dimensionalOS · paul-nechifor · Mar 19, 2026
diff --git a/dimos/agents/agent.py b/dimos/agents/agent.py
@@ -259,8 +259,3 @@ def _append_image_to_history(agent: Agent, skill: SkillInfo, uuid_: str, result:
             ]
         )
     )
-
-
-agent = Agent.blueprint
-
-__all__ = ["Agent", "AgentSpec", "agent"]
diff --git a/dimos/agents/demo_agent.py b/dimos/agents/demo_agent.py
@@ -14,7 +14,7 @@
 
 from dimos.agents.agent import Agent
 from dimos.core.blueprints import autoconnect
-from dimos.hardware.sensors.camera.module import camera_module
+from dimos.hardware.sensors.camera.module import CameraModule
 from dimos.hardware.sensors.camera.webcam import Webcam
 from dimos.hardware.sensors.camera.zed import compat as zed
 
@@ -31,7 +31,7 @@ def _create_webcam() -> Webcam:
 
 demo_agent_camera = autoconnect(
     Agent.blueprint(),
-    camera_module(
+    CameraModule.blueprint(
         hardware=_create_webcam,
     ),
 )
diff --git a/dimos/agents/mcp/mcp_client.py b/dimos/agents/mcp/mcp_client.py
@@ -304,8 +304,3 @@ def _append_image_to_history(
             ]
         )
     )
-
-
-mcp_client = McpClient.blueprint
-
-__all__ = ["McpClient", "McpClientConfig", "mcp_client"]
diff --git a/dimos/agents/skills/demo_calculator_skill.py b/dimos/agents/skills/demo_calculator_skill.py
@@ -36,8 +36,3 @@ def sum_numbers(self, n1: int, n2: int, *args: int, **kwargs: int) -> str:
         """
 
         return f"{int(n1) + int(n2)}"
-
-
-demo_calculator_skill = DemoCalculatorSkill.blueprint
-
-__all__ = ["DemoCalculatorSkill", "demo_calculator_skill"]
diff --git a/dimos/agents/skills/demo_google_maps_skill.py b/dimos/agents/skills/demo_google_maps_skill.py
@@ -13,13 +13,13 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from dimos.agents.agent import agent
-from dimos.agents.skills.demo_robot import demo_robot
-from dimos.agents.skills.google_maps_skill_container import google_maps_skill
+from dimos.agents.agent import Agent
+from dimos.agents.skills.demo_robot import DemoRobot
+from dimos.agents.skills.google_maps_skill_container import GoogleMapsSkillContainer
 from dimos.core.blueprints import autoconnect
 
 demo_google_maps_skill = autoconnect(
-    demo_robot(),
-    google_maps_skill(),
-    agent(),
+    DemoRobot.blueprint(),
+    GoogleMapsSkillContainer.blueprint(),
+    Agent.blueprint(),
 )
diff --git a/dimos/agents/skills/demo_gps_nav.py b/dimos/agents/skills/demo_gps_nav.py
@@ -13,13 +13,13 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from dimos.agents.agent import agent
-from dimos.agents.skills.demo_robot import demo_robot
-from dimos.agents.skills.gps_nav_skill import gps_nav_skill
+from dimos.agents.agent import Agent
+from dimos.agents.skills.demo_robot import DemoRobot
+from dimos.agents.skills.gps_nav_skill import GpsNavSkillContainer
 from dimos.core.blueprints import autoconnect
 
 demo_gps_nav = autoconnect(
-    demo_robot(),
-    gps_nav_skill(),
-    agent(),
+    DemoRobot.blueprint(),
+    GpsNavSkillContainer.blueprint(),
+    Agent.blueprint(),
 )
diff --git a/dimos/agents/skills/demo_robot.py b/dimos/agents/skills/demo_robot.py
@@ -32,9 +32,3 @@ def stop(self) -> None:
 
     def _publish_gps_location(self) -> None:
         self.gps_location.publish(LatLon(lat=37.78092426217621, lon=-122.40682866540769))
-
-
-demo_robot = DemoRobot.blueprint
-
-
-__all__ = ["DemoRobot", "demo_robot"]
diff --git a/dimos/agents/skills/demo_skill.py b/dimos/agents/skills/demo_skill.py
@@ -13,11 +13,11 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from dimos.agents.agent import agent
-from dimos.agents.skills.demo_calculator_skill import demo_calculator_skill
+from dimos.agents.agent import Agent
+from dimos.agents.skills.demo_calculator_skill import DemoCalculatorSkill
 from dimos.core.blueprints import autoconnect
 
 demo_skill = autoconnect(
-    demo_calculator_skill(),
-    agent(),
+    DemoCalculatorSkill.blueprint(),
+    Agent.blueprint(),
 )
diff --git a/dimos/agents/skills/google_maps_skill_container.py b/dimos/agents/skills/google_maps_skill_container.py
@@ -124,8 +124,3 @@ def get_gps_position_for_queries(self, queries: list[str]) -> str:
                 results.append(f"no result for {query}")
 
         return json.dumps(results)
-
-
-google_maps_skill = GoogleMapsSkillContainer.blueprint
-
-__all__ = ["GoogleMapsSkillContainer", "google_maps_skill"]
diff --git a/dimos/agents/skills/gps_nav_skill.py b/dimos/agents/skills/gps_nav_skill.py
@@ -98,9 +98,3 @@ def _convert_point(self, point: dict[str, float]) -> LatLon | None:
             return None
 
         return LatLon(lat=lat, lon=lon)
-
-
-gps_nav_skill = GpsNavSkillContainer.blueprint
-
-
-__all__ = ["GpsNavSkillContainer", "gps_nav_skill"]
diff --git a/dimos/agents/skills/navigation.py b/dimos/agents/skills/navigation.py
@@ -321,8 +321,3 @@ def _get_goal_pose_from_result(self, result: dict[str, Any]) -> PoseStamped | No
             orientation=Quaternion.from_euler(make_vector3(0, 0, theta)),
             frame_id="map",
         )
-
-
-navigation_skill = NavigationSkillContainer.blueprint
-
-__all__ = ["NavigationSkillContainer", "navigation_skill"]
diff --git a/dimos/agents/skills/osm.py b/dimos/agents/skills/osm.py
@@ -78,8 +78,3 @@ def map_query(self, query_sentence: str) -> str:
         distance = int(distance_in_meters(latlon, self._latest_location))  # type: ignore[arg-type]
 
         return f"{context}. It's at position latitude={latlon.lat}, longitude={latlon.lon}. It is {distance} meters away."
-
-
-osm_skill = OsmSkill.blueprint
-
-__all__ = ["OsmSkill", "osm_skill"]
diff --git a/dimos/agents/skills/person_follow.py b/dimos/agents/skills/person_follow.py
@@ -311,8 +311,3 @@ def _send_stop_reason(self, query: str, reason: str) -> None:
 def _decode_base64_image(b64: str) -> Image:
     bgr_array = TurboJPEG().decode(base64.b64decode(b64))
     return Image(data=bgr_array, format=ImageFormat.BGR)
-
-
-person_follow_skill = PersonFollowSkillContainer.blueprint
-
-__all__ = ["PersonFollowSkillContainer", "person_follow_skill"]
diff --git a/dimos/agents/skills/speak_skill.py b/dimos/agents/skills/speak_skill.py
@@ -97,8 +97,3 @@ def set_as_complete_e(_e: Exception) -> None:
             subscription.dispose()
 
             return f"Spoke: {text}"
-
-
-speak_skill = SpeakSkill.blueprint
-
-__all__ = ["SpeakSkill", "speak_skill"]
diff --git a/dimos/agents/vlm_agent.py b/dimos/agents/vlm_agent.py
@@ -121,8 +121,3 @@ def query_image(
         response = self._invoke_image(image, query, response_format=response_format)
         content = response.content
         return content if isinstance(content, str) else str(content)
-
-
-vlm_agent = VLMAgent.blueprint
-
-__all__ = ["VLMAgent", "vlm_agent"]
diff --git a/dimos/agents/vlm_stream_tester.py b/dimos/agents/vlm_stream_tester.py
@@ -173,8 +173,3 @@ def _run_rpc_queries(self) -> None:
             except Exception as exc:
                 logger.warning("RPC query_image failed", error=str(exc))
             time.sleep(self._query_interval_s)
-
-
-vlm_stream_tester = VlmStreamTester.blueprint
-
-__all__ = ["VlmStreamTester", "vlm_stream_tester"]
diff --git a/dimos/agents/web_human_input.py b/dimos/agents/web_human_input.py
@@ -84,8 +84,3 @@ def stop(self) -> None:
         if self._human_transport:
             self._human_transport.lcm.stop()
         super().stop()
-
-
-web_input = WebInput.blueprint
-
-__all__ = ["WebInput", "web_input"]
diff --git a/dimos/control/README.md b/dimos/control/README.md
@@ -96,9 +96,9 @@ dimos/control/
 ## Configuration
 
 ```python
-from dimos.control import control_coordinator, HardwareComponent, TaskConfig
+from dimos.control import ControlCoordinator, HardwareComponent, TaskConfig
 
-my_robot = control_coordinator(
+my_robot = ControlCoordinator.blueprint(
     tick_rate=100.0,
     hardware=[
         HardwareComponent(

diff --git a/dimos/control/blueprints/basic.py b/dimos/control/blueprints/basic.py
@@ -24,12 +24,12 @@
 from __future__ import annotations
 
 from dimos.control.blueprints._hardware import mock_arm, piper, xarm6, xarm7
-from dimos.control.coordinator import TaskConfig, control_coordinator
+from dimos.control.coordinator import ControlCoordinator, TaskConfig
 from dimos.core.transport import LCMTransport
 from dimos.msgs.sensor_msgs.JointState import JointState
 
 # Minimal blueprint (no hardware, no tasks)
-coordinator_basic = control_coordinator(
+coordinator_basic = ControlCoordinator.blueprint(
     tick_rate=100.0,
     publish_joint_state=True,
     joint_state_frame_id="coordinator",
@@ -40,7 +40,7 @@
 )
 
 # Mock 7-DOF arm (for testing)
-coordinator_mock = control_coordinator(
+coordinator_mock = ControlCoordinator.blueprint(
     hardware=[mock_arm()],
     tasks=[
         TaskConfig(
@@ -57,7 +57,7 @@
 )
 
 # XArm7 real hardware
-coordinator_xarm7 = control_coordinator(
+coordinator_xarm7 = ControlCoordinator.blueprint(
     hardware=[xarm7()],
     tasks=[
         TaskConfig(
@@ -74,7 +74,7 @@
 )
 
 # XArm6 real hardware
-coordinator_xarm6 = control_coordinator(
+coordinator_xarm6 = ControlCoordinator.blueprint(
     hardware=[xarm6()],
     tasks=[
         TaskConfig(
@@ -91,7 +91,7 @@
 )
 
 # Piper arm (6-DOF, CAN bus)
-coordinator_piper = control_coordinator(
+coordinator_piper = ControlCoordinator.blueprint(
     hardware=[piper()],
     tasks=[
         TaskConfig(

diff --git a/dimos/control/blueprints/dual.py b/dimos/control/blueprints/dual.py
@@ -23,12 +23,12 @@
 from __future__ import annotations
 
 from dimos.control.blueprints._hardware import mock_arm, piper, xarm6, xarm7
-from dimos.control.coordinator import TaskConfig, control_coordinator
+from dimos.control.coordinator import ControlCoordinator, TaskConfig
 from dimos.core.transport import LCMTransport
 from dimos.msgs.sensor_msgs.JointState import JointState
 
 # Dual mock arms (7-DOF left, 6-DOF right)
-coordinator_dual_mock = control_coordinator(
+coordinator_dual_mock = ControlCoordinator.blueprint(
     hardware=[mock_arm("left_arm", 7), mock_arm("right_arm", 6)],
     tasks=[
         TaskConfig(
@@ -51,7 +51,7 @@
 )
 
 # Dual XArm (XArm7 left, XArm6 right)
-coordinator_dual_xarm = control_coordinator(
+coordinator_dual_xarm = ControlCoordinator.blueprint(
     hardware=[xarm7("left_arm"), xarm6("right_arm")],
     tasks=[
         TaskConfig(
@@ -74,7 +74,7 @@
 )
 
 # Dual arm (XArm6 + Piper)
-coordinator_piper_xarm = control_coordinator(
+coordinator_piper_xarm = ControlCoordinator.blueprint(
     hardware=[xarm6("xarm_arm"), piper("piper_arm")],
     tasks=[
         TaskConfig(

diff --git a/dimos/control/blueprints/mobile.py b/dimos/control/blueprints/mobile.py
@@ -23,15 +23,15 @@
 
 from dimos.control.blueprints._hardware import mock_arm, mock_twist_base
 from dimos.control.components import make_twist_base_joints
-from dimos.control.coordinator import TaskConfig, control_coordinator
+from dimos.control.coordinator import ControlCoordinator, TaskConfig
 from dimos.core.transport import LCMTransport
 from dimos.msgs.geometry_msgs.Twist import Twist
 from dimos.msgs.sensor_msgs.JointState import JointState
 
 _base_joints = make_twist_base_joints("base")
 
 # Mock holonomic twist base (3-DOF: vx, vy, wz)
-coordinator_mock_twist_base = control_coordinator(
+coordinator_mock_twist_base = ControlCoordinator.blueprint(
     hardware=[mock_twist_base()],
     tasks=[
         TaskConfig(
@@ -49,7 +49,7 @@
 )
 
 # Mock arm (7-DOF) + mock holonomic base (3-DOF)
-coordinator_mobile_manip_mock = control_coordinator(
+coordinator_mobile_manip_mock = ControlCoordinator.blueprint(
     hardware=[mock_arm(), mock_twist_base()],
     tasks=[
         TaskConfig(

diff --git a/dimos/control/blueprints/teleop.py b/dimos/control/blueprints/teleop.py
@@ -37,14 +37,14 @@
     xarm7,
 )
 from dimos.control.components import make_gripper_joints
-from dimos.control.coordinator import TaskConfig, control_coordinator
+from dimos.control.coordinator import ControlCoordinator, TaskConfig
 from dimos.core.transport import LCMTransport
 from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
 from dimos.msgs.sensor_msgs.JointState import JointState
 from dimos.teleop.quest.quest_types import Buttons
 
 # XArm6 teleop - streaming position control
-coordinator_teleop_xarm6 = control_coordinator(
+coordinator_teleop_xarm6 = ControlCoordinator.blueprint(
     hardware=[xarm6()],
     tasks=[
         TaskConfig(
@@ -62,7 +62,7 @@
 )
 
 # XArm6 velocity control - streaming velocity for joystick
-coordinator_velocity_xarm6 = control_coordinator(
+coordinator_velocity_xarm6 = ControlCoordinator.blueprint(
     hardware=[xarm6()],
     tasks=[
         TaskConfig(
@@ -80,7 +80,7 @@
 )
 
 # XArm6 combined (servo + velocity tasks)
-coordinator_combined_xarm6 = control_coordinator(
+coordinator_combined_xarm6 = ControlCoordinator.blueprint(
     hardware=[xarm6()],
     tasks=[
         TaskConfig(
@@ -105,7 +105,7 @@
 
 
 # Mock 6-DOF arm with CartesianIK
-coordinator_cartesian_ik_mock = control_coordinator(
+coordinator_cartesian_ik_mock = ControlCoordinator.blueprint(
     hardware=[mock_arm("arm", 6)],
     tasks=[
         TaskConfig(
@@ -127,7 +127,7 @@
 )
 
 # Piper arm with CartesianIK
-coordinator_cartesian_ik_piper = control_coordinator(
+coordinator_cartesian_ik_piper = ControlCoordinator.blueprint(
     hardware=[piper()],
     tasks=[
         TaskConfig(
@@ -150,7 +150,7 @@
 
 
 # Single XArm7 with TeleopIK
-coordinator_teleop_xarm7 = control_coordinator(
+coordinator_teleop_xarm7 = ControlCoordinator.blueprint(
     hardware=[xarm7(gripper=True)],
     tasks=[
         TaskConfig(
@@ -177,7 +177,7 @@
 )
 
 # Single Piper with TeleopIK
-coordinator_teleop_piper = control_coordinator(
+coordinator_teleop_piper = ControlCoordinator.blueprint(
     hardware=[piper()],
     tasks=[
         TaskConfig(
@@ -201,7 +201,7 @@
 )
 
 # Dual arm teleop: XArm6 + Piper with TeleopIK
-coordinator_teleop_dual = control_coordinator(
+coordinator_teleop_dual = ControlCoordinator.blueprint(
     hardware=[xarm6("xarm_arm"), piper("piper_arm")],
     tasks=[
         TaskConfig(
-Original file line number
+Diff line change
@@ Expand Up @@
                 ]
             )
         )
-    agent = Agent.blueprint
-    __all__ = ["Agent", "AgentSpec", "agent"]