.utils.testing.moment import Moment, SensorMoment
 
@@ -43,14 +43,14 @@ def transforms(self) -> list[Transform]:
         # back and forth through time and foxglove doesn't get confused
         odom = self.odom.value
         odom.ts = time.time()
-        return go2.GO2Connection._odom_to_tf(odom)
+        return connection.GO2Connection._odom_to_tf(odom)
 
     def publish(self) -> None:
         t = TF()
         t.publish(*self.transforms)
         t.stop()
 
-        camera_info = go2._camera_info_static()
+        camera_info = connection._camera_info_static()
         camera_info.ts = time.time()
         camera_info_transport: LCMTransport[CameraInfo] = LCMTransport("/camera_info", CameraInfo)
         camera_info_transport.publish(camera_info)
diff --git a/dimos/utils/testing/test_replay.py b/dimos/utils/testing/test_replay.py
index 640fe92979..6b16525148 100644
--- a/dimos/utils/testing/test_replay.py
+++ b/dimos/utils/testing/test_replay.py
@@ -17,8 +17,8 @@
 from reactivex import operators as ops
 
 from dimos.msgs.sensor_msgs import PointCloud2
-from dimos.robot.unitree_webrtc.type.lidar import pointcloud2_from_webrtc_lidar
-from dimos.robot.unitree_webrtc.type.odometry import Odometry
+from dimos.robot.unitree.type.lidar import pointcloud2_from_webrtc_lidar
+from dimos.robot.unitree.type.odometry import Odometry
 from dimos.utils.data import get_data
 from dimos.utils.testing import replay
 
diff --git a/dimos/web/dimos_interface/__init__.py b/dimos/web/dimos_interface/__init__.py
index 5ca28b30e5..3bdc622cee 100644
--- a/dimos/web/dimos_interface/__init__.py
+++ b/dimos/web/dimos_interface/__init__.py
@@ -2,6 +2,11 @@
 Dimensional Interface package
 """
 
-from .api.server import FastAPIServer
+import lazy_loader as lazy
 
-__all__ = ["FastAPIServer"]
+__getattr__, __dir__, __all__ = lazy.attach(
+    __name__,
+    submod_attrs={
+        "api.server": ["FastAPIServer"],
+    },
+)
diff --git a/docs/api/sensor_streams/storage_replay.md b/docs/api/sensor_streams/storage_replay.md
index 1a31591736..c5cbe306a8 100644
--- a/docs/api/sensor_streams/storage_replay.md
+++ b/docs/api/sensor_streams/storage_replay.md
@@ -159,7 +159,7 @@ replay.stream(
 
 ## Usage: Stub Connections for Testing
 
-A common pattern is creating replay-based connection stubs for testing without hardware. From [`robot/unitree/connection/go2.py`](/dimos/robot/unitree/connection/go2.py#L83):
+A common pattern is creating replay-based connection stubs for testing without hardware. From [`robot/unitree/go2/connection.py`](/dimos/robot/unitree/go2/connection.py#L83):
 
 This is a bit primitive. We'd like to write a higher-order API for recording full module I/O for any module, but this is a work in progress at the moment.
 
diff --git a/docs/api/visualization.md b/docs/api/visualization.md
index 9259e7e061..dccdef4a9d 100644
--- a/docs/api/visualization.md
+++ b/docs/api/visualization.md
@@ -71,7 +71,7 @@ This happens on lower-end hardware (NUC, older laptops) with large maps.
 
 ### Increase Voxel Size
 
-Edit [`dimos/robot/unitree_webrtc/unitree_go2_blueprints.py`](/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py) line 82:
+Edit [`dimos/robot/unitree/go2/blueprints/__init__.py`](/dimos/robot/unitree/go2/blueprints/__init__.py) line 82:
 
 ```python
 # Before (high detail, slower on large maps)
diff --git a/docs/concepts/transports.md b/docs/concepts/transports.md
index faac9a2ec5..e4b62b01ce 100644
--- a/docs/concepts/transports.md
+++ b/docs/concepts/transports.md
@@ -81,7 +81,7 @@ We’ll go through these layers top-down.
 
 See [Blueprints](blueprints.md) for the blueprint API.
 
-From [`unitree_go2_blueprints.py`](/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py).
+From [`unitree/go2/blueprints/__init__.py`](/dimos/robot/unitree/go2/blueprints/__init__.py).
 
 Example: rebind a few streams from the default `LCMTransport` to `ROSTransport` (defined at [`transport.py`](/dimos/core/transport.py#L226)) so you can visualize in **rviz2**.
 
diff --git a/lazy_loader/__init__.pyi b/lazy_loader/__init__.pyi
new file mode 100644
index 0000000000..b3c4be8608
--- /dev/null
+++ b/lazy_loader/__init__.pyi
@@ -0,0 +1,11 @@
+from __future__ import annotations
+
+from collections.abc import Callable, Mapping, Sequence
+from typing import Any
+
+def attach(
+    package_name: str,
+    *,
+    submodules: Sequence[str] | None = None,
+    submod_attrs: Mapping[str, Sequence[str]] | None = None,
+) -> tuple[Callable[[str], Any], Callable[[], list[str]], list[str]]: ...
diff --git a/pyproject.toml b/pyproject.toml
index e6b542a65e..3f5ce9bbd0 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -42,6 +42,7 @@ dependencies = [
     "pydantic",
     "python-dotenv",
     "annotation-protocol>=1.4.0",
+    "lazy_loader",
 
     # Multiprocess
     "dask[complete]==2025.5.1",
diff --git a/uv.lock b/uv.lock
index 75f839303f..0e98f5dcc9 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1735,6 +1735,7 @@ dependencies = [
     { name = "colorlog" },
     { name = "dask", extra = ["complete"] },
     { name = "dimos-lcm" },
+    { name = "lazy-loader" },
     { name = "llvmlite" },
     { name = "numba" },
     { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
@@ -2029,6 +2030,7 @@ requires-dist = [
     { name = "langchain-text-splitters", marker = "extra == 'agents'", specifier = ">=1,<2" },
     { name = "lap", marker = "extra == 'perception'", specifier = ">=0.5.12" },
     { name = "lark", marker = "extra == 'misc'" },
+    { name = "lazy-loader" },
     { name = "lcm", marker = "extra == 'docker'" },
     { name = "llvmlite", specifier = ">=0.42.0" },
     { name = "lxml-stubs", marker = "extra == 'dev'", specifier = ">=0.5.1,<1" },
@@ -4180,6 +4182,18 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/82/3d/14ce75ef66813643812f3093ab17e46d3a206942ce7376d31ec2d36229e7/lark-1.3.1-py3-none-any.whl", hash = "sha256:c629b661023a014c37da873b4ff58a817398d12635d3bbb2c5a03be7fe5d1e12", size = 113151, upload-time = "2025-10-27T18:25:54.882Z" },
 ]
 
+[[package]]
+name = "lazy-loader"
+version = "0.4"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "packaging" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/6f/6b/c875b30a1ba490860c93da4cabf479e03f584eba06fe5963f6f6644653d8/lazy_loader-0.4.tar.gz", hash = "sha256:47c75182589b91a4e1a85a136c074285a5ad4d9f39c63e0d7fb76391c4574cd1", size = 15431, upload-time = "2024-04-05T13:03:12.261Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/83/60/d497a310bde3f01cb805196ac61b7ad6dc5dcf8dce66634dc34364b20b4f/lazy_loader-0.4-py3-none-any.whl", hash = "sha256:342aa8e14d543a154047afb4ba8ef17f5563baad3fc610d7b15b213b0f119efc", size = 12097, upload-time = "2024-04-05T13:03:10.514Z" },
+]
+
 [[package]]
 name = "lcm"
 version = "1.5.2"