feat(blueprints): running modules by themselves

dimos/robot/all_blueprints.py

@@ -90,57 +90,57 @@
 
 all_modules = {
     "agent": "dimos.agents.agent",
-    "arm_teleop_module": "dimos.teleop.quest.quest_extensions",
-    "camera_module": "dimos.hardware.sensors.camera.module",
-    "cartesian_motion_controller": "dimos.manipulation.control.servo_control.cartesian_motion_controller",
-    "control_coordinator": "dimos.control.coordinator",
-    "cost_mapper": "dimos.mapping.costmapper",
-    "demo_calculator_skill": "dimos.agents.skills.demo_calculator_skill",
-    "demo_robot": "dimos.agents.skills.demo_robot",
-    "detection3d_module": "dimos.perception.detection.module3D",
-    "detection_db_module": "dimos.perception.detection.moduleDB",
-    "fastlio2_module": "dimos.hardware.sensors.lidar.fastlio2.module",
-    "foxglove_bridge": "dimos.robot.foxglove_bridge",
-    "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",
-    "joint_trajectory_controller": "dimos.manipulation.control.trajectory_controller.joint_trajectory_controller",
-    "keyboard_teleop": "dimos.robot.unitree.keyboard_teleop",
-    "keyboard_teleop_module": "dimos.teleop.keyboard.keyboard_teleop_module",
-    "manipulation_module": "dimos.manipulation.manipulation_module",
+    "arm-teleop-module": "dimos.teleop.quest.quest_extensions",
+    "camera-module": "dimos.hardware.sensors.camera.module",
+    "cartesian-motion-controller": "dimos.manipulation.control.servo_control.cartesian_motion_controller",
+    "control-coordinator": "dimos.control.coordinator",
+    "cost-mapper": "dimos.mapping.costmapper",
+    "demo-calculator-skill": "dimos.agents.skills.demo_calculator_skill",
+    "demo-robot": "dimos.agents.skills.demo_robot",
+    "detection-db-module": "dimos.perception.detection.moduleDB",
+    "detection3d-module": "dimos.perception.detection.module3D",
+    "fastlio2-module": "dimos.hardware.sensors.lidar.fastlio2.module",
+    "foxglove-bridge": "dimos.robot.foxglove_bridge",
+    "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",
+    "joint-trajectory-controller": "dimos.manipulation.control.trajectory_controller.joint_trajectory_controller",
+    "keyboard-teleop": "dimos.robot.unitree.keyboard_teleop",
+    "keyboard-teleop-module": "dimos.teleop.keyboard.keyboard_teleop_module",
+    "manipulation-module": "dimos.manipulation.manipulation_module",
     "mapper": "dimos.robot.unitree.type.map",
-    "mcp_client": "dimos.agents.mcp.mcp_client",
-    "mid360_module": "dimos.hardware.sensors.lidar.livox.module",
-    "navigation_skill": "dimos.agents.skills.navigation",
-    "object_scene_registration_module": "dimos.perception.object_scene_registration",
-    "object_tracking": "dimos.perception.object_tracker",
-    "osm_skill": "dimos.agents.skills.osm",
-    "person_follow_skill": "dimos.agents.skills.person_follow",
-    "person_tracker_module": "dimos.perception.detection.person_tracker",
-    "phone_teleop_module": "dimos.teleop.phone.phone_teleop_module",
-    "quest_teleop_module": "dimos.teleop.quest.quest_teleop_module",
-    "realsense_camera": "dimos.hardware.sensors.camera.realsense.camera",
-    "replanning_a_star_planner": "dimos.navigation.replanning_a_star.module",
-    "rerun_bridge": "dimos.visualization.rerun.bridge",
-    "ros_nav": "dimos.navigation.rosnav",
-    "simple_phone_teleop_module": "dimos.teleop.phone.phone_extensions",
+    "mcp-client": "dimos.agents.mcp.mcp_client",
+    "mid360-module": "dimos.hardware.sensors.lidar.livox.module",
+    "navigation-skill": "dimos.agents.skills.navigation",
+    "object-scene-registration-module": "dimos.perception.object_scene_registration",
+    "object-tracking": "dimos.perception.object_tracker",
+    "osm-skill": "dimos.agents.skills.osm",
+    "person-follow-skill": "dimos.agents.skills.person_follow",
+    "person-tracker-module": "dimos.perception.detection.person_tracker",
+    "phone-teleop-module": "dimos.teleop.phone.phone_teleop_module",
+    "quest-teleop-module": "dimos.teleop.quest.quest_teleop_module",
+    "realsense-camera": "dimos.hardware.sensors.camera.realsense.camera",
+    "replanning-a-star-planner": "dimos.navigation.replanning_a_star.module",
+    "rerun-bridge": "dimos.visualization.rerun.bridge",
+    "ros-nav": "dimos.navigation.rosnav",
+    "simple-phone-teleop-module": "dimos.teleop.phone.phone_extensions",
     "simulation": "dimos.simulation.manipulators.sim_module",
-    "spatial_memory": "dimos.perception.spatial_perception",
-    "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.unitree_skill_container",
+    "spatial-memory": "dimos.perception.spatial_perception",
+    "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.unitree_skill_container",
     "utilization": "dimos.utils.monitoring",
-    "visualizing_teleop_module": "dimos.teleop.quest.quest_extensions",
-    "vlm_agent": "dimos.agents.vlm_agent",
-    "vlm_stream_tester": "dimos.agents.vlm_stream_tester",
-    "voxel_mapper": "dimos.mapping.voxels",
-    "wavefront_frontier_explorer": "dimos.navigation.frontier_exploration.wavefront_frontier_goal_selector",
-    "web_input": "dimos.agents.web_human_input",
-    "websocket_vis": "dimos.web.websocket_vis.websocket_vis_module",
-    "zed_camera": "dimos.hardware.sensors.camera.zed.camera",
+    "visualizing-teleop-module": "dimos.teleop.quest.quest_extensions",
+    "vlm-agent": "dimos.agents.vlm_agent",
+    "vlm-stream-tester": "dimos.agents.vlm_stream_tester",
+    "voxel-mapper": "dimos.mapping.voxels",
+    "wavefront-frontier-explorer": "dimos.navigation.frontier_exploration.wavefront_frontier_goal_selector",
+    "web-input": "dimos.agents.web_human_input",
+    "websocket-vis": "dimos.web.websocket_vis.websocket_vis_module",
+    "zed-camera": "dimos.hardware.sensors.camera.zed.camera",
 }

dimos/robot/cli/dimos.py

@@ -12,7 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from enum import Enum
 import inspect
 import sys
 from typing import Any, get_args, get_origin
@@ -21,9 +20,6 @@
 import typer
 
 from dimos.core.global_config import GlobalConfig, global_config
-from dimos.robot.all_blueprints import all_blueprints
-
-RobotType = Enum("RobotType", {key.replace("-", "_").upper(): key for key in all_blueprints.keys()})  # type: ignore[misc]
 
 main = typer.Typer(
     help="Dimensional CLI",
@@ -102,28 +98,21 @@ def callback(**kwargs) -> None:  # type: ignore[no-untyped-def]
 @main.command()
 def run(
     ctx: typer.Context,
-    robot_type: RobotType = typer.Argument(..., help="Type of robot to run"),
-    extra_modules: list[str] = typer.Option(  # type: ignore[valid-type]
-        [], "--extra-module", help="Extra modules to add to the blueprint"
-    ),
+    robot_types: list[str] = typer.Argument(..., help="Blueprints or modules to 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.robot.get_all_blueprints import get_by_name
     from dimos.utils.logging_config import setup_exception_handler
 
     setup_exception_handler()
 
     cli_config_overrides: dict[str, Any] = ctx.obj
     global_config.update(**cli_config_overrides)
     pubsub.lcm.autoconf()  # type: ignore[attr-defined]
-    blueprint = get_blueprint_by_name(robot_type.value)
-
-    if extra_modules:
-        loaded_modules = [get_module_by_name(mod_name) for mod_name in extra_modules]  # type: ignore[attr-defined]
-        blueprint = autoconnect(blueprint, *loaded_modules)
 
+    blueprint = autoconnect(*map(get_by_name, robot_types))
     dimos = blueprint.build(cli_config_overrides=cli_config_overrides)
     dimos.loop()
 
@@ -139,8 +128,8 @@ def show_config(ctx: typer.Context) -> None:
         typer.echo(f"{field_name}: {value}")
 
 
-@main.command()
-def list() -> None:
+@main.command(name="list")
+def list_blueprints() -> None:
     """List all available blueprints."""
     from dimos.robot.all_blueprints import all_blueprints
 

dimos/robot/get_all_blueprints.py

@@ -12,20 +12,48 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import difflib
+import sys
+from typing import NoReturn
+
+import typer
+
 from dimos.core.blueprints import Blueprint
 from dimos.robot.all_blueprints import all_blueprints, all_modules
 
+all_names = sorted(set(all_blueprints.keys()) | set(all_modules.keys()))
+
+
+def _fail_unknown(name: str, candidates: list[str]) -> NoReturn:
+    typer.echo(typer.style(f"Unknown blueprint or module: {name}", fg=typer.colors.RED), err=True)
+    suggestions = difflib.get_close_matches(name, candidates, n=5, cutoff=0.4)
+    if suggestions:
+        typer.echo("Did you mean one of these?", err=True)
+        for s in suggestions:
+            typer.echo(f"  {s}", err=True)
+    sys.exit(1)
+
 
 def get_blueprint_by_name(name: str) -> Blueprint:
     if name not in all_blueprints:
-        raise ValueError(f"Unknown blueprint set name: {name}")
+        _fail_unknown(name, list(all_blueprints.keys()))
     module_path, attr = all_blueprints[name].split(":")
     module = __import__(module_path, fromlist=[attr])
     return getattr(module, attr)  # type: ignore[no-any-return]
 
 
 def get_module_by_name(name: str) -> Blueprint:
     if name not in all_modules:
-        raise ValueError(f"Unknown module name: {name}")
-    python_module = __import__(all_modules[name], fromlist=[name])
-    return getattr(python_module, name)()  # type: ignore[no-any-return]
+        _fail_unknown(name, list(all_modules.keys()))
+    attr_name = name.replace("-", "_")
+    python_module = __import__(all_modules[name], fromlist=[attr_name])
+    return getattr(python_module, attr_name)()  # type: ignore[no-any-return]
+
+
+def get_by_name(name: str) -> Blueprint:
+    if name in all_blueprints:
+        return get_blueprint_by_name(name)
+    elif name in all_modules:
+        return get_module_by_name(name)
+    else:
+        _fail_unknown(name, all_names)

dimos/robot/test_all_blueprints_generation.py

@@ -37,6 +37,13 @@
 def test_all_blueprints_is_current() -> None:
     root = DIMOS_PROJECT_ROOT / "dimos"
     all_blueprints, all_modules = _scan_for_blueprints(root)
+
+    common = set(all_blueprints.keys()) & set(all_modules.keys())
+    assert not common, (
+        f"Names must be unique across blueprints and modules, "
+        f"but these appear in both: {sorted(common)}"
+    )
+
     generated_content = _generate_all_blueprints_content(all_blueprints, all_modules)
 
     file_path = root / "robot" / "all_blueprints.py"
@@ -83,8 +90,8 @@ def _scan_for_blueprints(root: Path) -> tuple[dict[str, str], dict[str, str]]:
             all_blueprints[cli_name] = full_path
 
         for var_name in module_vars:
-            full_path = f"{module_name}:{var_name}"
-            all_modules[var_name] = module_name
+            cli_name = var_name.replace("_", "-")
+            all_modules[cli_name] = module_name
 
     return all_blueprints, all_modules
 

docs/capabilities/manipulation/readme.md

@@ -101,7 +101,7 @@ KeyboardTeleopModule ──→ ControlCoordinator ──→ ManipulationModule
 
 ## Adding a Custom Arm
 
-[guide is here](adding_a_custom_arm.md)
+[guide is here](/docs/capabilities/manipulation/adding_a_custom_arm.md)
 
 ## Key Files
 

docs/development/dimos_run.md

@@ -31,7 +31,7 @@ dimos run unitree-go2-agentic
 You can dynamically connect additional modules. For example:
 
 ```bash
-dimos run unitree-go2 --extra-module agent --extra-module navigation_skill
+dimos run unitree-go2 keyboard-teleop
 ```
 
 ## Adding your own

docs/platforms/humanoid/g1/index.md

@@ -13,9 +13,9 @@ The Unitree G1 is a humanoid robot platform with full-body locomotion, arm gestu
 ## Install
 
 First, install system dependencies for your platform:
-- [Ubuntu](../../../installation/ubuntu.md)
-- [macOS](../../../installation/osx.md)
-- [Nix](../../../installation/nix.md)
+- [Ubuntu](/docs/installation/ubuntu.md)
+- [macOS](/docs/installation/osx.md)
+- [Nix](/docs/installation/nix.md)
 
 Then install DimOS:
 
@@ -159,9 +159,9 @@ primitive (sensors + vis)
 
 ## Deep Dive
 
-- [Navigation Stack](../../../capabilities/navigation/readme.md) — path planning and autonomous exploration
-- [Visualization](../../../usage/visualization.md) — Rerun, Foxglove, performance tuning
-- [Data Streams](../../../usage/data_streams/) — RxPY streams, backpressure, quality filtering
-- [Transports](../../../usage/transports/index.md) — LCM, SHM, DDS
-- [Blueprints](../../../usage/blueprints.md) — composing modules
-- [Agents](../../../capabilities/agents/readme.md) — LLM agent framework
+- [Navigation Stack](/docs/capabilities/navigation/readme.md) — path planning and autonomous exploration
+- [Visualization](/docs/usage/visualization.md) — Rerun, Foxglove, performance tuning
+- [Data Streams](/docs/usage/data_streams) — RxPY streams, backpressure, quality filtering
+- [Transports](/docs/usage/transports/index.md) — LCM, SHM, DDS
+- [Blueprints](/docs/usage/blueprints.md) — composing modules
+- [Agents](/docs/capabilities/agents/readme.md) — LLM agent framework

pyproject.toml

@@ -359,11 +359,12 @@ module = [
     "pinocchio",
     "piper_sdk.*",
     "plotext",
-    "pydrake",
-    "pydrake.*",
     "plum.*",
+    "portal",
     "pycuda",
     "pycuda.*",
+    "pydrake",
+    "pydrake.*",
     "pyzed",
     "pyzed.*",
     "rclpy.*",