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fix(blueprints): get module by name #1689

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b6d7784
fix(blueprints): get module by name
paul-nechifor Mar 26, 2026
5ca66af
Merge branch 'dev' into paul/fix/module-names
paul-nechifor Mar 28, 2026
cc6b9fc
Merge branch 'dev' into paul/fix/module-names
paul-nechifor Mar 29, 2026
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150 changes: 75 additions & 75 deletions dimos/robot/all_blueprints.py
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Original file line number Diff line number Diff line change
Expand Up @@ -98,79 +98,79 @@


all_modules = {
"arm-teleop-module": "dimos.teleop.quest.quest_extensions",
"b-box-navigation-module": "dimos.navigation.bbox_navigation",
"b1-connection-module": "dimos.robot.unitree.b1.connection",
"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",
"detection2-d-module": "dimos.perception.detection.module2D",
"detection3-d-module": "dimos.perception.detection.module3D",
"drone-camera-module": "dimos.robot.drone.camera_module",
"drone-connection-module": "dimos.robot.drone.connection_module",
"drone-tracking-module": "dimos.robot.drone.drone_tracking_module",
"embedding-memory": "dimos.memory.embedding",
"emitter-module": "dimos.utils.demo_image_encoding",
"fast-lio2": "dimos.hardware.sensors.lidar.fastlio2.module",
"foxglove-bridge": "dimos.robot.foxglove_bridge",
"g1-connection": "dimos.robot.unitree.g1.connection",
"g1-connection-base": "dimos.robot.unitree.g1.connection",
"g1-sim-connection": "dimos.robot.unitree.g1.sim",
"go2-connection": "dimos.robot.unitree.go2.connection",
"go2-fleet-connection": "dimos.robot.unitree.go2.fleet_connection",
"google-maps-skill-container": "dimos.agents.skills.google_maps_skill_container",
"gps-nav-skill-container": "dimos.agents.skills.gps_nav_skill",
"grasp-gen-module": "dimos.manipulation.grasping.graspgen_module",
"grasping-module": "dimos.manipulation.grasping.grasping",
"gstreamer-camera-module": "dimos.hardware.sensors.camera.gstreamer.gstreamer_camera",
"joint-trajectory-controller": "dimos.manipulation.control.trajectory_controller.joint_trajectory_controller",
"joystick-module": "dimos.robot.unitree.b1.joystick_module",
"keyboard-teleop": "dimos.robot.unitree.keyboard_teleop",
"keyboard-teleop-module": "dimos.teleop.keyboard.keyboard_teleop_module",
"manipulation-module": "dimos.manipulation.manipulation_module",
"map": "dimos.robot.unitree.type.map",
"mcp-client": "dimos.agents.mcp.mcp_client",
"mcp-server": "dimos.agents.mcp.mcp_server",
"mock-b1-connection-module": "dimos.robot.unitree.b1.connection",
"module-a": "dimos.robot.unitree.demo_error_on_name_conflicts",
"module-b": "dimos.robot.unitree.demo_error_on_name_conflicts",
"navigation-module": "dimos.robot.unitree.rosnav",
"navigation-skill-container": "dimos.agents.skills.navigation",
"object-db-module": "dimos.perception.detection.moduleDB",
"object-scene-registration-module": "dimos.perception.object_scene_registration",
"object-tracker2-d": "dimos.perception.object_tracker_2d",
"object-tracker3-d": "dimos.perception.object_tracker_3d",
"object-tracking": "dimos.perception.object_tracker",
"osm-skill": "dimos.agents.skills.osm",
"patrolling-module": "dimos.navigation.patrolling.module",
"perceive-loop-skill": "dimos.perception.perceive_loop_skill",
"person-follow-skill-container": "dimos.agents.skills.person_follow",
"person-tracker": "dimos.perception.detection.person_tracker",
"phone-teleop-module": "dimos.teleop.phone.phone_teleop_module",
"pick-and-place-module": "dimos.manipulation.pick_and_place_module",
"quest-teleop-module": "dimos.teleop.quest.quest_teleop_module",
"real-sense-camera": "dimos.hardware.sensors.camera.realsense.camera",
"receiver-module": "dimos.utils.demo_image_encoding",
"reid-module": "dimos.perception.detection.reid.module",
"replanning-a-star-planner": "dimos.navigation.replanning_a_star.module",
"rerun-bridge-module": "dimos.visualization.rerun.bridge",
"ros-nav": "dimos.navigation.rosnav",
"simple-phone-teleop": "dimos.teleop.phone.phone_extensions",
"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-g1-skill-container": "dimos.robot.unitree.g1.skill_container",
"unitree-skill-container": "dimos.robot.unitree.unitree_skill_container",
"unity-bridge-module": "dimos.simulation.unity.module",
"vlm-agent": "dimos.agents.vlm_agent",
"vlm-stream-tester": "dimos.agents.vlm_stream_tester",
"voxel-grid-mapper": "dimos.mapping.voxels",
"wavefront-frontier-explorer": "dimos.navigation.frontier_exploration.wavefront_frontier_goal_selector",
"web-input": "dimos.agents.web_human_input",
"websocket-vis-module": "dimos.web.websocket_vis.websocket_vis_module",
"zed-camera": "dimos.hardware.sensors.camera.zed.camera",
"arm-teleop-module": "dimos.teleop.quest.quest_extensions.ArmTeleopModule",
"b-box-navigation-module": "dimos.navigation.bbox_navigation.BBoxNavigationModule",
"b1-connection-module": "dimos.robot.unitree.b1.connection.B1ConnectionModule",
"camera-module": "dimos.hardware.sensors.camera.module.CameraModule",
"cartesian-motion-controller": "dimos.manipulation.control.servo_control.cartesian_motion_controller.CartesianMotionController",
"control-coordinator": "dimos.control.coordinator.ControlCoordinator",
"cost-mapper": "dimos.mapping.costmapper.CostMapper",
"demo-calculator-skill": "dimos.agents.skills.demo_calculator_skill.DemoCalculatorSkill",
"demo-robot": "dimos.agents.skills.demo_robot.DemoRobot",
"detection2-d-module": "dimos.perception.detection.module2D.Detection2DModule",
"detection3-d-module": "dimos.perception.detection.module3D.Detection3DModule",
"drone-camera-module": "dimos.robot.drone.camera_module.DroneCameraModule",
"drone-connection-module": "dimos.robot.drone.connection_module.DroneConnectionModule",
"drone-tracking-module": "dimos.robot.drone.drone_tracking_module.DroneTrackingModule",
"embedding-memory": "dimos.memory.embedding.EmbeddingMemory",
"emitter-module": "dimos.utils.demo_image_encoding.EmitterModule",
"fast-lio2": "dimos.hardware.sensors.lidar.fastlio2.module.FastLio2",
"foxglove-bridge": "dimos.robot.foxglove_bridge.FoxgloveBridge",
"g1-connection": "dimos.robot.unitree.g1.connection.G1Connection",
"g1-connection-base": "dimos.robot.unitree.g1.connection.G1ConnectionBase",
"g1-sim-connection": "dimos.robot.unitree.g1.sim.G1SimConnection",
"go2-connection": "dimos.robot.unitree.go2.connection.GO2Connection",
"go2-fleet-connection": "dimos.robot.unitree.go2.fleet_connection.Go2FleetConnection",
"google-maps-skill-container": "dimos.agents.skills.google_maps_skill_container.GoogleMapsSkillContainer",
"gps-nav-skill-container": "dimos.agents.skills.gps_nav_skill.GpsNavSkillContainer",
"grasp-gen-module": "dimos.manipulation.grasping.graspgen_module.GraspGenModule",
"grasping-module": "dimos.manipulation.grasping.grasping.GraspingModule",
"gstreamer-camera-module": "dimos.hardware.sensors.camera.gstreamer.gstreamer_camera.GstreamerCameraModule",
"joint-trajectory-controller": "dimos.manipulation.control.trajectory_controller.joint_trajectory_controller.JointTrajectoryController",
"joystick-module": "dimos.robot.unitree.b1.joystick_module.JoystickModule",
"keyboard-teleop": "dimos.robot.unitree.keyboard_teleop.KeyboardTeleop",
"keyboard-teleop-module": "dimos.teleop.keyboard.keyboard_teleop_module.KeyboardTeleopModule",
"manipulation-module": "dimos.manipulation.manipulation_module.ManipulationModule",
"map": "dimos.robot.unitree.type.map.Map",
"mcp-client": "dimos.agents.mcp.mcp_client.McpClient",
"mcp-server": "dimos.agents.mcp.mcp_server.McpServer",
"mock-b1-connection-module": "dimos.robot.unitree.b1.connection.MockB1ConnectionModule",
"module-a": "dimos.robot.unitree.demo_error_on_name_conflicts.ModuleA",
"module-b": "dimos.robot.unitree.demo_error_on_name_conflicts.ModuleB",
"navigation-module": "dimos.robot.unitree.rosnav.NavigationModule",
"navigation-skill-container": "dimos.agents.skills.navigation.NavigationSkillContainer",
"object-db-module": "dimos.perception.detection.moduleDB.ObjectDBModule",
"object-scene-registration-module": "dimos.perception.object_scene_registration.ObjectSceneRegistrationModule",
"object-tracker2-d": "dimos.perception.object_tracker_2d.ObjectTracker2D",
"object-tracker3-d": "dimos.perception.object_tracker_3d.ObjectTracker3D",
"object-tracking": "dimos.perception.object_tracker.ObjectTracking",
"osm-skill": "dimos.agents.skills.osm.OsmSkill",
"patrolling-module": "dimos.navigation.patrolling.module.PatrollingModule",
"perceive-loop-skill": "dimos.perception.perceive_loop_skill.PerceiveLoopSkill",
"person-follow-skill-container": "dimos.agents.skills.person_follow.PersonFollowSkillContainer",
"person-tracker": "dimos.perception.detection.person_tracker.PersonTracker",
"phone-teleop-module": "dimos.teleop.phone.phone_teleop_module.PhoneTeleopModule",
"pick-and-place-module": "dimos.manipulation.pick_and_place_module.PickAndPlaceModule",
"quest-teleop-module": "dimos.teleop.quest.quest_teleop_module.QuestTeleopModule",
"real-sense-camera": "dimos.hardware.sensors.camera.realsense.camera.RealSenseCamera",
"receiver-module": "dimos.utils.demo_image_encoding.ReceiverModule",
"reid-module": "dimos.perception.detection.reid.module.ReidModule",
"replanning-a-star-planner": "dimos.navigation.replanning_a_star.module.ReplanningAStarPlanner",
"rerun-bridge-module": "dimos.visualization.rerun.bridge.RerunBridgeModule",
"ros-nav": "dimos.navigation.rosnav.ROSNav",
"simple-phone-teleop": "dimos.teleop.phone.phone_extensions.SimplePhoneTeleop",
"spatial-memory": "dimos.perception.spatial_perception.SpatialMemory",
"speak-skill": "dimos.agents.skills.speak_skill.SpeakSkill",
"temporal-memory": "dimos.perception.experimental.temporal_memory.temporal_memory.TemporalMemory",
"twist-teleop-module": "dimos.teleop.quest.quest_extensions.TwistTeleopModule",
"unitree-g1-skill-container": "dimos.robot.unitree.g1.skill_container.UnitreeG1SkillContainer",
"unitree-skill-container": "dimos.robot.unitree.unitree_skill_container.UnitreeSkillContainer",
"unity-bridge-module": "dimos.simulation.unity.module.UnityBridgeModule",
"vlm-agent": "dimos.agents.vlm_agent.VLMAgent",
"vlm-stream-tester": "dimos.agents.vlm_stream_tester.VlmStreamTester",
"voxel-grid-mapper": "dimos.mapping.voxels.VoxelGridMapper",
"wavefront-frontier-explorer": "dimos.navigation.frontier_exploration.wavefront_frontier_goal_selector.WavefrontFrontierExplorer",
"web-input": "dimos.agents.web_human_input.WebInput",
"websocket-vis-module": "dimos.web.websocket_vis.websocket_vis_module.WebsocketVisModule",
"zed-camera": "dimos.hardware.sensors.camera.zed.camera.ZEDCamera",
}
6 changes: 3 additions & 3 deletions dimos/robot/get_all_blueprints.py
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Original file line number Diff line number Diff line change
Expand Up @@ -45,9 +45,9 @@ def get_blueprint_by_name(name: str) -> Blueprint:
def get_module_by_name(name: str) -> Blueprint:
if name not in all_modules:
_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]
module_path, class_name = all_modules[name].rsplit(".", 1)
python_module = __import__(module_path, fromlist=[class_name])
return getattr(python_module, class_name).blueprint() # type: ignore[no-any-return]


def get_by_name(name: str) -> Blueprint:
Expand Down
10 changes: 5 additions & 5 deletions dimos/robot/test_all_blueprints_generation.py
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Original file line number Diff line number Diff line change
Expand Up @@ -171,9 +171,9 @@ def _scan_for_blueprints(root: Path) -> tuple[dict[str, str], dict[str, str]]:

# Only register modules from production files (skip test, deprecated, core)
if _is_production_module_file(file_path, root):
for var_name in module_vars:
for var_name, class_name in module_vars:
cli_name = var_name.replace("_", "-")
all_modules[cli_name] = module_name
all_modules[cli_name] = f"{module_name}.{class_name}"

# Blueprints take priority when names collide (e.g. a pre-configured
# blueprint named "mid360" vs the raw Mid360 Module class).
Expand Down Expand Up @@ -250,9 +250,9 @@ def _path_to_module_name(path: Path, root: Path) -> str:

def _find_blueprints_in_file(
file_path: Path, module_classes: set[str] | None = None
) -> tuple[list[str], list[str]]:
) -> tuple[list[str], list[tuple[str, str]]]:
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@mustafab0 mustafab0 Mar 28, 2026

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We could use NamedTuple for code readability.

blueprint_vars: list[str] = []
module_vars: list[str] = []
module_vars: list[tuple[str, str]] = []

try:
source = file_path.read_text(encoding="utf-8")
Expand Down Expand Up @@ -281,7 +281,7 @@ def _find_blueprints_in_file(
if node.name.startswith("_") or node.name in _EXCLUDED_MODULE_NAMES:
continue
if any(b in module_classes for b in _get_base_class_names(node)):
module_vars.append(_camel_to_snake(node.name))
module_vars.append((_camel_to_snake(node.name), node.name))

return blueprint_vars, module_vars

Expand Down
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