Import Fix & Optimize: G1 without ROS, lazy imports, Fix bad dir naming

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

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"],
+    },
+)

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"]

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)

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
 

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]
 
 

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

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"],
+    },
+)

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,

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()

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"]