feat(dask): remove dask

.gitignore

@@ -71,3 +71,4 @@ CLAUDE.MD
 /assets/teleop_certs/
 
 /.mcp.json
+*.speedscope.json

README.md

@@ -204,7 +204,10 @@ See below a simple robot connection module that sends streams of continuous `cmd
 
 ```py
 import threading, time, numpy as np
-from dimos.core import In, Module, Out, rpc, autoconnect
+from dimos.core.blueprints import autoconnect
+from dimos.core.core import rpc
+from dimos.core.module import Module
+from dimos.core.stream import In, Out
 from dimos.msgs.geometry_msgs import Twist
 from dimos.msgs.sensor_msgs import Image, ImageFormat
 
@@ -249,7 +252,8 @@ 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 import autoconnect, LCMTransport
+from dimos.core.blueprints import autoconnect
+from dimos.core.transport import LCMTransport
 from dimos.msgs.sensor_msgs import Image
 from dimos.robot.unitree.go2.connection import go2_connection
 from dimos.agents.agent import agent

dimos/agents/agent.py

@@ -19,7 +19,6 @@
 from typing import TYPE_CHECKING, Any, Protocol
 import uuid
 
-from langchain.agents import create_agent
 from langchain_core.messages import HumanMessage
 from langchain_core.messages.base import BaseMessage
 from langchain_core.tools import StructuredTool
@@ -104,6 +103,9 @@ def on_system_modules(self, modules: list[RPCClient]) -> None:
             model = MockModel(json_path=self.config.model_fixture)
 
         with self._lock:
+            # Here to prevent unwanted imports in the file.
+            from langchain.agents import create_agent
+
             self._state_graph = create_agent(
                 model=model,
                 tools=_get_tools_from_modules(self, modules, self.rpc),

dimos/agents/conftest.py

@@ -42,7 +42,6 @@ def fn(
         *,
         blueprints,
         messages: list[BaseMessage],
-        dask: bool = False,
         system_prompt: str | None = None,
         fixture: str | None = None,
     ) -> list[BaseMessage]:
@@ -79,10 +78,7 @@ def on_message(msg: BaseMessage) -> None:
             AgentTestRunner.blueprint(messages=messages),
         )
 
-        global_config.update(
-            viewer_backend="none",
-            dask=dask,
-        )
+        global_config.update(viewer_backend="none")
 
         nonlocal coordinator
         coordinator = blueprint.build()

dimos/agents/demo_agent.py

@@ -20,13 +20,18 @@
 
 demo_agent = autoconnect(Agent.blueprint())
 
+
+def _create_webcam() -> Webcam:
+    return Webcam(
+        camera_index=0,
+        fps=15,
+        camera_info=zed.CameraInfo.SingleWebcam,
+    )
+
+
 demo_agent_camera = autoconnect(
     Agent.blueprint(),
     camera_module(
-        hardware=lambda: Webcam(
-            camera_index=0,
-            fps=15,
-            camera_info=zed.CameraInfo.SingleWebcam,
-        ),
+        hardware=_create_webcam,
     ),
 )

dimos/agents/mcp/conftest.py

@@ -43,7 +43,6 @@ def fn(
         *,
         blueprints,
         messages: list[BaseMessage],
-        dask: bool = False,
         system_prompt: str | None = None,
         fixture: str | None = None,
     ) -> list[BaseMessage]:
@@ -78,10 +77,7 @@ def on_message(msg: BaseMessage) -> None:
             AgentTestRunner.blueprint(messages=messages),
         )
 
-        global_config.update(
-            viewer_backend="none",
-            dask=dask,
-        )
+        global_config.update(viewer_backend="none")
 
         nonlocal coordinator
         coordinator = blueprint.build()

dimos/agents/mcp/mcp_server.py

@@ -28,11 +28,12 @@
 logger = setup_logger()
 
 
-from dimos.core import Module, rpc  # noqa: I001
-from dimos.core.rpc_client import RpcCall, RPCClient
-
 from starlette.requests import Request  # noqa: TC002
 
+from dimos.core.core import rpc
+from dimos.core.module import Module
+from dimos.core.rpc_client import RpcCall, RPCClient
+
 if TYPE_CHECKING:
     import concurrent.futures
 

dimos/agents/mcp/test_mcp_client.py

@@ -30,12 +30,10 @@ def add(self, x: int, y: int) -> str:
 
 
 @pytest.mark.slow
-@pytest.mark.parametrize("dask", [False, True])
-def test_can_call_tool(dask, agent_setup):
+def test_can_call_tool(agent_setup):
     history = agent_setup(
         blueprints=[Adder.blueprint()],
         messages=[HumanMessage("What is 33333 + 100? Use the tool.")],
-        dask=dask,
     )
 
     assert "33433" in history[-1].content
@@ -67,16 +65,14 @@ def register_user(self, name: str) -> str:
 
 
 @pytest.mark.slow
-@pytest.mark.parametrize("dask", [False, True])
-def test_can_call_again_on_error(dask, agent_setup):
+def test_can_call_again_on_error(agent_setup):
     history = agent_setup(
         blueprints=[UserRegistration.blueprint()],
         messages=[
             HumanMessage(
                 "Register a user named 'Paul'. If there are errors, just try again until you succeed."
             )
         ],
-        dask=dask,
     )
 
     assert any(message.content == "User name registered successfully." for message in history)

dimos/agents/skills/navigation.py

@@ -21,8 +21,7 @@
 from dimos.core.core import rpc
 from dimos.core.module import Module
 from dimos.core.stream import In
-from dimos.models.qwen.video_query import BBox
-from dimos.models.vl.qwen import QwenVlModel
+from dimos.models.qwen.bbox import BBox
 from dimos.msgs.geometry_msgs import PoseStamped, Quaternion, Vector3
 from dimos.msgs.geometry_msgs.Vector3 import make_vector3
 from dimos.msgs.sensor_msgs import Image
@@ -59,6 +58,10 @@ class NavigationSkillContainer(Module):
     def __init__(self) -> None:
         super().__init__()
         self._skill_started = False
+
+        # Here to prevent unwanted imports in the file.
+        from dimos.models.vl.qwen import QwenVlModel
+
         self._vl_model = QwenVlModel()
 
     @rpc

dimos/agents/skills/person_follow.py

@@ -26,8 +26,7 @@
 from dimos.core.global_config import GlobalConfig
 from dimos.core.module import Module
 from dimos.core.stream import In, Out
-from dimos.models.qwen.video_query import BBox
-from dimos.models.segmentation.edge_tam import EdgeTAMProcessor
+from dimos.models.qwen.bbox import BBox
 from dimos.models.vl.qwen import QwenVlModel
 from dimos.msgs.geometry_msgs import Twist
 from dimos.msgs.sensor_msgs import CameraInfo, Image, PointCloud2
@@ -37,6 +36,7 @@
 from dimos.utils.logging_config import setup_logger
 
 if TYPE_CHECKING:
+    from dimos.models.segmentation.edge_tam import EdgeTAMProcessor
     from dimos.models.vl.base import VlModel
 
 logger = setup_logger()
@@ -176,6 +176,9 @@ def _follow_person(self, query: str, initial_bbox: BBox) -> str:
 
         with self._lock:
             if self._tracker is None:
+                # Here to prevent unwanted imports in the file.
+                from dimos.models.segmentation.edge_tam import EdgeTAMProcessor
+
                 self._tracker = EdgeTAMProcessor()
             tracker = self._tracker
             latest_image = self._latest_image
@@ -202,7 +205,7 @@ def _follow_person(self, query: str, initial_bbox: BBox) -> str:
             "the 'stop_following' tool."
         )
 
-    def _follow_loop(self, tracker: EdgeTAMProcessor, query: str) -> None:
+    def _follow_loop(self, tracker: "EdgeTAMProcessor", query: str) -> None:
         lost_count = 0
         period = 1.0 / self._frequency
         next_time = time.monotonic()

dimos/agents/test_agent.py

@@ -30,12 +30,10 @@ def add(self, x: int, y: int) -> str:
 
 
 @pytest.mark.slow
-@pytest.mark.parametrize("dask", [False, True])
-def test_can_call_tool(dask, agent_setup):
+def test_can_call_tool(agent_setup):
     history = agent_setup(
         blueprints=[Adder.blueprint()],
         messages=[HumanMessage("What is 33333 + 100? Use the tool.")],
-        dask=dask,
     )
 
     assert "33433" in history[-1].content
@@ -69,16 +67,14 @@ def register_user(self, name: str) -> str:
 
 
 @pytest.mark.slow
-@pytest.mark.parametrize("dask", [False, True])
-def test_can_call_again_on_error(dask, agent_setup):
+def test_can_call_again_on_error(agent_setup):
     history = agent_setup(
         blueprints=[UserRegistration.blueprint()],
         messages=[
             HumanMessage(
                 "Register a user named 'Paul'. If there are errors, just try again until you succeed."
             )
         ],
-        dask=dask,
     )
 
     assert any(message.content == "User name registered successfully." for message in history)

dimos/agents/vlm_agent.py

@@ -19,8 +19,8 @@
 from langchain_core.messages import AIMessage, HumanMessage, SystemMessage
 
 from dimos.agents.system_prompt import SYSTEM_PROMPT
-from dimos.core import Module, rpc
-from dimos.core.module import ModuleConfig
+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
 from dimos.utils.logging_config import setup_logger

dimos/agents/vlm_stream_tester.py

@@ -17,7 +17,8 @@
 
 from langchain_core.messages import AIMessage, HumanMessage
 
-from dimos.core import Module, rpc
+from dimos.core.core import rpc
+from dimos.core.module import Module
 from dimos.core.stream import In, Out
 from dimos.msgs.sensor_msgs import Image
 from dimos.utils.logging_config import setup_logger

dimos/agents/web_human_input.py

@@ -18,10 +18,10 @@
 import reactivex as rx
 import reactivex.operators as ops
 
-from dimos.core import Module, rpc
+from dimos.core.core import rpc
+from dimos.core.module import Module
 from dimos.core.transport import pLCMTransport
 from dimos.stream.audio.node_normalizer import AudioNormalizer
-from dimos.stream.audio.stt.node_whisper import WhisperNode
 from dimos.utils.logging_config import setup_logger
 from dimos.web.robot_web_interface import RobotWebInterface
 
@@ -51,6 +51,10 @@ def start(self) -> None:
         )
 
         normalizer = AudioNormalizer()
+
+        # Here to prevent unwanted imports in the file.
+        from dimos.stream.audio.stt.node_whisper import WhisperNode
+
         stt_node = WhisperNode()
 
         # Connect audio pipeline: browser audio → normalizer → whisper

dimos/agents_deprecated/memory/spatial_vector_db.py

@@ -21,7 +21,6 @@
 
 from typing import Any
 
-import chromadb
 import numpy as np
 
 from dimos.agents_deprecated.memory.visual_memory import VisualMemory
@@ -57,6 +56,9 @@ def __init__(  # type: ignore[no-untyped-def]
         """
         self.collection_name = collection_name
 
+        # Here to prevent unwanted imports in the file.
+        import chromadb
+
         # Use provided client or create in-memory client
         self.client = chroma_client if chroma_client is not None else chromadb.Client()
 

dimos/agents_deprecated/modules/base_agent.py

@@ -20,7 +20,9 @@
 from dimos.agents_deprecated.agent_message import AgentMessage
 from dimos.agents_deprecated.agent_types import AgentResponse
 from dimos.agents_deprecated.memory.base import AbstractAgentSemanticMemory
-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.skills.skills import AbstractSkill, SkillLibrary
 from dimos.utils.logging_config import setup_logger
 

dimos/conftest.py

@@ -19,6 +19,7 @@
 from dotenv import load_dotenv
 import pytest
 
+from dimos.core.module_coordinator import ModuleCoordinator
 from dimos.protocol.service.lcmservice import autoconf
 
 load_dotenv()
@@ -86,9 +87,8 @@ def _autoconf(request):
 
 @pytest.fixture(scope="module")
 def dimos_cluster():
-    from dimos.core import start
-
-    dimos = start(4)
+    dimos = ModuleCoordinator()
+    dimos.start()
     try:
         yield dimos
     finally:

dimos/control/coordinator.py

@@ -25,9 +25,8 @@
 - Aggregated preemption notifications
 """
 
-from __future__ import annotations
-
 from dataclasses import dataclass, field
+from pathlib import Path
 import threading
 import time
 from typing import TYPE_CHECKING, Any
@@ -43,28 +42,28 @@
 from dimos.control.hardware_interface import ConnectedHardware, ConnectedTwistBase
 from dimos.control.task import ControlTask
 from dimos.control.tick_loop import TickLoop
-from dimos.core import In, Module, Out, rpc
-from dimos.core.module import ModuleConfig
+from dimos.core.core import rpc
+from dimos.core.module import Module, ModuleConfig
+from dimos.core.stream import In, Out
 from dimos.hardware.drive_trains.spec import (
     TwistBaseAdapter,
 )
+from dimos.hardware.manipulators.spec import ManipulatorAdapter
 from dimos.msgs.geometry_msgs import (
-    PoseStamped,  # noqa: TC001 - needed at runtime for In[PoseStamped]
-    Twist,  # noqa: TC001 - needed at runtime for In[Twist]
+    PoseStamped,
+    Twist,
 )
 from dimos.msgs.sensor_msgs import (
     JointState,
 )
 from dimos.teleop.quest.quest_types import (
-    Buttons,  # noqa: TC001 - needed at runtime for In[Buttons]
+    Buttons,
 )
 from dimos.utils.logging_config import setup_logger
 
 if TYPE_CHECKING:
     from collections.abc import Callable
-    from pathlib import Path
 
-    from dimos.hardware.manipulators.spec import ManipulatorAdapter
 
 logger = setup_logger()