From 652a5baba9f196fc94daed7b941c60335a1689f3 Mon Sep 17 00:00:00 2001
From: Sam Bull <Sam.B@snowfalltravel.com>
Date: Wed, 25 Feb 2026 15:51:31 +0000
Subject: [PATCH 1/9] Adjust config definitions for future enhancements

---
 dimos/core/blueprints.py                      | 47 ++++++++-----------
 dimos/core/introspection/blueprint/dot.py     | 10 ++--
 dimos/core/module.py                          | 37 +++++++++------
 dimos/core/module_coordinator.py              | 38 +++++++--------
 dimos/core/worker.py                          | 33 ++++++++-----
 dimos/core/worker_manager.py                  | 15 +++---
 dimos/hardware/sensors/camera/module.py       | 23 ++++-----
 dimos/hardware/sensors/camera/zed/__init__.py | 34 +-------------
 dimos/hardware/sensors/fake_zed_module.py     | 11 ++---
 dimos/manipulation/manipulation_module.py     | 10 ++--
 dimos/mapping/costmapper.py                   |  8 ++--
 dimos/mapping/voxels.py                       |  8 ++--
 dimos/perception/object_tracker.py            | 23 ++++-----
 dimos/perception/object_tracker_2d.py         |  6 ++-
 dimos/protocol/service/spec.py                |  6 +--
 dimos/robot/foxglove_bridge.py                | 32 +++++--------
 dimos/robot/unitree/b1/connection.py          | 30 ++++++++----
 dimos/robot/unitree/b1/unitree_b1.py          |  4 +-
 dimos/visualization/rerun/bridge.py           |  3 +-
 19 files changed, 173 insertions(+), 205 deletions(-)

diff --git a/dimos/core/blueprints.py b/dimos/core/blueprints.py
index 605517e6cf..8e5fc9c627 100644
--- a/dimos/core/blueprints.py
+++ b/dimos/core/blueprints.py
@@ -17,14 +17,13 @@
 from collections.abc import Callable, Mapping
 from dataclasses import dataclass, field
 from functools import cached_property, reduce
-import inspect
 import operator
 import sys
 from types import MappingProxyType
-from typing import Any, Literal, get_args, get_origin, get_type_hints
+from typing import Any, Literal, Self, get_args, get_origin, get_type_hints
 
 from dimos.core.global_config import GlobalConfig, global_config
-from dimos.core.module import Module, is_module_type
+from dimos.core.module import Module, ModuleBase, ModuleSpec, is_module_type
 from dimos.core.module_coordinator import ModuleCoordinator
 from dimos.core.stream import In, Out
 from dimos.core.transport import LCMTransport, PubSubTransport, pLCMTransport
@@ -45,21 +44,18 @@ class StreamRef:
 @dataclass(frozen=True)
 class ModuleRef:
     name: str
-    spec: type[Spec] | type[Module]
+    spec: type[Spec] | type[ModuleBase]
 
 
 @dataclass(frozen=True)
 class _BlueprintAtom:
-    module: type[Module]
+    kwargs: dict[str, Any]
+    module: type[ModuleBase[Any]]
     streams: tuple[StreamRef, ...]
     module_refs: tuple[ModuleRef, ...]
-    args: tuple[Any, ...]
-    kwargs: dict[str, Any]
 
     @classmethod
-    def create(
-        cls, module: type[Module], args: tuple[Any, ...], kwargs: dict[str, Any]
-    ) -> "_BlueprintAtom":
+    def create(cls, module: type[ModuleBase[Any]], kwargs: dict[str, Any]) -> Self:
         streams: list[StreamRef] = []
         module_refs: list[ModuleRef] = []
 
@@ -93,7 +89,6 @@ def create(
             module=module,
             streams=tuple(streams),
             module_refs=tuple(module_refs),
-            args=args,
             kwargs=kwargs,
         )
 
@@ -105,14 +100,14 @@ class Blueprint:
         default_factory=lambda: MappingProxyType({})
     )
     global_config_overrides: Mapping[str, Any] = field(default_factory=lambda: MappingProxyType({}))
-    remapping_map: Mapping[tuple[type[Module], str], str | type[Module] | type[Spec]] = field(
-        default_factory=lambda: MappingProxyType({})
+    remapping_map: Mapping[tuple[type[ModuleBase], str], str | type[ModuleBase] | type[Spec]] = (
+        field(default_factory=lambda: MappingProxyType({}))
     )
     requirement_checks: tuple[Callable[[], str | None], ...] = field(default_factory=tuple)
 
     @classmethod
-    def create(cls, module: type[Module], *args: Any, **kwargs: Any) -> "Blueprint":
-        blueprint = _BlueprintAtom.create(module, args, kwargs)
+    def create(cls, module: type[ModuleBase], **kwargs: Any) -> "Blueprint":
+        blueprint = _BlueprintAtom.create(module, kwargs)
         return cls(blueprints=(blueprint,))
 
     def transports(self, transports: dict[tuple[str, type], Any]) -> "Blueprint":
@@ -134,7 +129,7 @@ def global_config(self, **kwargs: Any) -> "Blueprint":
         )
 
     def remappings(
-        self, remappings: list[tuple[type[Module], str, str | type[Module] | type[Spec]]]
+        self, remappings: list[tuple[type[ModuleBase], str, str | type[ModuleBase] | type[Spec]]]
     ) -> "Blueprint":
         remappings_dict = dict(self.remapping_map)
         for module, old, new in remappings:
@@ -160,8 +155,8 @@ def requirements(self, *checks: Callable[[], str | None]) -> "Blueprint":
     def _check_ambiguity(
         self,
         requested_method_name: str,
-        interface_methods: Mapping[str, list[tuple[type[Module], Callable[..., Any]]]],
-        requesting_module: type[Module],
+        interface_methods: Mapping[str, list[tuple[type[ModuleBase], Callable[..., Any]]]],
+        requesting_module: type[ModuleBase],
     ) -> None:
         if (
             requested_method_name in interface_methods
@@ -255,13 +250,9 @@ def _verify_no_name_conflicts(self) -> None:
     def _deploy_all_modules(
         self, module_coordinator: ModuleCoordinator, global_config: GlobalConfig
     ) -> None:
-        module_specs: list[tuple[type[Module], tuple[Any, ...], dict[str, Any]]] = []
+        module_specs: list[ModuleSpec] = []
         for blueprint in self.blueprints:
-            kwargs = {**blueprint.kwargs}
-            sig = inspect.signature(blueprint.module.__init__)
-            if "cfg" in sig.parameters:
-                kwargs["cfg"] = global_config
-            module_specs.append((blueprint.module, blueprint.args, kwargs))
+            module_specs.append((blueprint.module, global_config, blueprint.kwargs))
 
         module_coordinator.deploy_parallel(module_specs)
 
@@ -381,12 +372,12 @@ def _connect_rpc_methods(self, module_coordinator: ModuleCoordinator) -> None:
         rpc_methods_dot = {}
 
         # Track interface methods to detect ambiguity.
-        interface_methods: defaultdict[str, list[tuple[type[Module], Callable[..., Any]]]] = (
+        interface_methods: defaultdict[str, list[tuple[type[ModuleBase], Callable[..., Any]]]] = (
             defaultdict(list)
         )  # interface_name_method -> [(module_class, method)]
-        interface_methods_dot: defaultdict[str, list[tuple[type[Module], Callable[..., Any]]]] = (
-            defaultdict(list)
-        )  # interface_name.method -> [(module_class, method)]
+        interface_methods_dot: defaultdict[
+            str, list[tuple[type[ModuleBase], Callable[..., Any]]]
+        ] = defaultdict(list)  # interface_name.method -> [(module_class, method)]
 
         for blueprint in self.blueprints:
             for method_name in blueprint.module.rpcs.keys():  # type: ignore[attr-defined]
diff --git a/dimos/core/introspection/blueprint/dot.py b/dimos/core/introspection/blueprint/dot.py
index c60ad06fc8..54684f3b51 100644
--- a/dimos/core/introspection/blueprint/dot.py
+++ b/dimos/core/introspection/blueprint/dot.py
@@ -31,7 +31,7 @@
     color_for_string,
     sanitize_id,
 )
-from dimos.core.module import Module
+from dimos.core.module import ModuleBase
 from dimos.utils.cli import theme
 
 
@@ -83,11 +83,11 @@ def render(
         ignored_modules = DEFAULT_IGNORED_MODULES
 
     # Collect all outputs: (name, type) -> list of producer modules
-    producers: dict[tuple[str, type], list[type[Module]]] = defaultdict(list)
+    producers: dict[tuple[str, type], list[type[ModuleBase]]] = defaultdict(list)
     # Collect all inputs: (name, type) -> list of consumer modules
-    consumers: dict[tuple[str, type], list[type[Module]]] = defaultdict(list)
+    consumers: dict[tuple[str, type], list[type[ModuleBase]]] = defaultdict(list)
     # Module name -> module class (for getting package info)
-    module_classes: dict[str, type[Module]] = {}
+    module_classes: dict[str, type[ModuleBase]] = {}
 
     for bp in blueprint_set.blueprints:
         module_classes[bp.module.__name__] = bp.module
@@ -118,7 +118,7 @@ def render(
         active_channels[key] = color_for_string(TYPE_COLORS, label)
 
     # Group modules by package
-    def get_group(mod_class: type[Module]) -> str:
+    def get_group(mod_class: type[ModuleBase]) -> str:
         module_path = mod_class.__module__
         parts = module_path.split(".")
         if len(parts) >= 2 and parts[0] == "dimos":
diff --git a/dimos/core/module.py b/dimos/core/module.py
index d6089a8f0a..5f21af5a08 100644
--- a/dimos/core/module.py
+++ b/dimos/core/module.py
@@ -23,28 +23,28 @@
 from typing import (
     TYPE_CHECKING,
     Any,
+    Protocol,
     get_args,
     get_origin,
     get_type_hints,
     overload,
 )
 
-from typing_extensions import TypeVar as TypeVarExtension
-
 if TYPE_CHECKING:
     from collections.abc import Callable
 
+    from dimos.core.blueprints import Blueprint
     from dimos.core.introspection.module import ModuleInfo
     from dimos.core.rpc_client import RPCClient
 
-from typing import TypeVar
-
 from dask.distributed import Actor, get_worker
 from langchain_core.tools import tool
+from pydantic import BaseModel
 from reactivex.disposable import CompositeDisposable
 
 from dimos.core import colors
 from dimos.core.core import T, rpc
+from dimos.core.global_config import GlobalConfig, global_config
 from dimos.core.introspection.module import extract_module_info, render_module_io
 from dimos.core.resource import Resource
 from dimos.core.rpc_client import RpcCall  # noqa: TC001
@@ -54,6 +54,11 @@
 from dimos.protocol.tf import LCMTF, TFSpec
 from dimos.utils.generic import classproperty
 
+if sys.version_info >= (3, 13):
+    from typing import TypeVar
+else:
+    from typing_extensions import TypeVar
+
 
 @dataclass(frozen=True)
 class SkillInfo:
@@ -90,15 +95,18 @@ def get_loop() -> tuple[asyncio.AbstractEventLoop, threading.Thread | None]:
         return loop, thr
 
 
-@dataclass
-class ModuleConfig:
+class ModuleConfig(BaseModel):
     rpc_transport: type[RPCSpec] = LCMRPC
     tf_transport: type[TFSpec] = LCMTF
     frame_id_prefix: str | None = None
     frame_id: str | None = None
 
 
-ModuleConfigT = TypeVarExtension("ModuleConfigT", bound=ModuleConfig, default=ModuleConfig)
+ModuleConfigT = TypeVar("ModuleConfigT", bound=ModuleConfig, default=ModuleConfig)
+
+
+class _BlueprintPartial(Protocol):
+    def __call__(self, **kwargs: Any) -> Blueprint: ...
 
 
 class ModuleBase(Configurable[ModuleConfigT], Resource):
@@ -111,10 +119,9 @@ class ModuleBase(Configurable[ModuleConfigT], Resource):
 
     rpc_calls: list[str] = []
 
-    default_config: type[ModuleConfigT] = ModuleConfig  # type: ignore[assignment]
-
-    def __init__(self, *args, **kwargs) -> None:  # type: ignore[no-untyped-def]
-        super().__init__(*args, **kwargs)
+    def __init__(self, config_args: dict[str, Any], global_config: GlobalConfig):
+        super().__init__(**config_args)
+        self._global_config = global_config
         self._loop, self._loop_thread = get_loop()
         self._disposables = CompositeDisposable()
         # we can completely override comms protocols if we want
@@ -346,7 +353,7 @@ def __get__(
     module_info = _module_info_descriptor()
 
     @classproperty
-    def blueprint(self):  # type: ignore[no-untyped-def]
+    def blueprint(self) -> _BlueprintPartial:
         # Here to prevent circular imports.
         from dimos.core.blueprints import Blueprint
 
@@ -426,7 +433,7 @@ def __init_subclass__(cls, **kwargs: Any) -> None:
                 if not hasattr(cls, name) or getattr(cls, name) is None:
                     setattr(cls, name, None)
 
-    def __init__(self, *args, **kwargs) -> None:  # type: ignore[no-untyped-def]
+    def __init__(self, global_config: GlobalConfig = global_config, **kwargs: Any):
         self.ref = None  # type: ignore[assignment]
 
         # Get type hints with proper namespace resolution for subclasses
@@ -455,7 +462,7 @@ def __init__(self, *args, **kwargs) -> None:  # type: ignore[no-untyped-def]
                 inner, *_ = get_args(ann) or (Any,)
                 stream = In(inner, name, self)  # type: ignore[assignment]
                 setattr(self, name, stream)
-        super().__init__(*args, **kwargs)
+        super().__init__(global_config, **kwargs)
 
     def set_ref(self, ref) -> int:  # type: ignore[no-untyped-def]
         worker = get_worker()
@@ -505,7 +512,7 @@ def dask_register_subscriber(self, output_name: str, subscriber: RemoteIn[T]) ->
         getattr(self, output_name).transport.dask_register_subscriber(subscriber)
 
 
-ModuleT = TypeVar("ModuleT", bound="Module")
+ModuleSpec = tuple[type[ModuleBase], GlobalConfig, dict[str, Any]]
 
 
 def is_module_type(value: Any) -> bool:
diff --git a/dimos/core/module_coordinator.py b/dimos/core/module_coordinator.py
index c6d975731d..cacf8e8d41 100644
--- a/dimos/core/module_coordinator.py
+++ b/dimos/core/module_coordinator.py
@@ -19,7 +19,7 @@
 from dimos import core
 from dimos.core import DimosCluster
 from dimos.core.global_config import GlobalConfig, global_config
-from dimos.core.module import Module, ModuleT
+from dimos.core.module import ModuleBase, ModuleSpec
 from dimos.core.resource import Resource
 from dimos.core.worker_manager import WorkerManager
 
@@ -32,7 +32,7 @@ class ModuleCoordinator(Resource):  # type: ignore[misc]
     _global_config: GlobalConfig
     _n: int | None = None
     _memory_limit: str = "auto"
-    _deployed_modules: dict[type[Module], "ModuleProxy"]
+    _deployed_modules: dict[type[ModuleBase], "ModuleProxy"]
 
     def __init__(
         self,
@@ -56,17 +56,20 @@ def stop(self) -> None:
 
         self._client.close_all()  # type: ignore[union-attr]
 
-    def deploy(self, module_class: type[ModuleT], *args, **kwargs) -> "ModuleProxy":  # type: ignore[no-untyped-def]
-        if not self._client:
-            raise ValueError("Trying to dimos.deploy before dask client has started")
-
-        module: ModuleProxy = self._client.deploy(module_class, *args, **kwargs)  # type: ignore[union-attr, attr-defined, assignment]
-        self._deployed_modules[module_class] = module
-        return module
-
-    def deploy_parallel(
-        self, module_specs: list[tuple[type[ModuleT], tuple[Any, ...], dict[str, Any]]]
-    ) -> list["ModuleProxy"]:
+    def deploy(
+        self,
+        module_class: type[ModuleBase[Any]],
+        global_config: GlobalConfig = global_config,
+        **kwargs: Any,
+    ) -> "ModuleProxy":
+        if not isinstance(self._client, WorkerManager):
+            raise RuntimeError("Trying to dimos.deploy before dask client has started")
+
+        module = self._client.deploy(module_class, global_config, **kwargs)
+        self._deployed_modules[module_class] = module  # type: ignore[assignment]
+        return module  # type: ignore[return-value]
+
+    def deploy_parallel(self, module_specs: list[ModuleSpec]) -> list["ModuleProxy"]:
         if not self._client:
             raise ValueError("Not started")
 
@@ -75,11 +78,8 @@ def deploy_parallel(
             for (module_class, _, _), module in zip(module_specs, modules, strict=True):
                 self._deployed_modules[module_class] = module  # type: ignore[assignment]
             return modules  # type: ignore[return-value]
-        else:
-            return [
-                self.deploy(module_class, *args, **kwargs)
-                for module_class, args, kwargs in module_specs
-            ]
+
+        return [self.deploy(m, c, **kw) for m, c, kw in module_specs]
 
     def start_all_modules(self) -> None:
         modules = list(self._deployed_modules.values())
@@ -95,7 +95,7 @@ def start_all_modules(self) -> None:
             if hasattr(module, "on_system_modules"):
                 module.on_system_modules(module_list)
 
-    def get_instance(self, module: type[ModuleT]) -> "ModuleProxy":
+    def get_instance(self, module: type[ModuleBase]) -> "ModuleProxy":
         return self._deployed_modules.get(module)  # type: ignore[return-value, no-any-return]
 
     def loop(self) -> None:
diff --git a/dimos/core/worker.py b/dimos/core/worker.py
index d6ff71918c..c70cd38431 100644
--- a/dimos/core/worker.py
+++ b/dimos/core/worker.py
@@ -17,7 +17,8 @@
 import traceback
 from typing import Any
 
-from dimos.core.module import ModuleT
+from dimos.core.global_config import GlobalConfig
+from dimos.core.module import Module, ModuleBase
 from dimos.core.rpc_client import RPCClient
 from dimos.utils.actor_registry import ActorRegistry
 from dimos.utils.logging_config import setup_logger
@@ -40,7 +41,7 @@ class Actor:
     """Proxy that forwards method calls to the worker process."""
 
     def __init__(
-        self, conn: Connection | None, module_class: type[ModuleT], worker_id: int
+        self, conn: Connection | None, module_class: type[ModuleBase], worker_id: int
     ) -> None:
         self._conn = conn
         self._cls = module_class
@@ -98,13 +99,13 @@ def reset_forkserver_context() -> None:
 class Worker:
     def __init__(
         self,
-        module_class: type[ModuleT],
-        args: tuple[Any, ...] = (),
-        kwargs: dict[Any, Any] | None = None,
+        module_class: type[ModuleBase],
+        global_config: GlobalConfig,
+        kwargs: dict[str, Any],
     ) -> None:
-        self._module_class: type[ModuleT] = module_class
-        self._args: tuple[Any, ...] = args
-        self._kwargs: dict[Any, Any] = kwargs or {}
+        self._module_class = module_class
+        self._global_config = global_config
+        self._kwargs = kwargs
         self._process: Any = None
         self._conn: Connection | None = None
         self._actor: Actor | None = None
@@ -118,7 +119,13 @@ def start_process(self) -> None:
 
         self._process = ctx.Process(
             target=_worker_entrypoint,
-            args=(child_conn, self._module_class, self._args, self._kwargs, self._worker_id),
+            args=(
+                child_conn,
+                self._module_class,
+                self._global_config,
+                self._kwargs,
+                self._worker_id,
+            ),
             daemon=True,
         )
         self._process.start()
@@ -168,15 +175,15 @@ def shutdown(self) -> None:
 
 def _worker_entrypoint(
     conn: Connection,
-    module_class: type[ModuleT],
-    args: tuple[Any, ...],
-    kwargs: dict[Any, Any],
+    module_class: type[Module],
+    global_config: GlobalConfig,
+    kwargs: dict[str, Any],
     worker_id: int,
 ) -> None:
     instance = None
 
     try:
-        instance = module_class(*args, **kwargs)
+        instance = module_class(global_config=global_config, **kwargs)
         instance.worker = worker_id
 
         _worker_loop(conn, instance, worker_id)
diff --git a/dimos/core/worker_manager.py b/dimos/core/worker_manager.py
index 175b650fd2..76b156e780 100644
--- a/dimos/core/worker_manager.py
+++ b/dimos/core/worker_manager.py
@@ -14,7 +14,8 @@
 
 from typing import Any
 
-from dimos.core.module import ModuleT
+from dimos.core.global_config import GlobalConfig
+from dimos.core.module import ModuleBase
 from dimos.core.rpc_client import RPCClient
 from dimos.core.worker import Worker
 from dimos.utils.actor_registry import ActorRegistry
@@ -28,24 +29,26 @@ def __init__(self) -> None:
         self._workers: list[Worker] = []
         self._closed = False
 
-    def deploy(self, module_class: type[ModuleT], *args: Any, **kwargs: Any) -> RPCClient:
+    def deploy(
+        self, module_class: type[ModuleBase], global_config: GlobalConfig, kwargs: dict[str, Any]
+    ) -> RPCClient:
         if self._closed:
             raise RuntimeError("WorkerManager is closed")
 
-        worker = Worker(module_class, args=args, kwargs=kwargs)
+        worker = Worker(module_class, global_config, kwargs)
         worker.deploy()
         self._workers.append(worker)
         return worker.get_instance()
 
     def deploy_parallel(
-        self, module_specs: list[tuple[type[ModuleT], tuple[Any, ...], dict[Any, Any]]]
+        self, module_specs: list[tuple[type[ModuleBase], GlobalConfig, dict[str, Any]]]
     ) -> list[RPCClient]:
         if self._closed:
             raise RuntimeError("WorkerManager is closed")
 
         workers: list[Worker] = []
-        for module_class, args, kwargs in module_specs:
-            worker = Worker(module_class, args=args, kwargs=kwargs)
+        for module_class, global_config, kwargs in module_specs:
+            worker = Worker(module_class, global_config, kwargs)
             worker.start_process()
             workers.append(worker)
 
diff --git a/dimos/hardware/sensors/camera/module.py b/dimos/hardware/sensors/camera/module.py
index 11821d4724..659c9e07b3 100644
--- a/dimos/hardware/sensors/camera/module.py
+++ b/dimos/hardware/sensors/camera/module.py
@@ -14,6 +14,7 @@
 
 from collections.abc import Callable
 from dataclasses import dataclass, field
+import sys
 import time
 from typing import Any
 
@@ -22,7 +23,6 @@
 from dimos.agents.annotation import skill
 from dimos.core.blueprints import autoconnect
 from dimos.core.core import rpc
-from dimos.core.global_config import GlobalConfig, global_config
 from dimos.core.module import Module, ModuleConfig
 from dimos.core.stream import Out
 from dimos.hardware.sensors.camera.spec import CameraHardware
@@ -33,6 +33,11 @@
 from dimos.spec import perception
 from dimos.visualization.rerun.bridge import rerun_bridge
 
+if sys.version_info >= (3, 13):
+    from typing import TypeVar
+else:
+    from typing_extensions import TypeVar
+
 
 def default_transform() -> Transform:
     return Transform(
@@ -51,20 +56,16 @@ class CameraModuleConfig(ModuleConfig):
     frequency: float = 0.0  # Hz, 0 means no limit
 
 
-class CameraModule(Module[CameraModuleConfig], perception.Camera):
+CameraConfigT = TypeVar("CameraConfigT", bound=CameraModuleConfig, default=CameraModuleConfig)
+
+
+class CameraModule(Module[CameraConfigT], perception.Camera):
     color_image: Out[Image]
     camera_info: Out[CameraInfo]
 
-    hardware: CameraHardware[Any]
-
-    config: CameraModuleConfig
     default_config = CameraModuleConfig
-    _global_config: GlobalConfig
-
-    def __init__(self, *args: Any, cfg: GlobalConfig = global_config, **kwargs: Any) -> None:
-        self._global_config = cfg
-        self._latest_image: Image | None = None
-        super().__init__(*args, **kwargs)
+    hardware: CameraHardware[Any]
+    _latest_image: Image | None = None
 
     @rpc
     def start(self) -> None:
diff --git a/dimos/hardware/sensors/camera/zed/__init__.py b/dimos/hardware/sensors/camera/zed/__init__.py
index f8e73273bf..430416e12e 100644
--- a/dimos/hardware/sensors/camera/zed/__init__.py
+++ b/dimos/hardware/sensors/camera/zed/__init__.py
@@ -16,46 +16,14 @@
 
 from pathlib import Path
 
+from dimos.hardware.sensors.camera.zed.camera import ZEDCamera, ZEDModule, zed_camera
 from dimos.msgs.sensor_msgs.CameraInfo import CalibrationProvider
 
-# Check if ZED SDK is available
-try:
-    import pyzed.sl as sl  # noqa: F401
-
-    HAS_ZED_SDK = True
-except ImportError:
-    HAS_ZED_SDK = False
-
-# Only import ZED classes if SDK is available
-if HAS_ZED_SDK:
-    from dimos.hardware.sensors.camera.zed.camera import ZEDCamera, ZEDModule, zed_camera
-else:
-    # Provide stub classes when SDK is not available
-    class ZEDCamera:  # type: ignore[no-redef]
-        def __init__(self, *args, **kwargs) -> None:  # type: ignore[no-untyped-def]
-            raise ImportError(
-                "ZED SDK not installed. Please install pyzed package to use ZED camera functionality."
-            )
-
-    class ZEDModule:  # type: ignore[no-redef]
-        def __init__(self, *args, **kwargs) -> None:  # type: ignore[no-untyped-def]
-            raise ImportError(
-                "ZED SDK not installed. Please install pyzed package to use ZED camera functionality."
-            )
-
-    def zed_camera(*args: object, **kwargs: object) -> None:  # type: ignore[no-redef]
-        raise ModuleNotFoundError(
-            "ZED SDK not installed. Please install pyzed package to use ZED camera functionality.",
-            name="pyzed",
-        )
-
-
 # Set up camera calibration provider (always available)
 CALIBRATION_DIR = Path(__file__).parent
 CameraInfo = CalibrationProvider(CALIBRATION_DIR)
 
 __all__ = [
-    "HAS_ZED_SDK",
     "CameraInfo",
     "ZEDCamera",
     "ZEDModule",
diff --git a/dimos/hardware/sensors/fake_zed_module.py b/dimos/hardware/sensors/fake_zed_module.py
index ec5613077d..f119179705 100644
--- a/dimos/hardware/sensors/fake_zed_module.py
+++ b/dimos/hardware/sensors/fake_zed_module.py
@@ -17,7 +17,6 @@
 FakeZEDModule - Replays recorded ZED data for testing without hardware.
 """
 
-from dataclasses import dataclass
 import functools
 import logging
 
@@ -25,6 +24,7 @@
 import numpy as np
 
 from dimos.core.core import rpc
+from dimos.core.global_config import GlobalConfig, global_config
 from dimos.core.module import Module, ModuleConfig
 from dimos.core.stream import Out
 from dimos.msgs.geometry_msgs import PoseStamped
@@ -37,8 +37,8 @@
 logger = setup_logger(level=logging.INFO)
 
 
-@dataclass
 class FakeZEDModuleConfig(ModuleConfig):
+    recording_path: str
     frame_id: str = "zed_camera"
 
 
@@ -54,18 +54,17 @@ class FakeZEDModule(Module[FakeZEDModuleConfig]):
     pose: Out[PoseStamped]
 
     default_config = FakeZEDModuleConfig
-    config: FakeZEDModuleConfig
 
-    def __init__(self, recording_path: str, **kwargs: object) -> None:
+    def __init__(self, global_config: GlobalConfig = global_config, **kwargs: object) -> None:
         """
         Initialize FakeZEDModule with recording path.
 
         Args:
             recording_path: Path to recorded data directory
         """
-        super().__init__(**kwargs)
+        super().__init__(global_config, **kwargs)
 
-        self.recording_path = recording_path
+        self.recording_path = self.config.recording_path
         self._running = False
 
         # Initialize TF publisher
diff --git a/dimos/manipulation/manipulation_module.py b/dimos/manipulation/manipulation_module.py
index 310b77d766..3318fab7f1 100644
--- a/dimos/manipulation/manipulation_module.py
+++ b/dimos/manipulation/manipulation_module.py
@@ -34,6 +34,7 @@
 from dimos.constants import DIMOS_PROJECT_ROOT
 from dimos.core import In, Module, rpc
 from dimos.core.docker_runner import DockerModule as DockerRunner
+from dimos.core.global_config import GlobalConfig, global_config
 from dimos.core.module import ModuleConfig
 from dimos.manipulation.grasping.graspgen_module import GraspGenModule
 from dimos.manipulation.planning import (
@@ -118,7 +119,7 @@ class ManipulationModuleConfig(ModuleConfig):
     )
 
 
-class ManipulationModule(Module):
+class ManipulationModule(Module[ManipulationModuleConfig]):
     """Motion planning module with ControlCoordinator execution.
 
     - @rpc: Low-level building blocks (plan, execute, obstacles)
@@ -128,17 +129,14 @@ class ManipulationModule(Module):
 
     default_config = ManipulationModuleConfig
 
-    # Type annotation for the config attribute (mypy uses this)
-    config: ManipulationModuleConfig
-
     # Input: Joint state from coordinator (for world sync)
     joint_state: In[JointState]
 
     # Input: Objects from perception (for obstacle integration)
     objects: In[list[DetObject]]
 
-    def __init__(self, *args: object, **kwargs: object) -> None:
-        super().__init__(*args, **kwargs)
+    def __init__(self, global_config: GlobalConfig = global_config, **kwargs: Any) -> None:
+        super().__init__(global_config, **kwargs)
 
         # State machine
         self._state = ManipulationState.IDLE
diff --git a/dimos/mapping/costmapper.py b/dimos/mapping/costmapper.py
index 70cd770777..561bc72a82 100644
--- a/dimos/mapping/costmapper.py
+++ b/dimos/mapping/costmapper.py
@@ -38,16 +38,14 @@ class Config(ModuleConfig):
     config: OccupancyConfig = field(default_factory=HeightCostConfig)
 
 
-class CostMapper(Module):
+class CostMapper(Module[Config]):
     default_config = Config
-    config: Config
 
     global_map: In[PointCloud2]
     global_costmap: Out[OccupancyGrid]
 
-    def __init__(self, cfg: GlobalConfig = global_config, **kwargs: object) -> None:
-        super().__init__(**kwargs)
-        self._global_config = cfg
+    def __init__(self, global_config: GlobalConfig = global_config, **kwargs: object) -> None:
+        super().__init__(global_config, **kwargs)
 
     @rpc
     def start(self) -> None:
diff --git a/dimos/mapping/voxels.py b/dimos/mapping/voxels.py
index 4c1805e059..d079979801 100644
--- a/dimos/mapping/voxels.py
+++ b/dimos/mapping/voxels.py
@@ -12,8 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from dataclasses import dataclass
 import time
+from typing import Any
 
 import numpy as np
 import open3d as o3d  # type: ignore[import-untyped]
@@ -33,7 +33,6 @@
 logger = setup_logger()
 
 
-@dataclass
 class Config(ModuleConfig):
     frame_id: str = "world"
     # -1 never publishes, 0 publishes on every frame, >0 publishes at interval in seconds
@@ -51,9 +50,8 @@ class VoxelGridMapper(Module):
     lidar: In[PointCloud2]
     global_map: Out[PointCloud2]
 
-    def __init__(self, cfg: GlobalConfig = global_config, **kwargs: object) -> None:
-        super().__init__(**kwargs)
-        self._global_config = cfg
+    def __init__(self, global_config: GlobalConfig = global_config, **kwargs: Any) -> None:
+        super().__init__(global_config, **kwargs)
 
         dev = (
             o3c.Device(self.config.device)
diff --git a/dimos/perception/object_tracker.py b/dimos/perception/object_tracker.py
index da415ac32a..8b0ce52d06 100644
--- a/dimos/perception/object_tracker.py
+++ b/dimos/perception/object_tracker.py
@@ -12,9 +12,9 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from dataclasses import dataclass
 import threading
 import time
+from typing import Any
 
 import cv2
 
@@ -29,6 +29,7 @@
 from reactivex.disposable import Disposable
 
 from dimos.core.core import rpc
+from dimos.core.global_config import GlobalConfig, global_config
 from dimos.core.module import Module, ModuleConfig
 from dimos.core.stream import In, Out
 from dimos.msgs.geometry_msgs import Pose, Quaternion, Transform, Vector3
@@ -51,9 +52,10 @@
 logger = setup_logger()
 
 
-@dataclass
 class ObjectTrackingConfig(ModuleConfig):
     frame_id: str = "camera_link"
+    reid_threshold: int = 10
+    reid_fail_tolerance: int = 5
 
 
 class ObjectTracking(Module[ObjectTrackingConfig]):
@@ -70,11 +72,8 @@ class ObjectTracking(Module[ObjectTrackingConfig]):
     tracked_overlay: Out[Image]  # Visualization output
 
     default_config = ObjectTrackingConfig
-    config: ObjectTrackingConfig
 
-    def __init__(
-        self, reid_threshold: int = 10, reid_fail_tolerance: int = 5, **kwargs: object
-    ) -> None:
+    def __init__(self, global_config: GlobalConfig = global_config, **kwargs: Any) -> None:
         """
         Initialize an object tracking module using OpenCV's CSRT tracker with ORB re-ID.
 
@@ -86,11 +85,9 @@ def __init__(
                                  tracking is stopped.
         """
         # Call parent Module init
-        super().__init__(**kwargs)
+        super().__init__(global_config, **kwargs)
 
         self.camera_intrinsics = None
-        self.reid_threshold = reid_threshold
-        self.reid_fail_tolerance = reid_fail_tolerance
 
         self.tracker = None
         self.tracking_bbox = None  # Stores (x, y, w, h) for tracker initialization
@@ -276,7 +273,7 @@ def reid(self, frame, current_bbox) -> bool:  # type: ignore[no-untyped-def]
                         good_matches += 1
             self.last_good_matches = good_matches_list  # Store good matches for visualization
 
-        return good_matches >= self.reid_threshold
+        return good_matches >= self.config.reid_threshold
 
     def _start_tracking_thread(self) -> None:
         """Start the tracking thread."""
@@ -389,7 +386,7 @@ def _process_tracking(self) -> None:
 
         # Determine final success
         if tracker_succeeded:
-            if self.reid_fail_count >= self.reid_fail_tolerance:
+            if self.reid_fail_count >= self.config.reid_fail_tolerance:
                 logger.warning(
                     f"Re-ID failed consecutively {self.reid_fail_count} times. Target lost."
                 )
@@ -589,11 +586,11 @@ def _draw_reid_matches(self, image: NDArray[np.uint8]) -> NDArray[np.uint8]:  #
                 f"REID: WARMING UP ({self.tracking_frame_count}/{self.reid_warmup_frames})"
             )
             status_color = (255, 255, 0)  # Yellow
-        elif len(self.last_good_matches) >= self.reid_threshold:
+        elif len(self.last_good_matches) >= self.config.reid_threshold:
             status_text = "REID: CONFIRMED"
             status_color = (0, 255, 0)  # Green
         else:
-            status_text = f"REID: WEAK ({self.reid_fail_count}/{self.reid_fail_tolerance})"
+            status_text = f"REID: WEAK ({self.reid_fail_count}/{self.config.reid_fail_tolerance})"
             status_color = (0, 165, 255)  # Orange
 
         cv2.putText(
diff --git a/dimos/perception/object_tracker_2d.py b/dimos/perception/object_tracker_2d.py
index 1264b0e92b..17f470cff6 100644
--- a/dimos/perception/object_tracker_2d.py
+++ b/dimos/perception/object_tracker_2d.py
@@ -16,6 +16,7 @@
 import logging
 import threading
 import time
+from typing import Any
 
 import cv2
 
@@ -33,6 +34,7 @@
 from reactivex.disposable import Disposable
 
 from dimos.core.core import rpc
+from dimos.core.global_config import GlobalConfig, global_config
 from dimos.core.module import Module, ModuleConfig
 from dimos.core.stream import In, Out
 from dimos.msgs.sensor_msgs import Image, ImageFormat
@@ -59,9 +61,9 @@ class ObjectTracker2D(Module[ObjectTracker2DConfig]):
     default_config = ObjectTracker2DConfig
     config: ObjectTracker2DConfig
 
-    def __init__(self, **kwargs: object) -> None:
+    def __init__(self, global_config: GlobalConfig = global_config, **kwargs: Any) -> None:
         """Initialize 2D object tracking module using OpenCV's CSRT tracker."""
-        super().__init__(**kwargs)
+        super().__init__(global_config, **kwargs)
 
         # Tracker state
         self.tracker = None
diff --git a/dimos/protocol/service/spec.py b/dimos/protocol/service/spec.py
index c4e6758614..37ded73c06 100644
--- a/dimos/protocol/service/spec.py
+++ b/dimos/protocol/service/spec.py
@@ -13,7 +13,7 @@
 # limitations under the License.
 
 from abc import ABC
-from typing import Generic, TypeVar
+from typing import Any, Generic, TypeVar
 
 # Generic type for service configuration
 ConfigT = TypeVar("ConfigT")
@@ -22,8 +22,8 @@
 class Configurable(Generic[ConfigT]):
     default_config: type[ConfigT]
 
-    def __init__(self, **kwargs) -> None:  # type: ignore[no-untyped-def]
-        self.config: ConfigT = self.default_config(**kwargs)
+    def __init__(self, **kwargs: Any) -> None:
+        self.config = self.default_config(**kwargs)
 
 
 class Service(Configurable[ConfigT], ABC):
diff --git a/dimos/robot/foxglove_bridge.py b/dimos/robot/foxglove_bridge.py
index 529a14c838..013cc224c7 100644
--- a/dimos/robot/foxglove_bridge.py
+++ b/dimos/robot/foxglove_bridge.py
@@ -13,43 +13,33 @@
 # limitations under the License.
 
 import asyncio
+from collections.abc import Sequence
 import logging
 import threading
-from typing import TYPE_CHECKING, Any
 
 from dimos_lcm.foxglove_bridge import (
     FoxgloveBridge as LCMFoxgloveBridge,
 )
 
 from dimos.core import DimosCluster, Module, rpc
+from dimos.core.module import ModuleConfig
 from dimos.utils.logging_config import setup_logger
 
-if TYPE_CHECKING:
-    from dimos.core.global_config import GlobalConfig
-
 logging.getLogger("lcm_foxglove_bridge").setLevel(logging.ERROR)
 logging.getLogger("FoxgloveServer").setLevel(logging.ERROR)
 
 logger = setup_logger()
 
 
-class FoxgloveBridge(Module):
+class FoxgloveConfig(ModuleConfig):
+    shm_channels: Sequence[str] = ()
+    jpeg_shm_channels: Sequence[str] = ()
+
+
+class FoxgloveBridge(Module[FoxgloveConfig]):
     _thread: threading.Thread
     _loop: asyncio.AbstractEventLoop
-    _global_config: "GlobalConfig | None" = None
-
-    def __init__(
-        self,
-        *args: Any,
-        shm_channels: list[str] | None = None,
-        jpeg_shm_channels: list[str] | None = None,
-        global_config: "GlobalConfig | None" = None,
-        **kwargs: Any,
-    ) -> None:
-        super().__init__(*args, **kwargs)
-        self.shm_channels = shm_channels or []
-        self.jpeg_shm_channels = jpeg_shm_channels or []
-        self._global_config = global_config
+    default_config = FoxgloveConfig
 
     @rpc
     def start(self) -> None:
@@ -77,8 +67,8 @@ def run_bridge() -> None:
                     port=8765,
                     debug=False,
                     num_threads=4,
-                    shm_channels=self.shm_channels,
-                    jpeg_shm_channels=self.jpeg_shm_channels,
+                    shm_channels=self.config.shm_channels,
+                    jpeg_shm_channels=self.config.jpeg_shm_channels,
                 )
                 self._loop.run_until_complete(bridge.run())
             except Exception as e:
diff --git a/dimos/robot/unitree/b1/connection.py b/dimos/robot/unitree/b1/connection.py
index bae4bc0844..952069d626 100644
--- a/dimos/robot/unitree/b1/connection.py
+++ b/dimos/robot/unitree/b1/connection.py
@@ -21,10 +21,13 @@
 import socket
 import threading
 import time
+from typing import Any
 
 from reactivex.disposable import Disposable
 
 from dimos.core import In, Module, Out, rpc
+from dimos.core.global_config import GlobalConfig, global_config
+from dimos.core.module import ModuleConfig
 from dimos.msgs.geometry_msgs import PoseStamped, Twist, TwistStamped
 from dimos.msgs.nav_msgs.Odometry import Odometry
 from dimos.msgs.std_msgs import Int32
@@ -46,13 +49,21 @@ class RobotMode:
     RECOVERY = 6
 
 
-class B1ConnectionModule(Module):
+class B1ConnectionConfig(ModuleConfig):
+    ip: str = "192.168.12.1"
+    port: int = 9090
+    test_mode: bool = False
+
+
+class B1ConnectionModule(Module[B1ConnectionConfig]):
     """UDP connection module for B1 robot with standard Twist interface.
 
     Accepts standard ROS Twist messages on /cmd_vel and mode changes on /b1/mode,
     internally converts to B1Command format, and sends UDP packets at 50Hz.
     """
 
+    default_config = B1ConnectionConfig
+
     # LCM ports (inter-module communication)
     cmd_vel: In[TwistStamped]
     mode_cmd: In[Int32]
@@ -65,9 +76,7 @@ class B1ConnectionModule(Module):
     ros_odom_in: In[Odometry]
     ros_tf: In[TFMessage]
 
-    def __init__(  # type: ignore[no-untyped-def]
-        self, ip: str = "192.168.12.1", port: int = 9090, test_mode: bool = False, *args, **kwargs
-    ) -> None:
+    def __init__(self, global_config: GlobalConfig = global_config, **kwargs: Any) -> None:
         """Initialize B1 connection module.
 
         Args:
@@ -75,11 +84,11 @@ def __init__(  # type: ignore[no-untyped-def]
             port: UDP port for joystick server
             test_mode: If True, print commands instead of sending UDP
         """
-        Module.__init__(self, *args, **kwargs)
+        super().__init__(global_config, **kwargs)
 
-        self.ip = ip
-        self.port = port
-        self.test_mode = test_mode
+        self.ip = self.config.ip
+        self.port = self.config.port
+        self.test_mode = self.config.test_mode
         self.current_mode = RobotMode.IDLE  # Start in IDLE mode
         self._current_cmd = B1Command(mode=RobotMode.IDLE)
         self.cmd_lock = threading.Lock()  # Thread lock for _current_cmd access
@@ -381,9 +390,10 @@ def move(self, twist_stamped: TwistStamped, duration: float = 0.0) -> bool:
 class MockB1ConnectionModule(B1ConnectionModule):
     """Test connection module that prints commands instead of sending UDP."""
 
-    def __init__(self, ip: str = "127.0.0.1", port: int = 9090, *args, **kwargs) -> None:  # type: ignore[no-untyped-def]
+    def __init__(self, global_config: GlobalConfig = global_config, **kwargs: Any) -> None:  # type: ignore[no-untyped-def]
         """Initialize test connection without creating socket."""
-        super().__init__(ip, port, test_mode=True, *args, **kwargs)  # type: ignore[misc]
+        kwargs["test_mode"] = True
+        super().__init__(global_config, **kwargs)
 
     def _send_loop(self) -> None:
         """Override to provide better test output with timeout detection."""
diff --git a/dimos/robot/unitree/b1/unitree_b1.py b/dimos/robot/unitree/b1/unitree_b1.py
index a2dd6c718d..191a8388be 100644
--- a/dimos/robot/unitree/b1/unitree_b1.py
+++ b/dimos/robot/unitree/b1/unitree_b1.py
@@ -93,9 +93,9 @@ def start(self) -> None:
 
         logger.info("Deploying connection module...")
         if self.test_mode:
-            self.connection = self._dimos.deploy(MockB1ConnectionModule, self.ip, self.port)  # type: ignore[assignment]
+            self.connection = self._dimos.deploy(MockB1ConnectionModule, ip=self.ip, port=self.port)  # type: ignore[assignment]
         else:
-            self.connection = self._dimos.deploy(B1ConnectionModule, self.ip, self.port)  # type: ignore[assignment]
+            self.connection = self._dimos.deploy(B1ConnectionModule, ip=self.ip, port=self.port)  # type: ignore[assignment]
 
         # Configure LCM transports for connection (matching G1 pattern)
         self.connection.cmd_vel.transport = core.LCMTransport("/cmd_vel", TwistStamped)  # type: ignore[attr-defined]
diff --git a/dimos/visualization/rerun/bridge.py b/dimos/visualization/rerun/bridge.py
index 1dc104f1b4..53308a1684 100644
--- a/dimos/visualization/rerun/bridge.py
+++ b/dimos/visualization/rerun/bridge.py
@@ -165,7 +165,7 @@ class Config(ModuleConfig):
     blueprint: BlueprintFactory | None = _default_blueprint
 
 
-class RerunBridgeModule(Module):
+class RerunBridgeModule(Module[Config]):
     """Bridge that logs messages from pubsubs to Rerun.
 
     Spawns its own Rerun viewer and subscribes to all topics on each provided
@@ -182,7 +182,6 @@ class RerunBridgeModule(Module):
     """
 
     default_config = Config
-    config: Config
 
     @lru_cache(maxsize=256)
     def _visual_override_for_entity_path(

From 5f93bd93c9e23d111d158142a36343333bfda84a Mon Sep 17 00:00:00 2001
From: Sam Bull <Sam.B@snowfalltravel.com>
Date: Wed, 25 Feb 2026 16:22:21 +0000
Subject: [PATCH 2/9] Fixes

---
 dimos/control/coordinator.py                | 1 -
 dimos/core/docker_runner.py                 | 3 +--
 dimos/core/module.py                        | 2 ++
 dimos/manipulation/manipulation_module.py   | 3 +--
 dimos/simulation/manipulators/sim_module.py | 2 --
 dimos/visualization/rerun/bridge.py         | 8 +++-----
 6 files changed, 7 insertions(+), 12 deletions(-)

diff --git a/dimos/control/coordinator.py b/dimos/control/coordinator.py
index c9182e6aa8..f2fca8b301 100644
--- a/dimos/control/coordinator.py
+++ b/dimos/control/coordinator.py
@@ -97,7 +97,6 @@ class TaskConfig:
     hand: str = ""  # teleop_ik only: "left" or "right" controller
 
 
-@dataclass
 class ControlCoordinatorConfig(ModuleConfig):
     """Configuration for the ControlCoordinator.
 
diff --git a/dimos/core/docker_runner.py b/dimos/core/docker_runner.py
index 9be2ff6012..8203975c0c 100644
--- a/dimos/core/docker_runner.py
+++ b/dimos/core/docker_runner.py
@@ -15,7 +15,7 @@
 
 import argparse
 from contextlib import suppress
-from dataclasses import dataclass, field
+from dataclasses import field
 import importlib
 import json
 import os
@@ -46,7 +46,6 @@
 LOG_TAIL_LINES = 200  #          Number of log lines to include in error messages
 
 
-@dataclass(kw_only=True)
 class DockerModuleConfig(ModuleConfig):
     """
     Configuration for running a DimOS module inside Docker.
diff --git a/dimos/core/module.py b/dimos/core/module.py
index 5f21af5a08..c6452dcdff 100644
--- a/dimos/core/module.py
+++ b/dimos/core/module.py
@@ -96,6 +96,8 @@ def get_loop() -> tuple[asyncio.AbstractEventLoop, threading.Thread | None]:
 
 
 class ModuleConfig(BaseModel):
+    model_config = {"arbitrary_types_allowed": True}
+
     rpc_transport: type[RPCSpec] = LCMRPC
     tf_transport: type[TFSpec] = LCMTF
     frame_id_prefix: str | None = None
diff --git a/dimos/manipulation/manipulation_module.py b/dimos/manipulation/manipulation_module.py
index 3318fab7f1..570124db4e 100644
--- a/dimos/manipulation/manipulation_module.py
+++ b/dimos/manipulation/manipulation_module.py
@@ -22,7 +22,7 @@
 
 from __future__ import annotations
 
-from dataclasses import dataclass, field
+from dataclasses import field
 from enum import Enum
 import math
 from pathlib import Path
@@ -96,7 +96,6 @@ class ManipulationState(Enum):
     FAULT = 4
 
 
-@dataclass
 class ManipulationModuleConfig(ModuleConfig):
     """Configuration for ManipulationModule."""
 
diff --git a/dimos/simulation/manipulators/sim_module.py b/dimos/simulation/manipulators/sim_module.py
index 4f1bb986d3..df7e26dd01 100644
--- a/dimos/simulation/manipulators/sim_module.py
+++ b/dimos/simulation/manipulators/sim_module.py
@@ -16,7 +16,6 @@
 
 from __future__ import annotations
 
-from dataclasses import dataclass
 import threading
 import time
 from typing import TYPE_CHECKING, Any
@@ -34,7 +33,6 @@
     from pathlib import Path
 
 
-@dataclass(kw_only=True)
 class SimulationModuleConfig(ModuleConfig):
     engine: EngineType
     config_path: Path | Callable[[], Path]
diff --git a/dimos/visualization/rerun/bridge.py b/dimos/visualization/rerun/bridge.py
index 53308a1684..37ae8fdd7b 100644
--- a/dimos/visualization/rerun/bridge.py
+++ b/dimos/visualization/rerun/bridge.py
@@ -16,7 +16,8 @@
 
 from __future__ import annotations
 
-from dataclasses import dataclass, field
+from collections.abc import Callable
+from dataclasses import field
 from functools import lru_cache
 from typing import (
     TYPE_CHECKING,
@@ -88,14 +89,12 @@
 logger = setup_logger()
 
 if TYPE_CHECKING:
-    from collections.abc import Callable
-
     from rerun._baseclasses import Archetype
     from rerun.blueprint import Blueprint
 
     from dimos.protocol.pubsub.spec import SubscribeAllCapable
 
-BlueprintFactory: TypeAlias = "Callable[[], Blueprint]"
+BlueprintFactory: TypeAlias = Callable[[], "Blueprint"]
 
 # to_rerun() can return a single archetype or a list of (entity_path, archetype) tuples
 RerunMulti: TypeAlias = "list[tuple[str, Archetype]]"
@@ -142,7 +141,6 @@ def _default_blueprint() -> Blueprint:
     )
 
 
-@dataclass
 class Config(ModuleConfig):
     """Configuration for RerunBridgeModule."""
 

From 8b9c27e706791a6bdb4b1358d6bb78c347a86513 Mon Sep 17 00:00:00 2001
From: Sam Bull <git@sambull.org>
Date: Wed, 25 Feb 2026 18:41:46 +0000
Subject: [PATCH 3/9] Update module.py

---
 dimos/core/module.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/dimos/core/module.py b/dimos/core/module.py
index c6452dcdff..e611cfea24 100644
--- a/dimos/core/module.py
+++ b/dimos/core/module.py
@@ -464,7 +464,7 @@ def __init__(self, global_config: GlobalConfig = global_config, **kwargs: Any):
                 inner, *_ = get_args(ann) or (Any,)
                 stream = In(inner, name, self)  # type: ignore[assignment]
                 setattr(self, name, stream)
-        super().__init__(global_config, **kwargs)
+        super().__init__(config_args=kwargs, global_config=global_config)
 
     def set_ref(self, ref) -> int:  # type: ignore[no-untyped-def]
         worker = get_worker()

From fd90f9bab947cadcaa74681bd8d285c3d2c1e387 Mon Sep 17 00:00:00 2001
From: Sam Bull <git@sambull.org>
Date: Wed, 25 Feb 2026 18:43:09 +0000
Subject: [PATCH 4/9] Update module.py

---
 dimos/hardware/sensors/camera/module.py | 11 +----------
 1 file changed, 1 insertion(+), 10 deletions(-)

diff --git a/dimos/hardware/sensors/camera/module.py b/dimos/hardware/sensors/camera/module.py
index 659c9e07b3..7c7edaaf5d 100644
--- a/dimos/hardware/sensors/camera/module.py
+++ b/dimos/hardware/sensors/camera/module.py
@@ -14,7 +14,6 @@
 
 from collections.abc import Callable
 from dataclasses import dataclass, field
-import sys
 import time
 from typing import Any
 
@@ -33,11 +32,6 @@
 from dimos.spec import perception
 from dimos.visualization.rerun.bridge import rerun_bridge
 
-if sys.version_info >= (3, 13):
-    from typing import TypeVar
-else:
-    from typing_extensions import TypeVar
-
 
 def default_transform() -> Transform:
     return Transform(
@@ -56,10 +50,7 @@ class CameraModuleConfig(ModuleConfig):
     frequency: float = 0.0  # Hz, 0 means no limit
 
 
-CameraConfigT = TypeVar("CameraConfigT", bound=CameraModuleConfig, default=CameraModuleConfig)
-
-
-class CameraModule(Module[CameraConfigT], perception.Camera):
+class CameraModule(Module[CameraModuleConfig], perception.Camera):
     color_image: Out[Image]
     camera_info: Out[CameraInfo]
 

From 4a9288c077c4181cbbefabd32d7b477781cf9630 Mon Sep 17 00:00:00 2001
From: Sam Bull <git@sambull.org>
Date: Wed, 25 Feb 2026 19:30:08 +0000
Subject: [PATCH 5/9] Update blueprints.py

---
 dimos/core/blueprints.py | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/dimos/core/blueprints.py b/dimos/core/blueprints.py
index 8e5fc9c627..bc4f3a3627 100644
--- a/dimos/core/blueprints.py
+++ b/dimos/core/blueprints.py
@@ -20,7 +20,7 @@
 import operator
 import sys
 from types import MappingProxyType
-from typing import Any, Literal, Self, get_args, get_origin, get_type_hints
+from typing import Any, Literal, get_args, get_origin, get_type_hints
 
 from dimos.core.global_config import GlobalConfig, global_config
 from dimos.core.module import Module, ModuleBase, ModuleSpec, is_module_type
@@ -31,6 +31,11 @@
 from dimos.utils.generic import short_id
 from dimos.utils.logging_config import setup_logger
 
+if sys.version_info >= (3, 11):
+    from typing import Self
+else:
+    from typing import Any as Self
+
 logger = setup_logger()
 
 

From 8b7f74a2b155cd6ea945a52fd339f5874e5a1442 Mon Sep 17 00:00:00 2001
From: Sam Bull <Sam.B@snowfalltravel.com>
Date: Thu, 26 Feb 2026 18:15:06 +0000
Subject: [PATCH 6/9] Fixes

---
 dimos/agents/skills/person_follow.py          | 37 +++++-----
 dimos/core/blueprints.py                      |  5 +-
 dimos/core/module.py                          | 14 ++--
 dimos/core/native_module.py                   | 42 ++++++-----
 dimos/core/test_blueprints.py                 |  9 +--
 dimos/core/test_core.py                       |  3 -
 dimos/core/test_native_module.py              |  2 -
 dimos/hardware/sensors/camera/spec.py         |  8 +--
 dimos/hardware/sensors/camera/test_webcam.py  |  6 +-
 dimos/hardware/sensors/camera/zed/__init__.py | 13 +++-
 dimos/hardware/sensors/camera/zed/test_zed.py |  7 +-
 dimos/hardware/sensors/lidar/livox/module.py  |  4 +-
 dimos/mapping/osm/current_location_map.py     |  6 +-
 dimos/mapping/osm/query.py                    |  7 +-
 dimos/models/base.py                          |  6 +-
 dimos/models/vl/base.py                       | 19 +++--
 dimos/models/vl/moondream.py                  |  8 +--
 dimos/models/vl/moondream_hosted.py           | 13 ++--
 dimos/models/vl/openai.py                     |  4 +-
 dimos/models/vl/qwen.py                       |  4 +-
 .../test_wavefront_frontier_goal_selector.py  |  2 +-
 .../wavefront_frontier_goal_selector.py       | 70 +++++++++----------
 dimos/navigation/visual/query.py              |  3 +-
 dimos/perception/detection/conftest.py        |  7 +-
 dimos/perception/detection/module2D.py        | 25 +++----
 .../temporal_memory/entity_graph_db.py        |  2 +-
 .../temporal_memory/temporal_memory.py        |  4 +-
 .../temporal_memory/temporal_memory_deploy.py |  4 +-
 .../temporal_utils/graph_utils.py             |  2 +-
 dimos/perception/object_tracker_2d.py         |  3 -
 dimos/protocol/pubsub/bridge.py               |  6 +-
 dimos/protocol/pubsub/impl/lcmpubsub.py       |  3 +-
 dimos/protocol/pubsub/impl/redispubsub.py     |  9 ++-
 dimos/protocol/service/__init__.py            |  7 +-
 dimos/protocol/service/ddsservice.py          | 11 +--
 dimos/protocol/service/lcmservice.py          | 37 +++++-----
 dimos/protocol/service/spec.py                |  9 ++-
 dimos/protocol/service/test_lcmservice.py     | 58 ++++++++-------
 dimos/protocol/tf/tf.py                       | 28 ++++----
 dimos/protocol/tf/tflcmcpp.py                 |  9 ++-
 dimos/robot/drone/connection_module.py        | 39 +++++------
 dimos/simulation/manipulators/sim_module.py   |  6 +-
 .../manipulators/test_sim_module.py           |  3 +-
 dimos/utils/cli/lcmspy/lcmspy.py              | 14 ++--
 44 files changed, 298 insertions(+), 280 deletions(-)

diff --git a/dimos/agents/skills/person_follow.py b/dimos/agents/skills/person_follow.py
index 641055e6f6..86feb99363 100644
--- a/dimos/agents/skills/person_follow.py
+++ b/dimos/agents/skills/person_follow.py
@@ -14,7 +14,7 @@
 
 from threading import Event, RLock, Thread
 import time
-from typing import TYPE_CHECKING
+from typing import Any
 
 from langchain_core.messages import HumanMessage
 import numpy as np
@@ -23,8 +23,8 @@
 from dimos.agents.agent import AgentSpec
 from dimos.agents.annotation import skill
 from dimos.core.core import rpc
-from dimos.core.global_config import GlobalConfig
-from dimos.core.module import Module
+from dimos.core.global_config import GlobalConfig, global_config
+from dimos.core.module import Module, ModuleConfig
 from dimos.core.stream import In, Out
 from dimos.models.qwen.video_query import BBox
 from dimos.models.segmentation.edge_tam import EdgeTAMProcessor
@@ -36,13 +36,15 @@
 from dimos.navigation.visual_servoing.visual_servoing_2d import VisualServoing2D
 from dimos.utils.logging_config import setup_logger
 
-if TYPE_CHECKING:
-    from dimos.models.vl.base import VlModel
-
 logger = setup_logger()
 
 
-class PersonFollowSkillContainer(Module):
+class Config(ModuleConfig):
+    camera_info: CameraInfo
+    use_3d_navigation: bool = False
+
+
+class PersonFollowSkillContainer(Module[Config]):
     """Skill container for following a person.
 
     This skill uses:
@@ -52,6 +54,8 @@ class PersonFollowSkillContainer(Module):
     - Does not do obstacle avoidance; assumes a clear path.
     """
 
+    default_config = Config
+
     color_image: In[Image]
     global_map: In[PointCloud2]
     cmd_vel: Out[Twist]
@@ -60,30 +64,23 @@ class PersonFollowSkillContainer(Module):
     _frequency: float = 20.0  # Hz - control loop frequency
     _max_lost_frames: int = 15  # number of frames to wait before declaring person lost
 
-    def __init__(
-        self,
-        camera_info: CameraInfo,
-        cfg: GlobalConfig,
-        use_3d_navigation: bool = False,
-    ) -> None:
-        super().__init__()
-        self._global_config: GlobalConfig = cfg
-        self._use_3d_navigation: bool = use_3d_navigation
+    def __init__(self, global_config: GlobalConfig = global_config, **kwargs: Any) -> None:
+        super().__init__(global_config, **kwargs)
         self._latest_image: Image | None = None
         self._latest_pointcloud: PointCloud2 | None = None
-        self._vl_model: VlModel = QwenVlModel()
+        self._vl_model = QwenVlModel()
         self._tracker: EdgeTAMProcessor | None = None
         self._thread: Thread | None = None
         self._should_stop: Event = Event()
         self._lock = RLock()
 
         # Use MuJoCo camera intrinsics in simulation mode
+        camera_info = self.config.camera_info
         if self._global_config.simulation:
             from dimos.robot.unitree.mujoco_connection import MujocoConnection
 
             camera_info = MujocoConnection.camera_info_static
 
-        self._camera_info = camera_info
         self._visual_servo = VisualServoing2D(camera_info, self._global_config.simulation)
         self._detection_navigation = DetectionNavigation(self.tf, camera_info)
 
@@ -91,7 +88,7 @@ def __init__(
     def start(self) -> None:
         super().start()
         self._disposables.add(Disposable(self.color_image.subscribe(self._on_color_image)))
-        if self._use_3d_navigation:
+        if self.config.use_3d_navigation:
             self._disposables.add(Disposable(self.global_map.subscribe(self._on_pointcloud)))
 
     @rpc
@@ -227,7 +224,7 @@ def _follow_loop(self, tracker: EdgeTAMProcessor, query: str) -> None:
                 lost_count = 0
                 best_detection = max(detections.detections, key=lambda d: d.bbox_2d_volume())
 
-                if self._use_3d_navigation:
+                if self.config.use_3d_navigation:
                     with self._lock:
                         pointcloud = self._latest_pointcloud
                     if pointcloud is None:
diff --git a/dimos/core/blueprints.py b/dimos/core/blueprints.py
index bc4f3a3627..e317ac41e2 100644
--- a/dimos/core/blueprints.py
+++ b/dimos/core/blueprints.py
@@ -134,7 +134,10 @@ def global_config(self, **kwargs: Any) -> "Blueprint":
         )
 
     def remappings(
-        self, remappings: list[tuple[type[ModuleBase], str, str | type[ModuleBase] | type[Spec]]]
+        self,
+        remappings: list[
+            tuple[type[ModuleBase[Any]], str, str | type[ModuleBase[Any]] | type[Spec]]
+        ],
     ) -> "Blueprint":
         remappings_dict = dict(self.remapping_map)
         for module, old, new in remappings:
diff --git a/dimos/core/module.py b/dimos/core/module.py
index e611cfea24..76b298d21b 100644
--- a/dimos/core/module.py
+++ b/dimos/core/module.py
@@ -39,7 +39,6 @@
 
 from dask.distributed import Actor, get_worker
 from langchain_core.tools import tool
-from pydantic import BaseModel
 from reactivex.disposable import CompositeDisposable
 
 from dimos.core import colors
@@ -50,7 +49,7 @@
 from dimos.core.rpc_client import RpcCall  # noqa: TC001
 from dimos.core.stream import In, Out, RemoteIn, RemoteOut, Transport
 from dimos.protocol.rpc import LCMRPC, RPCSpec
-from dimos.protocol.service import Configurable  # type: ignore[attr-defined]
+from dimos.protocol.service import BaseConfig, Configurable
 from dimos.protocol.tf import LCMTF, TFSpec
 from dimos.utils.generic import classproperty
 
@@ -95,11 +94,9 @@ def get_loop() -> tuple[asyncio.AbstractEventLoop, threading.Thread | None]:
         return loop, thr
 
 
-class ModuleConfig(BaseModel):
-    model_config = {"arbitrary_types_allowed": True}
-
+class ModuleConfig(BaseConfig):
     rpc_transport: type[RPCSpec] = LCMRPC
-    tf_transport: type[TFSpec] = LCMTF
+    tf_transport: type[TFSpec] = LCMTF  # type: ignore[type-arg]
     frame_id_prefix: str | None = None
     frame_id: str | None = None
 
@@ -112,8 +109,11 @@ def __call__(self, **kwargs: Any) -> Blueprint: ...
 
 
 class ModuleBase(Configurable[ModuleConfigT], Resource):
+    # This won't type check against the TypeVar, but we need it as the default.
+    default_config: type[ModuleConfigT] = ModuleConfig  # type: ignore[assignment]
+
     _rpc: RPCSpec | None = None
-    _tf: TFSpec | None = None
+    _tf: TFSpec[Any] | None = None
     _loop: asyncio.AbstractEventLoop | None = None
     _loop_thread: threading.Thread | None
     _disposables: CompositeDisposable
diff --git a/dimos/core/native_module.py b/dimos/core/native_module.py
index 6a93e6453a..bec23e42e1 100644
--- a/dimos/core/native_module.py
+++ b/dimos/core/native_module.py
@@ -40,7 +40,6 @@ class MyCppModule(NativeModule):
 
 from __future__ import annotations
 
-from dataclasses import dataclass, field, fields
 import enum
 import inspect
 import json
@@ -48,13 +47,22 @@ class MyCppModule(NativeModule):
 from pathlib import Path
 import signal
 import subprocess
+import sys
 import threading
 from typing import IO, Any
 
+from pydantic import Field
+
 from dimos.core.core import rpc
+from dimos.core.global_config import GlobalConfig, global_config
 from dimos.core.module import Module, ModuleConfig
 from dimos.utils.logging_config import setup_logger
 
+if sys.version_info < (3, 13):
+    from typing_extensions import TypeVar
+else:
+    from typing import TypeVar
+
 logger = setup_logger()
 
 
@@ -63,15 +71,14 @@ class LogFormat(enum.Enum):
     JSON = "json"
 
 
-@dataclass(kw_only=True)
 class NativeModuleConfig(ModuleConfig):
     """Configuration for a native (C/C++) subprocess module."""
 
     executable: str
     build_command: str | None = None
     cwd: str | None = None
-    extra_args: list[str] = field(default_factory=list)
-    extra_env: dict[str, str] = field(default_factory=dict)
+    extra_args: list[str] = Field(default_factory=list)
+    extra_env: dict[str, str] = Field(default_factory=dict)
     shutdown_timeout: float = 10.0
     log_format: LogFormat = LogFormat.TEXT
 
@@ -85,26 +92,29 @@ def to_cli_args(self) -> list[str]:
         or its parents) and converts them to ``["--name", str(value)]`` pairs.
         Skips fields whose values are ``None`` and fields in ``cli_exclude``.
         """
-        ignore_fields = {f.name for f in fields(NativeModuleConfig)}
+        ignore_fields = {f for f in NativeModuleConfig.model_fields}
         args: list[str] = []
-        for f in fields(self):
-            if f.name in ignore_fields:
+        for f in self.__class__.model_fields:
+            if f in ignore_fields:
                 continue
-            if f.name in self.cli_exclude:
+            if f in self.cli_exclude:
                 continue
-            val = getattr(self, f.name)
+            val = getattr(self, f)
             if val is None:
                 continue
             if isinstance(val, bool):
-                args.extend([f"--{f.name}", str(val).lower()])
+                args.extend([f"--{f}", str(val).lower()])
             elif isinstance(val, list):
-                args.extend([f"--{f.name}", ",".join(str(v) for v in val)])
+                args.extend([f"--{f}", ",".join(str(v) for v in val)])
             else:
-                args.extend([f"--{f.name}", str(val)])
+                args.extend([f"--{f}", str(val)])
         return args
 
 
-class NativeModule(Module[NativeModuleConfig]):
+_NativeConfig = TypeVar("_NativeConfig", bound=NativeModuleConfig, default=NativeModuleConfig)
+
+
+class NativeModule(Module[_NativeConfig]):
     """Module that wraps a native executable as a managed subprocess.
 
     Subclass this, declare In/Out ports, and set ``default_config`` to a
@@ -118,13 +128,13 @@ class NativeModule(Module[NativeModuleConfig]):
     LCM topics directly.  On ``stop()``, the process receives SIGTERM.
     """
 
-    default_config: type[NativeModuleConfig] = NativeModuleConfig
+    default_config: type[_NativeConfig] = NativeModuleConfig  # type: ignore[assignment]
     _process: subprocess.Popen[bytes] | None = None
     _watchdog: threading.Thread | None = None
     _stopping: bool = False
 
-    def __init__(self, *args: Any, **kwargs: Any) -> None:
-        super().__init__(*args, **kwargs)
+    def __init__(self, global_config: GlobalConfig = global_config, **kwargs: Any) -> None:
+        super().__init__(global_config, **kwargs)
         self._resolve_paths()
 
     @rpc
diff --git a/dimos/core/test_blueprints.py b/dimos/core/test_blueprints.py
index fd18fe72d8..f91591d919 100644
--- a/dimos/core/test_blueprints.py
+++ b/dimos/core/test_blueprints.py
@@ -114,14 +114,13 @@ class ModuleC(Module):
 
 
 def test_get_connection_set() -> None:
-    assert _BlueprintAtom.create(CatModule, args=("arg1",), kwargs={"k": "v"}) == _BlueprintAtom(
+    assert _BlueprintAtom.create(CatModule, kwargs={"k": "v"}) == _BlueprintAtom(
         module=CatModule,
         streams=(
             StreamRef(name="pet_cat", type=Petting, direction="in"),
             StreamRef(name="scratches", type=Scratch, direction="out"),
         ),
         module_refs=(),
-        args=("arg1",),
         kwargs={"k": "v"},
     )
 
@@ -138,7 +137,6 @@ def test_autoconnect() -> None:
                     StreamRef(name="data2", type=Data2, direction="out"),
                 ),
                 module_refs=(),
-                args=(),
                 kwargs={},
             ),
             _BlueprintAtom(
@@ -149,7 +147,6 @@ def test_autoconnect() -> None:
                     StreamRef(name="data3", type=Data3, direction="out"),
                 ),
                 module_refs=(),
-                args=(),
                 kwargs={},
             ),
         )
@@ -346,11 +343,11 @@ def test_future_annotations_support() -> None:
     """
 
     # Test that streams are properly extracted from modules with future annotations
-    out_blueprint = _BlueprintAtom.create(FutureModuleOut, args=(), kwargs={})
+    out_blueprint = _BlueprintAtom.create(FutureModuleOut, kwargs={})
     assert len(out_blueprint.streams) == 1
     assert out_blueprint.streams[0] == StreamRef(name="data", type=FutureData, direction="out")
 
-    in_blueprint = _BlueprintAtom.create(FutureModuleIn, args=(), kwargs={})
+    in_blueprint = _BlueprintAtom.create(FutureModuleIn, kwargs={})
     assert len(in_blueprint.streams) == 1
     assert in_blueprint.streams[0] == StreamRef(name="data", type=FutureData, direction="in")
 
diff --git a/dimos/core/test_core.py b/dimos/core/test_core.py
index 3866d55bdb..fd18d1fa86 100644
--- a/dimos/core/test_core.py
+++ b/dimos/core/test_core.py
@@ -45,9 +45,6 @@ class Navigation(Module):
     @rpc
     def navigate_to(self, target: Vector3) -> bool: ...
 
-    def __init__(self) -> None:
-        super().__init__()
-
     @rpc
     def start(self) -> None:
         def _odom(msg) -> None:
diff --git a/dimos/core/test_native_module.py b/dimos/core/test_native_module.py
index a022be0685..39dab4a7d5 100644
--- a/dimos/core/test_native_module.py
+++ b/dimos/core/test_native_module.py
@@ -18,7 +18,6 @@
 The echo script writes received CLI args to a temp file for assertions.
 """
 
-from dataclasses import dataclass
 import json
 from pathlib import Path
 import time
@@ -59,7 +58,6 @@ def read_json_file(path: str) -> dict[str, str]:
     return result
 
 
-@dataclass(kw_only=True)
 class StubNativeConfig(NativeModuleConfig):
     executable: str = _ECHO
     log_format: LogFormat = LogFormat.TEXT
diff --git a/dimos/hardware/sensors/camera/spec.py b/dimos/hardware/sensors/camera/spec.py
index 23fd1a076e..c913e4bfea 100644
--- a/dimos/hardware/sensors/camera/spec.py
+++ b/dimos/hardware/sensors/camera/spec.py
@@ -13,19 +13,19 @@
 # limitations under the License.
 
 from abc import ABC, abstractmethod
-from typing import Generic, Protocol, TypeVar
+from typing import TypeVar
 
 from reactivex.observable import Observable
 
 from dimos.msgs.geometry_msgs import Quaternion, Transform
 from dimos.msgs.sensor_msgs import CameraInfo
 from dimos.msgs.sensor_msgs.Image import Image
-from dimos.protocol.service import Configurable  # type: ignore[attr-defined]
+from dimos.protocol.service.spec import BaseConfig, Configurable
 
 OPTICAL_ROTATION = Quaternion(-0.5, 0.5, -0.5, 0.5)
 
 
-class CameraConfig(Protocol):
+class CameraConfig(BaseConfig):
     frame_id_prefix: str | None
     width: int
     height: int
@@ -35,7 +35,7 @@ class CameraConfig(Protocol):
 CameraConfigT = TypeVar("CameraConfigT", bound=CameraConfig)
 
 
-class CameraHardware(ABC, Configurable[CameraConfigT], Generic[CameraConfigT]):
+class CameraHardware(ABC, Configurable[CameraConfigT]):
     @abstractmethod
     def image_stream(self) -> Observable[Image]:
         pass
diff --git a/dimos/hardware/sensors/camera/test_webcam.py b/dimos/hardware/sensors/camera/test_webcam.py
index e40a73acc9..479da22267 100644
--- a/dimos/hardware/sensors/camera/test_webcam.py
+++ b/dimos/hardware/sensors/camera/test_webcam.py
@@ -17,7 +17,6 @@
 import pytest
 
 from dimos import core
-from dimos.hardware.sensors.camera import zed
 from dimos.hardware.sensors.camera.module import CameraModule
 from dimos.hardware.sensors.camera.webcam import Webcam
 from dimos.msgs.geometry_msgs import Quaternion, Transform, Vector3
@@ -33,6 +32,11 @@ def dimos():
 
 @pytest.mark.tool
 def test_streaming_single(dimos) -> None:
+    try:
+        from dimos.hardware.sensors.camera import zed
+    except ModuleNotFoundError:
+        pytest.skip("ZED SDK not installed")
+
     camera = dimos.deploy(
         CameraModule,
         transform=Transform(
diff --git a/dimos/hardware/sensors/camera/zed/__init__.py b/dimos/hardware/sensors/camera/zed/__init__.py
index 430416e12e..2b02d22052 100644
--- a/dimos/hardware/sensors/camera/zed/__init__.py
+++ b/dimos/hardware/sensors/camera/zed/__init__.py
@@ -16,9 +16,20 @@
 
 from pathlib import Path
 
-from dimos.hardware.sensors.camera.zed.camera import ZEDCamera, ZEDModule, zed_camera
 from dimos.msgs.sensor_msgs.CameraInfo import CalibrationProvider
 
+try:
+    import pyzed.sl  # noqa: F401
+
+    # This awkwardness is needed as pytest implicitly imports this to collect
+    # the test in this directory.
+    HAS_ZED_SDK = True
+except ImportError:
+    HAS_ZED_SDK = False
+
+if HAS_ZED_SDK:
+    from dimos.hardware.sensors.camera.zed.camera import ZEDCamera, ZEDModule, zed_camera
+
 # Set up camera calibration provider (always available)
 CALIBRATION_DIR = Path(__file__).parent
 CameraInfo = CalibrationProvider(CALIBRATION_DIR)
diff --git a/dimos/hardware/sensors/camera/zed/test_zed.py b/dimos/hardware/sensors/camera/zed/test_zed.py
index 2d912553c6..2716e809a5 100644
--- a/dimos/hardware/sensors/camera/zed/test_zed.py
+++ b/dimos/hardware/sensors/camera/zed/test_zed.py
@@ -13,14 +13,15 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import pytest
+
+from dimos.hardware.sensors.camera import zed
 from dimos.msgs.sensor_msgs.CameraInfo import CameraInfo
 
 
+@pytest.mark.skipif(not zed.HAS_ZED_SDK, reason="ZED SDK not installed")
 def test_zed_import_and_calibration_access() -> None:
     """Test that zed module can be imported and calibrations accessed."""
-    # Import zed module from camera
-    from dimos.hardware.sensors.camera import zed
-
     # Test that CameraInfo is accessible
     assert hasattr(zed, "CameraInfo")
 
diff --git a/dimos/hardware/sensors/lidar/livox/module.py b/dimos/hardware/sensors/lidar/livox/module.py
index 672968a0eb..8d6982dcf8 100644
--- a/dimos/hardware/sensors/lidar/livox/module.py
+++ b/dimos/hardware/sensors/lidar/livox/module.py
@@ -26,7 +26,6 @@
 
 from __future__ import annotations
 
-from dataclasses import dataclass
 from typing import TYPE_CHECKING
 
 from dimos.core import Out  # noqa: TC001
@@ -48,7 +47,6 @@
 from dimos.spec import perception
 
 
-@dataclass(kw_only=True)
 class Mid360Config(NativeModuleConfig):
     """Config for the C++ Mid-360 native module."""
 
@@ -76,7 +74,7 @@ class Mid360Config(NativeModuleConfig):
     host_log_data_port: int = SDK_HOST_LOG_DATA_PORT
 
 
-class Mid360(NativeModule, perception.Lidar, perception.IMU):
+class Mid360(NativeModule[Mid360Config], perception.Lidar, perception.IMU):
     """Livox Mid-360 LiDAR module backed by a native C++ binary.
 
     Ports:
diff --git a/dimos/mapping/osm/current_location_map.py b/dimos/mapping/osm/current_location_map.py
index ef0a832cd6..832116e25c 100644
--- a/dimos/mapping/osm/current_location_map.py
+++ b/dimos/mapping/osm/current_location_map.py
@@ -12,6 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from typing import Any
+
 from PIL import Image as PILImage, ImageDraw
 
 from dimos.mapping.osm.osm import MapImage, get_osm_map
@@ -24,11 +26,11 @@
 
 
 class CurrentLocationMap:
-    _vl_model: VlModel
+    _vl_model: VlModel[Any]
     _position: LatLon | None
     _map_image: MapImage | None
 
-    def __init__(self, vl_model: VlModel) -> None:
+    def __init__(self, vl_model: VlModel[Any]) -> None:
         self._vl_model = vl_model
         self._position = None
         self._map_image = None
diff --git a/dimos/mapping/osm/query.py b/dimos/mapping/osm/query.py
index 410f879c20..17fbfe3d4b 100644
--- a/dimos/mapping/osm/query.py
+++ b/dimos/mapping/osm/query.py
@@ -13,6 +13,7 @@
 # limitations under the License.
 
 import re
+from typing import Any
 
 from dimos.mapping.osm.osm import MapImage
 from dimos.mapping.types import LatLon
@@ -25,7 +26,9 @@
 logger = setup_logger()
 
 
-def query_for_one_position(vl_model: VlModel, map_image: MapImage, query: str) -> LatLon | None:
+def query_for_one_position(
+    vl_model: VlModel[Any], map_image: MapImage, query: str
+) -> LatLon | None:
     full_query = f"{_PROLOGUE} {query} {_JSON} If there's a match return the x, y coordinates from the image. Example: `[123, 321]`. If there's no match return `null`."
     response = vl_model.query(map_image.image, full_query)
     coords = tuple(map(int, re.findall(r"\d+", response)))
@@ -35,7 +38,7 @@ def query_for_one_position(vl_model: VlModel, map_image: MapImage, query: str) -
 
 
 def query_for_one_position_and_context(
-    vl_model: VlModel, map_image: MapImage, query: str, robot_position: LatLon
+    vl_model: VlModel[Any], map_image: MapImage, query: str, robot_position: LatLon
 ) -> tuple[LatLon, str] | None:
     example = '{"coordinates": [123, 321], "description": "A Starbucks on 27th Street"}'
     x, y = map_image.latlon_to_pixel(robot_position)
diff --git a/dimos/models/base.py b/dimos/models/base.py
index 2269a6d0b8..0d1ea97f12 100644
--- a/dimos/models/base.py
+++ b/dimos/models/base.py
@@ -23,14 +23,13 @@
 import torch
 
 from dimos.core.resource import Resource
-from dimos.protocol.service import Configurable  # type: ignore[attr-defined]
+from dimos.protocol.service import BaseConfig, Configurable
 
 # Device string type - 'cuda', 'cpu', 'cuda:0', 'cuda:1', etc.
 DeviceType = Annotated[str, "Device identifier (e.g., 'cuda', 'cpu', 'cuda:0')"]
 
 
-@dataclass
-class LocalModelConfig:
+class LocalModelConfig(BaseConfig):
     device: DeviceType = "cuda" if torch.cuda.is_available() else "cpu"
     dtype: torch.dtype = torch.float32
     warmup: bool = False
@@ -127,7 +126,6 @@ def _ensure_cuda_initialized(self) -> None:
                 pass
 
 
-@dataclass
 class HuggingFaceModelConfig(LocalModelConfig):
     model_name: str = ""
     trust_remote_code: bool = True
diff --git a/dimos/models/vl/base.py b/dimos/models/vl/base.py
index 93caba4de7..4cc6e75750 100644
--- a/dimos/models/vl/base.py
+++ b/dimos/models/vl/base.py
@@ -2,16 +2,22 @@
 from dataclasses import dataclass
 import json
 import logging
+import sys
 import warnings
 
 from dimos.core.resource import Resource
 from dimos.msgs.sensor_msgs import Image
 from dimos.perception.detection.type import Detection2DBBox, Detection2DPoint, ImageDetections2D
-from dimos.protocol.service import Configurable  # type: ignore[attr-defined]
+from dimos.protocol.service.spec import BaseConfig, Configurable
 from dimos.utils.data import get_data
 from dimos.utils.decorators import retry
 from dimos.utils.llm_utils import extract_json
 
+if sys.version_info < (3, 13):
+    from typing_extensions import TypeVar
+else:
+    from typing import TypeVar
+
 logger = logging.getLogger(__name__)
 
 
@@ -149,15 +155,17 @@ def vlm_point_to_detection2d_point(
     )
 
 
-@dataclass
-class VlModelConfig:
+class VlModelConfig(BaseConfig):
     """Configuration for VlModel."""
 
     auto_resize: tuple[int, int] | None = None
     """Optional (width, height) tuple. If set, images are resized to fit."""
 
 
-class VlModel(Captioner, Resource, Configurable[VlModelConfig]):
+_VlConfig = TypeVar("_VlConfig", bound=VlModelConfig)
+
+
+class VlModel(Captioner, Resource, Configurable[_VlConfig]):
     """Vision-language model that can answer questions about images.
 
     Inherits from Captioner, providing a default caption() implementation
@@ -166,8 +174,7 @@ class VlModel(Captioner, Resource, Configurable[VlModelConfig]):
     Implements Resource interface for lifecycle management.
     """
 
-    default_config = VlModelConfig
-    config: VlModelConfig
+    default_config: type[_VlConfig] = VlModelConfig  # type: ignore[assignment]
 
     def _prepare_image(self, image: Image) -> tuple[Image, float]:
         """Prepare image for inference, applying any configured transformations.
diff --git a/dimos/models/vl/moondream.py b/dimos/models/vl/moondream.py
index f31611e867..7b79a6d6f2 100644
--- a/dimos/models/vl/moondream.py
+++ b/dimos/models/vl/moondream.py
@@ -9,7 +9,7 @@
 from transformers import AutoModelForCausalLM  # type: ignore[import-untyped]
 
 from dimos.models.base import HuggingFaceModel, HuggingFaceModelConfig
-from dimos.models.vl.base import VlModel
+from dimos.models.vl.base import VlModel, VlModelConfig
 from dimos.msgs.sensor_msgs import Image
 from dimos.perception.detection.type import Detection2DBBox, Detection2DPoint, ImageDetections2D
 
@@ -17,8 +17,7 @@
 MOONDREAM_DEFAULT_AUTO_RESIZE = (512, 512)
 
 
-@dataclass
-class MoondreamConfig(HuggingFaceModelConfig):
+class MoondreamConfig(HuggingFaceModelConfig, VlModelConfig):
     """Configuration for MoondreamVlModel."""
 
     model_name: str = "vikhyatk/moondream2"
@@ -26,10 +25,9 @@ class MoondreamConfig(HuggingFaceModelConfig):
     auto_resize: tuple[int, int] | None = MOONDREAM_DEFAULT_AUTO_RESIZE
 
 
-class MoondreamVlModel(HuggingFaceModel, VlModel):
+class MoondreamVlModel(HuggingFaceModel, VlModel[MoondreamConfig]):
     _model_class = AutoModelForCausalLM
     default_config = MoondreamConfig  # type: ignore[assignment]
-    config: MoondreamConfig  # type: ignore[assignment]
 
     @cached_property
     def _model(self) -> AutoModelForCausalLM:
diff --git a/dimos/models/vl/moondream_hosted.py b/dimos/models/vl/moondream_hosted.py
index fc1f8b7a17..57df91b47e 100644
--- a/dimos/models/vl/moondream_hosted.py
+++ b/dimos/models/vl/moondream_hosted.py
@@ -6,20 +6,21 @@
 import numpy as np
 from PIL import Image as PILImage
 
-from dimos.models.vl.base import VlModel
+from dimos.models.vl.base import VlModel, VlModelConfig
 from dimos.msgs.sensor_msgs import Image
 from dimos.perception.detection.type import Detection2DBBox, Detection2DPoint, ImageDetections2D
 
 
-class MoondreamHostedVlModel(VlModel):
-    _api_key: str | None
+class Config(VlModelConfig):
+    api_key: str | None = None
 
-    def __init__(self, api_key: str | None = None) -> None:
-        self._api_key = api_key
+
+class MoondreamHostedVlModel(VlModel[Config]):
+    default_config = Config
 
     @cached_property
     def _client(self) -> md.vl:
-        api_key = self._api_key or os.getenv("MOONDREAM_API_KEY")
+        api_key = self.config.api_key or os.getenv("MOONDREAM_API_KEY")
         if not api_key:
             raise ValueError(
                 "Moondream API key must be provided or set in MOONDREAM_API_KEY environment variable"
diff --git a/dimos/models/vl/openai.py b/dimos/models/vl/openai.py
index f596f1ee1e..94f6e20b62 100644
--- a/dimos/models/vl/openai.py
+++ b/dimos/models/vl/openai.py
@@ -13,15 +13,13 @@
 logger = setup_logger()
 
 
-@dataclass
 class OpenAIVlModelConfig(VlModelConfig):
     model_name: str = "gpt-4o-mini"
     api_key: str | None = None
 
 
-class OpenAIVlModel(VlModel):
+class OpenAIVlModel(VlModel[OpenAIVlModelConfig]):
     default_config = OpenAIVlModelConfig
-    config: OpenAIVlModelConfig
 
     @cached_property
     def _client(self) -> OpenAI:
diff --git a/dimos/models/vl/qwen.py b/dimos/models/vl/qwen.py
index 93b31bf74c..dfcf3e7809 100644
--- a/dimos/models/vl/qwen.py
+++ b/dimos/models/vl/qwen.py
@@ -10,7 +10,6 @@
 from dimos.msgs.sensor_msgs import Image
 
 
-@dataclass
 class QwenVlModelConfig(VlModelConfig):
     """Configuration for Qwen VL model."""
 
@@ -18,9 +17,8 @@ class QwenVlModelConfig(VlModelConfig):
     api_key: str | None = None
 
 
-class QwenVlModel(VlModel):
+class QwenVlModel(VlModel[QwenVlModelConfig]):
     default_config = QwenVlModelConfig
-    config: QwenVlModelConfig
 
     @cached_property
     def _client(self) -> OpenAI:
diff --git a/dimos/navigation/frontier_exploration/test_wavefront_frontier_goal_selector.py b/dimos/navigation/frontier_exploration/test_wavefront_frontier_goal_selector.py
index 1c8082b414..419986780a 100644
--- a/dimos/navigation/frontier_exploration/test_wavefront_frontier_goal_selector.py
+++ b/dimos/navigation/frontier_exploration/test_wavefront_frontier_goal_selector.py
@@ -262,7 +262,7 @@ def test_frontier_ranking(explorer) -> None:
         # Note: Goals might be closer than safe_distance if that's the best available frontier
         # The safe_distance is used for scoring, not as a hard constraint
         print(
-            f"Distance to obstacles: {obstacle_dist:.2f}m (safe distance: {explorer.safe_distance}m)"
+            f"Distance to obstacles: {obstacle_dist:.2f}m (safe distance: {explorer.config.safe_distance}m)"
         )
 
         print(f"Frontier ranking test passed - selected goal at ({goal1.x:.2f}, {goal1.y:.2f})")
diff --git a/dimos/navigation/frontier_exploration/wavefront_frontier_goal_selector.py b/dimos/navigation/frontier_exploration/wavefront_frontier_goal_selector.py
index 3adfc1c598..4c51fc1d97 100644
--- a/dimos/navigation/frontier_exploration/wavefront_frontier_goal_selector.py
+++ b/dimos/navigation/frontier_exploration/wavefront_frontier_goal_selector.py
@@ -23,6 +23,7 @@
 from dataclasses import dataclass
 from enum import IntFlag
 import threading
+from typing import Any
 
 from dimos_lcm.std_msgs import Bool
 import numpy as np
@@ -30,6 +31,8 @@
 
 from dimos.agents.annotation import skill
 from dimos.core import In, Module, Out, rpc
+from dimos.core.global_config import GlobalConfig, global_config
+from dimos.core.module import ModuleConfig
 from dimos.mapping.occupancy.inflation import simple_inflate
 from dimos.msgs.geometry_msgs import PoseStamped, Vector3
 from dimos.msgs.nav_msgs import CostValues, OccupancyGrid
@@ -76,7 +79,18 @@ def clear(self) -> None:
         self.points.clear()
 
 
-class WavefrontFrontierExplorer(Module):
+class WavefrontConfig(ModuleConfig):
+    min_frontier_perimeter: float = 0.5
+    occupancy_threshold: int = 99
+    safe_distance: float = 3.0
+    lookahead_distance: float = 5.0
+    max_explored_distance: float = 10.0
+    info_gain_threshold: float = 0.03
+    num_no_gain_attempts: int = 2
+    goal_timeout: float = 15.0
+
+
+class WavefrontFrontierExplorer(Module[WavefrontConfig]):
     """
     Wavefront frontier exploration algorithm implementation.
 
@@ -91,6 +105,8 @@ class WavefrontFrontierExplorer(Module):
         - goal_request: Exploration goals sent to the navigator
     """
 
+    default_config = WavefrontConfig
+
     # LCM inputs
     global_costmap: In[OccupancyGrid]
     odom: In[PoseStamped]
@@ -101,17 +117,7 @@ class WavefrontFrontierExplorer(Module):
     # LCM outputs
     goal_request: Out[PoseStamped]
 
-    def __init__(
-        self,
-        min_frontier_perimeter: float = 0.5,
-        occupancy_threshold: int = 99,
-        safe_distance: float = 3.0,
-        lookahead_distance: float = 5.0,
-        max_explored_distance: float = 10.0,
-        info_gain_threshold: float = 0.03,
-        num_no_gain_attempts: int = 2,
-        goal_timeout: float = 15.0,
-    ) -> None:
+    def __init__(self, global_config: GlobalConfig = global_config, **kwargs: Any) -> None:
         """
         Initialize the frontier explorer.
 
@@ -122,20 +128,12 @@ def __init__(
             info_gain_threshold: Minimum percentage increase in costmap information required to continue exploration (0.05 = 5%)
             num_no_gain_attempts: Maximum number of consecutive attempts with no information gain
         """
-        super().__init__()
-        self.min_frontier_perimeter = min_frontier_perimeter
-        self.occupancy_threshold = occupancy_threshold
-        self.safe_distance = safe_distance
-        self.max_explored_distance = max_explored_distance
-        self.lookahead_distance = lookahead_distance
-        self.info_gain_threshold = info_gain_threshold
-        self.num_no_gain_attempts = num_no_gain_attempts
+        super().__init__(global_config, **kwargs)
         self._cache = FrontierCache()
         self.explored_goals = []  # type: ignore[var-annotated]  # list of explored goals
         self.exploration_direction = Vector3(0.0, 0.0, 0.0)  # current exploration direction
         self.last_costmap = None  # store last costmap for information comparison
         self.no_gain_counter = 0  # track consecutive no-gain attempts
-        self.goal_timeout = goal_timeout
 
         # Latest data
         self.latest_costmap: OccupancyGrid | None = None
@@ -212,7 +210,7 @@ def _count_costmap_information(self, costmap: OccupancyGrid) -> int:
             Number of cells that are free space or obstacles (not unknown)
         """
         free_count = np.sum(costmap.grid == CostValues.FREE)
-        obstacle_count = np.sum(costmap.grid >= self.occupancy_threshold)
+        obstacle_count = np.sum(costmap.grid >= self.config.occupancy_threshold)
         return int(free_count + obstacle_count)
 
     def _get_neighbors(self, point: GridPoint, costmap: OccupancyGrid) -> list[GridPoint]:
@@ -250,7 +248,7 @@ def _is_frontier_point(self, point: GridPoint, costmap: OccupancyGrid) -> bool:
             neighbor_cost = costmap.grid[neighbor.y, neighbor.x]
 
             # If adjacent to occupied space, not a frontier
-            if neighbor_cost > self.occupancy_threshold:
+            if neighbor_cost > self.config.occupancy_threshold:
                 return False
 
             # Check if adjacent to free space
@@ -374,7 +372,7 @@ def detect_frontiers(self, robot_pose: Vector3, costmap: OccupancyGrid) -> list[
 
                 # Check if we found a large enough frontier
                 # Convert minimum perimeter to minimum number of cells based on resolution
-                min_cells = int(self.min_frontier_perimeter / costmap.resolution)
+                min_cells = int(self.config.min_frontier_perimeter / costmap.resolution)
                 if len(new_frontier) >= min_cells:
                     world_points = []
                     for point in new_frontier:
@@ -487,7 +485,7 @@ def _compute_distance_to_obstacles(self, frontier: Vector3, costmap: OccupancyGr
 
         min_distance = float("inf")
         search_radius = (
-            int(self.safe_distance / costmap.resolution) + 5
+            int(self.config.safe_distance / costmap.resolution) + 5
         )  # Search a bit beyond minimum
 
         # Search in a square around the frontier point
@@ -506,14 +504,14 @@ def _compute_distance_to_obstacles(self, frontier: Vector3, costmap: OccupancyGr
                     continue
 
                 # Check if this cell is an obstacle
-                if costmap.grid[check_y, check_x] >= self.occupancy_threshold:
+                if costmap.grid[check_y, check_x] >= self.config.occupancy_threshold:
                     # Calculate distance in meters
                     distance = np.sqrt(dx**2 + dy**2) * costmap.resolution
                     min_distance = min(min_distance, distance)
 
         # If no obstacles found within search radius, return the safe distance
         # This indicates the frontier is safely away from obstacles
-        return min_distance if min_distance != float("inf") else self.safe_distance
+        return min_distance if min_distance != float("inf") else self.config.safe_distance
 
     def _compute_comprehensive_frontier_score(
         self, frontier: Vector3, frontier_size: int, robot_pose: Vector3, costmap: OccupancyGrid
@@ -525,25 +523,25 @@ def _compute_comprehensive_frontier_score(
 
         # Distance score: prefer moderate distances (not too close, not too far)
         # Normalized to 0-1 range
-        distance_score = 1.0 / (1.0 + abs(robot_distance - self.lookahead_distance))
+        distance_score = 1.0 / (1.0 + abs(robot_distance - self.config.lookahead_distance))
 
         # 2. Information gain (frontier size)
         # Normalize by a reasonable max frontier size
-        max_expected_frontier_size = self.min_frontier_perimeter / costmap.resolution * 10
+        max_expected_frontier_size = self.config.min_frontier_perimeter / costmap.resolution * 10
         info_gain_score = min(frontier_size / max_expected_frontier_size, 1.0)
 
         # 3. Distance to explored goals (bonus for being far from explored areas)
         # Normalize by a reasonable max distance (e.g., 10 meters)
         explored_goals_distance = self._compute_distance_to_explored_goals(frontier)
-        explored_goals_score = min(explored_goals_distance / self.max_explored_distance, 1.0)
+        explored_goals_score = min(explored_goals_distance / self.config.max_explored_distance, 1.0)
 
         # 4. Distance to obstacles (score based on safety)
         # 0 = too close to obstacles, 1 = at or beyond safe distance
         obstacles_distance = self._compute_distance_to_obstacles(frontier, costmap)
-        if obstacles_distance >= self.safe_distance:
+        if obstacles_distance >= self.config.safe_distance:
             obstacles_score = 1.0  # Fully safe
         else:
-            obstacles_score = obstacles_distance / self.safe_distance  # Linear penalty
+            obstacles_score = obstacles_distance / self.config.safe_distance  # Linear penalty
 
         # 5. Direction momentum (already in 0-1 range from dot product)
         momentum_score = self._compute_direction_momentum_score(frontier, robot_pose)
@@ -626,15 +624,15 @@ def get_exploration_goal(self, robot_pose: Vector3, costmap: OccupancyGrid) -> V
             # Check if information increase meets minimum percentage threshold
             if last_info > 0:  # Avoid division by zero
                 info_increase_percent = (current_info - last_info) / last_info
-                if info_increase_percent < self.info_gain_threshold:
+                if info_increase_percent < self.config.info_gain_threshold:
                     logger.info(
-                        f"Information increase ({info_increase_percent:.2f}) below threshold ({self.info_gain_threshold:.2f})"
+                        f"Information increase ({info_increase_percent:.2f}) below threshold ({self.config.info_gain_threshold:.2f})"
                     )
                     logger.info(
                         f"Current information: {current_info}, Last information: {last_info}"
                     )
                     self.no_gain_counter += 1
-                    if self.no_gain_counter >= self.num_no_gain_attempts:
+                    if self.no_gain_counter >= self.config.num_no_gain_attempts:
                         logger.info(
                             f"No information gain for {self.no_gain_counter} consecutive attempts"
                         )
@@ -795,7 +793,7 @@ def _exploration_loop(self) -> None:
 
                 # Wait for goal to be reached or timeout
                 logger.info("Waiting for goal to be reached...")
-                goal_reached = self.goal_reached_event.wait(timeout=self.goal_timeout)
+                goal_reached = self.goal_reached_event.wait(timeout=self.config.goal_timeout)
 
                 if goal_reached:
                     logger.info("Goal reached, finding next frontier")
diff --git a/dimos/navigation/visual/query.py b/dimos/navigation/visual/query.py
index 2e0951951e..4e3931935a 100644
--- a/dimos/navigation/visual/query.py
+++ b/dimos/navigation/visual/query.py
@@ -12,6 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from typing import Any
 
 from dimos.models.qwen.video_query import BBox
 from dimos.models.vl.base import VlModel
@@ -20,7 +21,7 @@
 
 
 def get_object_bbox_from_image(
-    vl_model: VlModel, image: Image, object_description: str
+    vl_model: VlModel[Any], image: Image, object_description: str
 ) -> BBox | None:
     prompt = (
         f"Look at this image and find the '{object_description}'. "
diff --git a/dimos/perception/detection/conftest.py b/dimos/perception/detection/conftest.py
index 3b24422c47..49582f72e3 100644
--- a/dimos/perception/detection/conftest.py
+++ b/dimos/perception/detection/conftest.py
@@ -15,6 +15,7 @@
 from collections.abc import Callable, Generator
 import functools
 from typing import TypedDict
+from unittest import mock
 
 from dimos_lcm.foxglove_msgs.ImageAnnotations import ImageAnnotations
 from dimos_lcm.foxglove_msgs.SceneUpdate import SceneUpdate
@@ -203,7 +204,8 @@ def detection3dpc(detections3dpc) -> Detection3DPC:
 def get_moment_2d(get_moment) -> Generator[Callable[[], Moment2D], None, None]:
     from dimos.perception.detection.detectors import Yolo2DDetector
 
-    module = Detection2DModule(detector=lambda: Yolo2DDetector(device="cpu"))
+    c = mock.create_autospec(CameraInfo, spec_set=True, instance=True)
+    module = Detection2DModule(detector=lambda: Yolo2DDetector(device="cpu"), camera_info=c)
 
     @functools.lru_cache(maxsize=1)
     def moment_provider(**kwargs) -> Moment2D:
@@ -259,7 +261,8 @@ def object_db_module(get_moment):
     """Create and populate an ObjectDBModule with detections from multiple frames."""
     from dimos.perception.detection.detectors import Yolo2DDetector
 
-    module2d = Detection2DModule(detector=lambda: Yolo2DDetector(device="cpu"))
+    c = mock.create_autospec(CameraInfo, spec_set=True, instance=True)
+    module2d = Detection2DModule(detector=lambda: Yolo2DDetector(device="cpu"), camera_info=c)
     module3d = Detection3DModule(camera_info=connection._camera_info_static())
     moduleDB = ObjectDBModule(camera_info=connection._camera_info_static())
 
diff --git a/dimos/perception/detection/module2D.py b/dimos/perception/detection/module2D.py
index cfca3b2192..2a95dfb570 100644
--- a/dimos/perception/detection/module2D.py
+++ b/dimos/perception/detection/module2D.py
@@ -11,13 +11,13 @@
 # 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 collections.abc import Callable
-from dataclasses import dataclass
-from typing import Any
+from collections.abc import Callable, Sequence
+from typing import Annotated, Any
 
 from dimos_lcm.foxglove_msgs.ImageAnnotations import (
     ImageAnnotations,
 )
+from pydantic.experimental.pipeline import validate_as
 from reactivex import operators as ops
 from reactivex.observable import Observable
 from reactivex.subject import Subject
@@ -36,24 +36,21 @@
 from dimos.utils.reactive import backpressure
 
 
-@dataclass
 class Config(ModuleConfig):
     max_freq: float = 10
     detector: Callable[[Any], Detector] | None = Yolo2DDetector
     publish_detection_images: bool = True
-    camera_info: CameraInfo = None  # type: ignore[assignment]
-    filter: list[Filter2D] | Filter2D | None = None
+    camera_info: CameraInfo
+    filter: Annotated[
+        Sequence[Filter2D],
+        validate_as(Sequence[Filter2D] | Filter2D).transform(
+            lambda f: f if isinstance(f, Sequence) else (f,)
+        ),
+    ] = ()
 
-    def __post_init__(self) -> None:
-        if self.filter is None:
-            self.filter = []
-        elif not isinstance(self.filter, list):
-            self.filter = [self.filter]
 
-
-class Detection2DModule(Module):
+class Detection2DModule(Module[Config]):
     default_config = Config
-    config: Config
     detector: Detector
 
     color_image: In[Image]
diff --git a/dimos/perception/experimental/temporal_memory/entity_graph_db.py b/dimos/perception/experimental/temporal_memory/entity_graph_db.py
index 7109459f40..953fd00dac 100644
--- a/dimos/perception/experimental/temporal_memory/entity_graph_db.py
+++ b/dimos/perception/experimental/temporal_memory/entity_graph_db.py
@@ -931,7 +931,7 @@ def estimate_and_save_distances(
         self,
         parsed: dict[str, Any],
         frame_image: "Image",
-        vlm: "VlModel",
+        vlm: "VlModel[Any]",
         timestamp_s: float,
         max_distance_pairs: int = 5,
     ) -> None:
diff --git a/dimos/perception/experimental/temporal_memory/temporal_memory.py b/dimos/perception/experimental/temporal_memory/temporal_memory.py
index 66b6fce911..4d54bdc514 100644
--- a/dimos/perception/experimental/temporal_memory/temporal_memory.py
+++ b/dimos/perception/experimental/temporal_memory/temporal_memory.py
@@ -112,7 +112,7 @@ class TemporalMemory(Module):
     color_image: In[Image]
 
     def __init__(
-        self, vlm: VlModel | None = None, config: TemporalMemoryConfig | None = None
+        self, vlm: VlModel[Any] | None = None, config: TemporalMemoryConfig | None = None
     ) -> None:
         super().__init__()
 
@@ -183,7 +183,7 @@ def __init__(
         )
 
     @property
-    def vlm(self) -> VlModel:
+    def vlm(self) -> VlModel[Any]:
         """Get or create VLM instance lazily."""
         if self._vlm is None:
             from dimos.models.vl.openai import OpenAIVlModel
diff --git a/dimos/perception/experimental/temporal_memory/temporal_memory_deploy.py b/dimos/perception/experimental/temporal_memory/temporal_memory_deploy.py
index ab3cc7a0f5..755e9cc1f0 100644
--- a/dimos/perception/experimental/temporal_memory/temporal_memory_deploy.py
+++ b/dimos/perception/experimental/temporal_memory/temporal_memory_deploy.py
@@ -17,7 +17,7 @@
 """
 
 import os
-from typing import TYPE_CHECKING
+from typing import TYPE_CHECKING, Any
 
 from dimos.core._dask_exports import DimosCluster
 from dimos.models.vl.base import VlModel
@@ -32,7 +32,7 @@
 def deploy(
     dimos: DimosCluster,
     camera: CameraSpec,
-    vlm: VlModel | None = None,
+    vlm: VlModel[Any] | None = None,
     config: TemporalMemoryConfig | None = None,
 ) -> TemporalMemory:
     """Deploy TemporalMemory with a camera.
diff --git a/dimos/perception/experimental/temporal_memory/temporal_utils/graph_utils.py b/dimos/perception/experimental/temporal_memory/temporal_utils/graph_utils.py
index 8d05f8c1e1..9d30cd3338 100644
--- a/dimos/perception/experimental/temporal_memory/temporal_utils/graph_utils.py
+++ b/dimos/perception/experimental/temporal_memory/temporal_utils/graph_utils.py
@@ -30,7 +30,7 @@
 
 def extract_time_window(
     question: str,
-    vlm: "VlModel",
+    vlm: "VlModel[Any]",
     latest_frame: "Image | None" = None,
 ) -> float | None:
     """Extract time window from question using VLM with example-based learning.
diff --git a/dimos/perception/object_tracker_2d.py b/dimos/perception/object_tracker_2d.py
index 17f470cff6..27b7c0e93c 100644
--- a/dimos/perception/object_tracker_2d.py
+++ b/dimos/perception/object_tracker_2d.py
@@ -12,7 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from dataclasses import dataclass
 import logging
 import threading
 import time
@@ -45,7 +44,6 @@
 logger = setup_logger(level=logging.INFO)
 
 
-@dataclass
 class ObjectTracker2DConfig(ModuleConfig):
     frame_id: str = "camera_link"
 
@@ -59,7 +57,6 @@ class ObjectTracker2D(Module[ObjectTracker2DConfig]):
     tracked_overlay: Out[Image]  # Visualization output
 
     default_config = ObjectTracker2DConfig
-    config: ObjectTracker2DConfig
 
     def __init__(self, global_config: GlobalConfig = global_config, **kwargs: Any) -> None:
         """Initialize 2D object tracking module using OpenCV's CSRT tracker."""
diff --git a/dimos/protocol/pubsub/bridge.py b/dimos/protocol/pubsub/bridge.py
index f312caed7b..72cbe155d9 100644
--- a/dimos/protocol/pubsub/bridge.py
+++ b/dimos/protocol/pubsub/bridge.py
@@ -16,10 +16,9 @@
 
 from __future__ import annotations
 
-from dataclasses import dataclass
 from typing import TYPE_CHECKING, Generic, Protocol, TypeVar
 
-from dimos.protocol.service.spec import Service
+from dimos.protocol.service.spec import BaseConfig, Service
 
 if TYPE_CHECKING:
     from collections.abc import Callable
@@ -66,8 +65,7 @@ def pass_msg(msg: MsgFrom, topic: TopicFrom) -> None:
     return pubsub1.subscribe_all(pass_msg)
 
 
-@dataclass
-class BridgeConfig(Generic[TopicFrom, TopicTo, MsgFrom, MsgTo]):
+class BridgeConfig(BaseConfig, Generic[TopicFrom, TopicTo, MsgFrom, MsgTo]):
     """Configuration for a one-way bridge."""
 
     source: AllPubSub[TopicFrom, MsgFrom]
diff --git a/dimos/protocol/pubsub/impl/lcmpubsub.py b/dimos/protocol/pubsub/impl/lcmpubsub.py
index bf6bbd0dec..09b84ff644 100644
--- a/dimos/protocol/pubsub/impl/lcmpubsub.py
+++ b/dimos/protocol/pubsub/impl/lcmpubsub.py
@@ -25,7 +25,7 @@
 )
 from dimos.protocol.pubsub.patterns import Glob
 from dimos.protocol.pubsub.spec import AllPubSub
-from dimos.protocol.service.lcmservice import LCMConfig, LCMService, autoconf
+from dimos.protocol.service.lcmservice import LCMService, autoconf
 from dimos.utils.logging_config import setup_logger
 
 if TYPE_CHECKING:
@@ -83,7 +83,6 @@ class LCMPubSubBase(LCMService, AllPubSub[Topic, Any]):
     RegexSubscribable directly without needing discovery-based fallback.
     """
 
-    default_config = LCMConfig
     _stop_event: threading.Event
     _thread: threading.Thread | None
 
diff --git a/dimos/protocol/pubsub/impl/redispubsub.py b/dimos/protocol/pubsub/impl/redispubsub.py
index 6cc089e953..b299d6b883 100644
--- a/dimos/protocol/pubsub/impl/redispubsub.py
+++ b/dimos/protocol/pubsub/impl/redispubsub.py
@@ -14,25 +14,24 @@
 
 from collections import defaultdict
 from collections.abc import Callable
-from dataclasses import dataclass, field
 import json
 import threading
 import time
 from types import TracebackType
 from typing import Any
 
+from pydantic import Field
 import redis  # type: ignore[import-not-found]
 
 from dimos.protocol.pubsub.spec import PubSub
-from dimos.protocol.service.spec import Service
+from dimos.protocol.service.spec import BaseConfig, Service
 
 
-@dataclass
-class RedisConfig:
+class RedisConfig(BaseConfig):
     host: str = "localhost"
     port: int = 6379
     db: int = 0
-    kwargs: dict[str, Any] = field(default_factory=dict)
+    kwargs: dict[str, Any] = Field(default_factory=dict)
 
 
 class Redis(PubSub[str, Any], Service[RedisConfig]):
diff --git a/dimos/protocol/service/__init__.py b/dimos/protocol/service/__init__.py
index fb9df08ca9..ed6caf93c2 100644
--- a/dimos/protocol/service/__init__.py
+++ b/dimos/protocol/service/__init__.py
@@ -1,8 +1,9 @@
 from dimos.protocol.service.lcmservice import LCMService
-from dimos.protocol.service.spec import Configurable as Configurable, Service as Service
+from dimos.protocol.service.spec import BaseConfig, Configurable, Service
 
-__all__ = [
+__all__ = (
+    "BaseConfig",
     "Configurable",
     "LCMService",
     "Service",
-]
+)
diff --git a/dimos/protocol/service/ddsservice.py b/dimos/protocol/service/ddsservice.py
index 6ed04c07ad..b5562defff 100644
--- a/dimos/protocol/service/ddsservice.py
+++ b/dimos/protocol/service/ddsservice.py
@@ -14,9 +14,8 @@
 
 from __future__ import annotations
 
-from dataclasses import dataclass
 import threading
-from typing import TYPE_CHECKING, Any
+from typing import TYPE_CHECKING
 
 try:
     from cyclonedds.domain import DomainParticipant
@@ -26,7 +25,7 @@
     DDS_AVAILABLE = False
     DomainParticipant = None  # type: ignore[assignment, misc]
 
-from dimos.protocol.service.spec import Service
+from dimos.protocol.service.spec import BaseConfig, Service
 from dimos.utils.logging_config import setup_logger
 
 if TYPE_CHECKING:
@@ -38,8 +37,7 @@
 _participants_lock = threading.Lock()
 
 
-@dataclass
-class DDSConfig:
+class DDSConfig(BaseConfig):
     """Configuration for DDS service."""
 
     domain_id: int = 0
@@ -49,9 +47,6 @@ class DDSConfig:
 class DDSService(Service[DDSConfig]):
     default_config = DDSConfig
 
-    def __init__(self, **kwargs: Any) -> None:
-        super().__init__(**kwargs)
-
     def start(self) -> None:
         """Start the DDS service."""
         domain_id = self.config.domain_id
diff --git a/dimos/protocol/service/lcmservice.py b/dimos/protocol/service/lcmservice.py
index 4655780fb3..f56a61f623 100644
--- a/dimos/protocol/service/lcmservice.py
+++ b/dimos/protocol/service/lcmservice.py
@@ -15,15 +15,16 @@
 from __future__ import annotations
 
 from concurrent.futures import ThreadPoolExecutor
-from dataclasses import dataclass
 import os
 import platform
+import sys
 import threading
 import traceback
+from typing import Any
 
-import lcm
+import lcm as lcm_mod
 
-from dimos.protocol.service.spec import Service
+from dimos.protocol.service.spec import BaseConfig, Service
 from dimos.protocol.service.system_configurator import (
     BufferConfiguratorLinux,
     BufferConfiguratorMacOS,
@@ -35,6 +36,11 @@
 )
 from dimos.utils.logging_config import setup_logger
 
+if sys.version_info < (3, 13):
+    from typing_extensions import TypeVar
+else:
+    from typing import TypeVar
+
 logger = setup_logger()
 
 _DEFAULT_LCM_HOST = "239.255.76.67"
@@ -66,41 +72,38 @@ def autoconf(check_only: bool = False) -> None:
     configure_system(checks, check_only=check_only)
 
 
-@dataclass
-class LCMConfig:
+class LCMConfig(BaseConfig):
     ttl: int = 0
-    url: str | None = None
+    url: str = _DEFAULT_LCM_URL
     autoconf: bool = True
-    lcm: lcm.LCM | None = None
-
-    def __post_init__(self) -> None:
-        if self.url is None:
-            self.url = _DEFAULT_LCM_URL
+    lcm: lcm_mod.LCM | None = None
 
 
+_Config = TypeVar("_Config", bound=LCMConfig, default=LCMConfig)
 _LCM_LOOP_TIMEOUT = 50
 
 
 # this class just sets up cpp LCM instance
 # and runs its handle loop in a thread
 # higher order stuff is done by pubsub/impl/lcmpubsub.py
-class LCMService(Service[LCMConfig]):
-    default_config = LCMConfig
-    l: lcm.LCM | None
+class LCMService(Service[_Config]):
+    default_config = LCMConfig  # type: ignore[assignment]
+
+    l: lcm_mod.LCM | None
     _stop_event: threading.Event
     _l_lock: threading.Lock
     _thread: threading.Thread | None
     _call_thread_pool: ThreadPoolExecutor | None = None
     _call_thread_pool_lock: threading.RLock = threading.RLock()
 
-    def __init__(self, **kwargs) -> None:  # type: ignore[no-untyped-def]
+    def __init__(self, **kwargs: Any) -> None:  # type: ignore[no-untyped-def]
         super().__init__(**kwargs)
 
         # we support passing an existing LCM instance
         if self.config.lcm:
             self.l = self.config.lcm
         else:
-            self.l = lcm.LCM(self.config.url) if self.config.url else lcm.LCM()
+            self.l = lcm_mod.LCM(self.config.url) if self.config.url else lcm_mod.LCM()
 
         self._l_lock = threading.Lock()
         self._stop_event = threading.Event()
@@ -135,7 +138,7 @@ def start(self) -> None:
             if self.config.lcm:
                 self.l = self.config.lcm
             else:
-                self.l = lcm.LCM(self.config.url) if self.config.url else lcm.LCM()
+                self.l = lcm_mod.LCM(self.config.url) if self.config.url else lcm_mod.LCM()
 
         try:
             autoconf(check_only=not self.config.autoconf)
diff --git a/dimos/protocol/service/spec.py b/dimos/protocol/service/spec.py
index 37ded73c06..4dcb9398b6 100644
--- a/dimos/protocol/service/spec.py
+++ b/dimos/protocol/service/spec.py
@@ -15,8 +15,15 @@
 from abc import ABC
 from typing import Any, Generic, TypeVar
 
+from pydantic import BaseModel
+
+
+class BaseConfig(BaseModel):
+    model_config = {"arbitrary_types_allowed": True}
+
+
 # Generic type for service configuration
-ConfigT = TypeVar("ConfigT")
+ConfigT = TypeVar("ConfigT", bound=BaseConfig)
 
 
 class Configurable(Generic[ConfigT]):
diff --git a/dimos/protocol/service/test_lcmservice.py b/dimos/protocol/service/test_lcmservice.py
index 4231302426..6b3dcd6e06 100644
--- a/dimos/protocol/service/test_lcmservice.py
+++ b/dimos/protocol/service/test_lcmservice.py
@@ -14,7 +14,9 @@
 
 import threading
 import time
-from unittest.mock import MagicMock, patch
+from unittest.mock import MagicMock, create_autospec, patch
+
+from lcm import LCM
 
 from dimos.protocol.pubsub.impl.lcmpubsub import Topic
 from dimos.protocol.service.lcmservice import (
@@ -91,10 +93,6 @@ def test_custom_url(self) -> None:
         config = LCMConfig(url=custom_url)
         assert config.url == custom_url
 
-    def test_post_init_sets_default_url_when_none(self) -> None:
-        config = LCMConfig(url=None)
-        assert config.url == _DEFAULT_LCM_URL
-
     def test_autoconf_can_be_disabled(self) -> None:
         config = LCMConfig(autoconf=False)
         assert config.autoconf is False
@@ -120,8 +118,8 @@ def test_str_with_lcm_type(self) -> None:
 
 class TestLCMService:
     def test_init_with_default_config(self) -> None:
-        with patch("dimos.protocol.service.lcmservice.lcm.LCM") as mock_lcm_class:
-            mock_lcm_instance = MagicMock()
+        with patch("dimos.protocol.service.lcmservice.lcm_mod.LCM") as mock_lcm_class:
+            mock_lcm_instance = create_autospec(LCM, spec_set=True, instance=True)
             mock_lcm_class.return_value = mock_lcm_instance
 
             service = LCMService()
@@ -131,8 +129,8 @@ def test_init_with_default_config(self) -> None:
 
     def test_init_with_custom_url(self) -> None:
         custom_url = "udpm://192.168.1.1:7777?ttl=1"
-        with patch("dimos.protocol.service.lcmservice.lcm.LCM") as mock_lcm_class:
-            mock_lcm_instance = MagicMock()
+        with patch("dimos.protocol.service.lcmservice.lcm_mod.LCM") as mock_lcm_class:
+            mock_lcm_instance = create_autospec(LCM, spec_set=True, instance=True)
             mock_lcm_class.return_value = mock_lcm_instance
 
             # Pass url as kwarg, not config=
@@ -140,17 +138,17 @@ def test_init_with_custom_url(self) -> None:
             mock_lcm_class.assert_called_once_with(custom_url)
 
     def test_init_with_existing_lcm_instance(self) -> None:
-        mock_lcm_instance = MagicMock()
+        mock_lcm_instance = create_autospec(LCM, spec_set=True, instance=True)
 
-        with patch("dimos.protocol.service.lcmservice.lcm.LCM") as mock_lcm_class:
+        with patch("dimos.protocol.service.lcmservice.lcm_mod.LCM") as mock_lcm_class:
             # Pass lcm as kwarg
             service = LCMService(lcm=mock_lcm_instance)
             mock_lcm_class.assert_not_called()
             assert service.l == mock_lcm_instance
 
     def test_start_and_stop(self) -> None:
-        with patch("dimos.protocol.service.lcmservice.lcm.LCM") as mock_lcm_class:
-            mock_lcm_instance = MagicMock()
+        with patch("dimos.protocol.service.lcmservice.lcm_mod.LCM") as mock_lcm_class:
+            mock_lcm_instance = create_autospec(LCM, spec_set=True, instance=True)
             mock_lcm_class.return_value = mock_lcm_instance
 
             with patch("dimos.protocol.service.lcmservice.autoconf"):
@@ -168,8 +166,8 @@ def test_start_and_stop(self) -> None:
                 assert not service._thread.is_alive()
 
     def test_start_calls_configure_system(self) -> None:
-        with patch("dimos.protocol.service.lcmservice.lcm.LCM") as mock_lcm_class:
-            mock_lcm_instance = MagicMock()
+        with patch("dimos.protocol.service.lcmservice.lcm_mod.LCM") as mock_lcm_class:
+            mock_lcm_instance = create_autospec(LCM, spec_set=True, instance=True)
             mock_lcm_class.return_value = mock_lcm_instance
 
             with patch("dimos.protocol.service.lcmservice.autoconf") as mock_configure:
@@ -182,8 +180,8 @@ def test_start_calls_configure_system(self) -> None:
                 service.stop()
 
     def test_start_with_autoconf_disabled(self) -> None:
-        with patch("dimos.protocol.service.lcmservice.lcm.LCM") as mock_lcm_class:
-            mock_lcm_instance = MagicMock()
+        with patch("dimos.protocol.service.lcmservice.lcm_mod.LCM") as mock_lcm_class:
+            mock_lcm_instance = create_autospec(LCM, spec_set=True, instance=True)
             mock_lcm_class.return_value = mock_lcm_instance
 
             with patch("dimos.protocol.service.lcmservice.autoconf") as mock_configure:
@@ -196,8 +194,8 @@ def test_start_with_autoconf_disabled(self) -> None:
                 service.stop()
 
     def test_getstate_excludes_unpicklable_attrs(self) -> None:
-        with patch("dimos.protocol.service.lcmservice.lcm.LCM") as mock_lcm_class:
-            mock_lcm_instance = MagicMock()
+        with patch("dimos.protocol.service.lcmservice.lcm_mod.LCM") as mock_lcm_class:
+            mock_lcm_instance = create_autospec(LCM, spec_set=True, instance=True)
             mock_lcm_class.return_value = mock_lcm_instance
 
             service = LCMService()
@@ -211,8 +209,8 @@ def test_getstate_excludes_unpicklable_attrs(self) -> None:
             assert "_call_thread_pool_lock" not in state
 
     def test_setstate_reinitializes_runtime_attrs(self) -> None:
-        with patch("dimos.protocol.service.lcmservice.lcm.LCM") as mock_lcm_class:
-            mock_lcm_instance = MagicMock()
+        with patch("dimos.protocol.service.lcmservice.lcm_mod.LCM") as mock_lcm_class:
+            mock_lcm_instance = create_autospec(LCM, spec_set=True, instance=True)
             mock_lcm_class.return_value = mock_lcm_instance
 
             service = LCMService()
@@ -231,8 +229,8 @@ def test_setstate_reinitializes_runtime_attrs(self) -> None:
             assert hasattr(new_service._l_lock, "release")
 
     def test_start_reinitializes_lcm_after_unpickling(self) -> None:
-        with patch("dimos.protocol.service.lcmservice.lcm.LCM") as mock_lcm_class:
-            mock_lcm_instance = MagicMock()
+        with patch("dimos.protocol.service.lcmservice.lcm_mod.LCM") as mock_lcm_class:
+            mock_lcm_instance = create_autospec(LCM, spec_set=True, instance=True)
             mock_lcm_class.return_value = mock_lcm_instance
 
             with patch("dimos.protocol.service.lcmservice.autoconf"):
@@ -252,8 +250,8 @@ def test_start_reinitializes_lcm_after_unpickling(self) -> None:
                 new_service.stop()
 
     def test_stop_cleans_up_lcm_instance(self) -> None:
-        with patch("dimos.protocol.service.lcmservice.lcm.LCM") as mock_lcm_class:
-            mock_lcm_instance = MagicMock()
+        with patch("dimos.protocol.service.lcmservice.lcm_mod.LCM") as mock_lcm_class:
+            mock_lcm_instance = create_autospec(LCM, spec_set=True, instance=True)
             mock_lcm_class.return_value = mock_lcm_instance
 
             with patch("dimos.protocol.service.lcmservice.autoconf"):
@@ -265,7 +263,7 @@ def test_stop_cleans_up_lcm_instance(self) -> None:
                 assert service.l is None
 
     def test_stop_preserves_external_lcm_instance(self) -> None:
-        mock_lcm_instance = MagicMock()
+        mock_lcm_instance = create_autospec(LCM, spec_set=True, instance=True)
 
         with patch("dimos.protocol.service.lcmservice.autoconf"):
             # Pass lcm as kwarg
@@ -277,8 +275,8 @@ def test_stop_preserves_external_lcm_instance(self) -> None:
             assert service.l == mock_lcm_instance
 
     def test_get_call_thread_pool_creates_pool(self) -> None:
-        with patch("dimos.protocol.service.lcmservice.lcm.LCM") as mock_lcm_class:
-            mock_lcm_instance = MagicMock()
+        with patch("dimos.protocol.service.lcmservice.lcm_mod.LCM") as mock_lcm_class:
+            mock_lcm_instance = create_autospec(LCM, spec_set=True, instance=True)
             mock_lcm_class.return_value = mock_lcm_instance
 
             service = LCMService()
@@ -296,8 +294,8 @@ def test_get_call_thread_pool_creates_pool(self) -> None:
             pool.shutdown(wait=False)
 
     def test_stop_shuts_down_thread_pool(self) -> None:
-        with patch("dimos.protocol.service.lcmservice.lcm.LCM") as mock_lcm_class:
-            mock_lcm_instance = MagicMock()
+        with patch("dimos.protocol.service.lcmservice.lcm_mod.LCM") as mock_lcm_class:
+            mock_lcm_instance = create_autospec(LCM, spec_set=True, instance=True)
             mock_lcm_class.return_value = mock_lcm_instance
 
             with patch("dimos.protocol.service.lcmservice.autoconf"):
diff --git a/dimos/protocol/tf/tf.py b/dimos/protocol/tf/tf.py
index 825e89fc8c..1b5ccadf3c 100644
--- a/dimos/protocol/tf/tf.py
+++ b/dimos/protocol/tf/tf.py
@@ -16,7 +16,7 @@
 
 from abc import abstractmethod
 from collections import deque
-from dataclasses import dataclass, field
+from dataclasses import field
 from functools import reduce
 from typing import TypeVar
 
@@ -25,23 +25,22 @@
 from dimos.msgs.tf2_msgs import TFMessage
 from dimos.protocol.pubsub.impl.lcmpubsub import LCM, Topic
 from dimos.protocol.pubsub.spec import PubSub
-from dimos.protocol.service.lcmservice import Service  # type: ignore[attr-defined]
+from dimos.protocol.service.spec import BaseConfig, Service
 
 CONFIG = TypeVar("CONFIG")
 
 
 # generic configuration for transform service
-@dataclass
-class TFConfig:
+class TFConfig(BaseConfig):
     buffer_size: float = 10.0  # seconds
     rate_limit: float = 10.0  # Hz
 
 
-# generic specification for transform service
-class TFSpec(Service[TFConfig]):
-    def __init__(self, **kwargs) -> None:  # type: ignore[no-untyped-def]
-        super().__init__(**kwargs)
+_TFConfig = TypeVar("_TFConfig", bound=TFConfig)
+
 
+# generic specification for transform service
+class TFSpec(Service[_TFConfig]):
     @abstractmethod
     def publish(self, *args: Transform) -> None: ...
 
@@ -244,15 +243,17 @@ def __str__(self) -> str:
         return "\n".join(lines)
 
 
-@dataclass
 class PubSubTFConfig(TFConfig):
     topic: Topic | None = None  # Required field but needs default for dataclass inheritance
     pubsub: type[PubSub] | PubSub | None = None  # type: ignore[type-arg]
     autostart: bool = True
 
 
-class PubSubTF(MultiTBuffer, TFSpec):
-    default_config: type[PubSubTFConfig] = PubSubTFConfig
+_PubSubConfig = TypeVar("_PubSubConfig", bound=PubSubTFConfig)
+
+
+class PubSubTF(MultiTBuffer, TFSpec[_PubSubConfig]):
+    default_config: type[_PubSubConfig] = PubSubTFConfig  # type: ignore[assignment]
 
     def __init__(self, **kwargs) -> None:  # type: ignore[no-untyped-def]
         TFSpec.__init__(self, **kwargs)
@@ -330,15 +331,14 @@ def receive_msg(self, msg: TFMessage, topic: Topic) -> None:
         self.receive_tfmessage(msg)
 
 
-@dataclass
 class LCMPubsubConfig(PubSubTFConfig):
     topic: Topic = field(default_factory=lambda: Topic("/tf", TFMessage))
     pubsub: type[PubSub] | PubSub | None = LCM  # type: ignore[type-arg]
     autostart: bool = True
 
 
-class LCMTF(PubSubTF):
-    default_config: type[LCMPubsubConfig] = LCMPubsubConfig
+class LCMTF(PubSubTF[LCMPubsubConfig]):
+    default_config = LCMPubsubConfig
 
 
 TF = LCMTF
diff --git a/dimos/protocol/tf/tflcmcpp.py b/dimos/protocol/tf/tflcmcpp.py
index 158a68d3d8..bf2885958d 100644
--- a/dimos/protocol/tf/tflcmcpp.py
+++ b/dimos/protocol/tf/tflcmcpp.py
@@ -13,15 +13,18 @@
 # limitations under the License.
 
 from datetime import datetime
-from typing import Union
 
 from dimos.msgs.geometry_msgs import Transform
 from dimos.protocol.service.lcmservice import LCMConfig, LCMService
 from dimos.protocol.tf.tf import TFConfig, TFSpec
 
 
+class Config(TFConfig, LCMConfig):
+    """Combined config"""
+
+
 # this doesn't work due to tf_lcm_py package
-class TFLCM(TFSpec, LCMService):
+class TFLCM(TFSpec[Config], LCMService[Config]):
     """A service for managing and broadcasting transforms using LCM.
     This is not a separete module, You can include this in your module
     if you need to access transforms.
@@ -34,7 +37,7 @@ class TFLCM(TFSpec, LCMService):
     for each module.
     """
 
-    default_config = Union[TFConfig, LCMConfig]
+    default_config = Config
 
     def __init__(self, **kwargs) -> None:  # type: ignore[no-untyped-def]
         super().__init__(**kwargs)
diff --git a/dimos/robot/drone/connection_module.py b/dimos/robot/drone/connection_module.py
index db5c4ca4cc..a0522668b8 100644
--- a/dimos/robot/drone/connection_module.py
+++ b/dimos/robot/drone/connection_module.py
@@ -26,6 +26,8 @@
 
 from dimos.agents.annotation import skill
 from dimos.core import In, Module, Out, rpc
+from dimos.core.global_config import GlobalConfig, global_config
+from dimos.core.module import ModuleConfig
 from dimos.mapping.types import LatLon
 from dimos.msgs.geometry_msgs import PoseStamped, Quaternion, Transform, Twist, Vector3
 from dimos.msgs.sensor_msgs import Image
@@ -43,9 +45,17 @@ def _add_disposable(composite: CompositeDisposable, item: Disposable | Any) -> N
         composite.add(Disposable(item))
 
 
-class DroneConnectionModule(Module):
+class Config(ModuleConfig):
+    connection_string: str = "udp:0.0.0.0:14550"
+    video_port: int = 5600
+    outdoor: bool = False
+
+
+class DroneConnectionModule(Module[Config]):
     """Module that handles drone sensor data and movement commands."""
 
+    default_config = Config
+
     # Inputs
     movecmd: In[Vector3]
     movecmd_twist: In[Twist]  # Twist commands from tracking/navigation
@@ -60,9 +70,6 @@ class DroneConnectionModule(Module):
     video: Out[Image]
     follow_object_cmd: Out[Any]
 
-    # Parameters
-    connection_string: str
-
     # Internal state
     _odom: PoseStamped | None = None
     _status: dict[str, Any] = {}
@@ -71,14 +78,7 @@ class DroneConnectionModule(Module):
     _latest_status: dict[str, Any] | None = None
     _latest_status_lock: threading.RLock
 
-    def __init__(
-        self,
-        connection_string: str = "udp:0.0.0.0:14550",
-        video_port: int = 5600,
-        outdoor: bool = False,
-        *args: Any,
-        **kwargs: Any,
-    ) -> None:
+    def __init__(self, global_config: GlobalConfig = global_config, **kwargs: Any) -> None:
         """Initialize drone connection module.
 
         Args:
@@ -86,9 +86,6 @@ def __init__(
             video_port: UDP port for video stream
             outdoor: Use GPS only mode (no velocity integration)
         """
-        self.connection_string = connection_string
-        self.video_port = video_port
-        self.outdoor = outdoor
         self.connection: MavlinkConnection | None = None
         self.video_stream: DJIDroneVideoStream | None = None
         self._latest_video_frame = None
@@ -97,23 +94,25 @@ def __init__(
         self._latest_status_lock = threading.RLock()
         self._running = False
         self._telemetry_thread: threading.Thread | None = None
-        Module.__init__(self, *args, **kwargs)
+        super().__init__(global_config, **kwargs)
 
     @rpc
     def start(self) -> None:
         """Start the connection and subscribe to sensor streams."""
         # Check for replay mode
-        if self.connection_string == "replay":
+        if self.config.connection_string == "replay":
             from dimos.robot.drone.dji_video_stream import FakeDJIVideoStream
             from dimos.robot.drone.mavlink_connection import FakeMavlinkConnection
 
             self.connection = FakeMavlinkConnection("replay")
-            self.video_stream = FakeDJIVideoStream(port=self.video_port)
+            self.video_stream = FakeDJIVideoStream(port=self.config.video_port)
         else:
-            self.connection = MavlinkConnection(self.connection_string, outdoor=self.outdoor)
+            self.connection = MavlinkConnection(
+                self.config.connection_string, outdoor=self.config.outdoor
+            )
             self.connection.connect()
 
-            self.video_stream = DJIDroneVideoStream(port=self.video_port)
+            self.video_stream = DJIDroneVideoStream(port=self.config.video_port)
 
         if not self.connection.connected:
             logger.error("Failed to connect to drone")
diff --git a/dimos/simulation/manipulators/sim_module.py b/dimos/simulation/manipulators/sim_module.py
index df7e26dd01..964ddcbee0 100644
--- a/dimos/simulation/manipulators/sim_module.py
+++ b/dimos/simulation/manipulators/sim_module.py
@@ -23,6 +23,7 @@
 from reactivex.disposable import Disposable
 
 from dimos.core import In, Module, Out, rpc
+from dimos.core.global_config import GlobalConfig, global_config
 from dimos.core.module import ModuleConfig
 from dimos.msgs.sensor_msgs import JointCommand, JointState, RobotState
 from dimos.simulation.engines import EngineType, get_engine
@@ -43,7 +44,6 @@ class SimulationModule(Module[SimulationModuleConfig]):
     """Module wrapper for manipulator simulation across engines."""
 
     default_config = SimulationModuleConfig
-    config: SimulationModuleConfig
 
     joint_state: Out[JointState]
     robot_state: Out[RobotState]
@@ -52,8 +52,8 @@ class SimulationModule(Module[SimulationModuleConfig]):
 
     MIN_CONTROL_RATE = 1.0
 
-    def __init__(self, *args: Any, **kwargs: Any) -> None:
-        super().__init__(*args, **kwargs)
+    def __init__(self, global_config: GlobalConfig = global_config, **kwargs: Any) -> None:
+        super().__init__(global_config, **kwargs)
         self._backend: SimManipInterface | None = None
         self._control_rate = 100.0
         self._monitor_rate = 100.0
diff --git a/dimos/simulation/manipulators/test_sim_module.py b/dimos/simulation/manipulators/test_sim_module.py
index 334e2ce85f..72408fefed 100644
--- a/dimos/simulation/manipulators/test_sim_module.py
+++ b/dimos/simulation/manipulators/test_sim_module.py
@@ -17,10 +17,11 @@
 
 import pytest
 
+from dimos.protocol.rpc import RPCSpec
 from dimos.simulation.manipulators.sim_module import SimulationModule
 
 
-class _DummyRPC:
+class _DummyRPC(RPCSpec):
     def serve_module_rpc(self, _module) -> None:  # type: ignore[no-untyped-def]
         return None
 
diff --git a/dimos/utils/cli/lcmspy/lcmspy.py b/dimos/utils/cli/lcmspy/lcmspy.py
index 5493e53024..b66b40f4dd 100755
--- a/dimos/utils/cli/lcmspy/lcmspy.py
+++ b/dimos/utils/cli/lcmspy/lcmspy.py
@@ -13,10 +13,10 @@
 # limitations under the License.
 
 from collections import deque
-from dataclasses import dataclass
 from enum import Enum
 import threading
 import time
+from typing import Any
 
 from dimos.protocol.service.lcmservice import LCMConfig, LCMService
 
@@ -116,20 +116,19 @@ def __str__(self) -> str:
         return f"topic({self.name})"
 
 
-@dataclass
 class LCMSpyConfig(LCMConfig):
     topic_history_window: float = 60.0
 
 
-class LCMSpy(LCMService, Topic):
+class LCMSpy(LCMService[LCMSpyConfig], Topic):
     default_config = LCMSpyConfig
     topic = dict[str, Topic]
     graph_log_window: float = 1.0
     topic_class: type[Topic] = Topic
 
-    def __init__(self, **kwargs) -> None:  # type: ignore[no-untyped-def]
+    def __init__(self, **kwargs: Any) -> None:
         super().__init__(**kwargs)
-        Topic.__init__(self, name="total", history_window=self.config.topic_history_window)  # type: ignore[attr-defined]
+        Topic.__init__(self, name="total", history_window=self.config.topic_history_window)
         self.topic = {}  # type: ignore[assignment]
 
     def start(self) -> None:
@@ -166,7 +165,6 @@ def update_graphs(self, step_window: float = 1.0) -> None:
         self.bandwidth_history.append(kbps)
 
 
-@dataclass
 class GraphLCMSpyConfig(LCMSpyConfig):
     graph_log_window: float = 1.0
 
@@ -178,9 +176,9 @@ class GraphLCMSpy(LCMSpy, GraphTopic):
     graph_log_stop_event: threading.Event = threading.Event()
     topic_class: type[Topic] = GraphTopic
 
-    def __init__(self, **kwargs) -> None:  # type: ignore[no-untyped-def]
+    def __init__(self, **kwargs: Any) -> None:
         super().__init__(**kwargs)
-        GraphTopic.__init__(self, name="total", history_window=self.config.topic_history_window)  # type: ignore[attr-defined]
+        GraphTopic.__init__(self, name="total", history_window=self.config.topic_history_window)
 
     def start(self) -> None:
         super().start()

From 2f17d436f3925b5f7054cfbd23315b04458727c1 Mon Sep 17 00:00:00 2001
From: Sam Bull <Sam.B@snowfalltravel.com>
Date: Thu, 26 Feb 2026 19:37:37 +0000
Subject: [PATCH 7/9] Fixes

---
 .../temporal_memory/temporal_memory.py            | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/dimos/perception/experimental/temporal_memory/temporal_memory.py b/dimos/perception/experimental/temporal_memory/temporal_memory.py
index 4d54bdc514..6d66955a61 100644
--- a/dimos/perception/experimental/temporal_memory/temporal_memory.py
+++ b/dimos/perception/experimental/temporal_memory/temporal_memory.py
@@ -34,6 +34,7 @@
 
 from dimos.agents.annotation import skill
 from dimos.core.core import rpc
+from dimos.core.global_config import GlobalConfig, global_config
 from dimos.core.module import Module, ModuleConfig
 from dimos.core.stream import In
 from dimos.models.vl.base import VlModel
@@ -69,6 +70,8 @@ class Frame:
 
 @dataclass
 class TemporalMemoryConfig(ModuleConfig):
+    vlm: VlModel[Any] | None = None
+
     # Frame processing
     fps: float = 1.0
     window_s: float = 2.0
@@ -100,7 +103,7 @@ class TemporalMemoryConfig(ModuleConfig):
     nearby_distance_meters: float = 5.0  # "Nearby" threshold
 
 
-class TemporalMemory(Module):
+class TemporalMemory(Module[TemporalMemoryConfig]):
     """
     builds temporal understanding of video streams using vlms.
 
@@ -110,14 +113,12 @@ class TemporalMemory(Module):
     """
 
     color_image: In[Image]
+    default_config = TemporalMemoryConfig
 
-    def __init__(
-        self, vlm: VlModel[Any] | None = None, config: TemporalMemoryConfig | None = None
-    ) -> None:
-        super().__init__()
+    def __init__(self, global_config: GlobalConfig = global_config, **kwargs: Any) -> None:
+        super().__init__(global_config, **kwargs)
 
-        self._vlm = vlm  # Can be None for blueprint usage
-        self.config: TemporalMemoryConfig = config or TemporalMemoryConfig()
+        self._vlm = self.config.vlm  # Can be None for blueprint usage
 
         # single lock protects all state
         self._state_lock = threading.Lock()

From 2cbe929f1a3581e44eed3d8ba56cb7f190c83bd4 Mon Sep 17 00:00:00 2001
From: Sam Bull <Sam.B@snowfalltravel.com>
Date: Thu, 26 Feb 2026 19:46:18 +0000
Subject: [PATCH 8/9] Fixes

---
 dimos/agents/mcp/mcp_server.py                  |  2 +-
 dimos/control/coordinator.py                    |  6 +++---
 dimos/core/_test_future_annotations_helper.py   |  2 +-
 dimos/core/module.py                            |  2 +-
 dimos/hardware/sensors/lidar/fastlio2/module.py |  6 +++---
 dimos/hardware/sensors/lidar/livox/module.py    |  6 +++---
 dimos/models/base.py                            |  1 -
 dimos/models/vl/base.py                         |  1 -
 dimos/models/vl/moondream.py                    |  1 -
 dimos/models/vl/openai.py                       |  1 -
 dimos/models/vl/qwen.py                         |  1 -
 dimos/protocol/pubsub/impl/lcmpubsub.py         | 11 ++++-------
 dimos/simulation/manipulators/sim_module.py     |  8 +++-----
 pyproject.toml                                  |  8 ++++++--
 14 files changed, 25 insertions(+), 31 deletions(-)

diff --git a/dimos/agents/mcp/mcp_server.py b/dimos/agents/mcp/mcp_server.py
index 1f8ce92888..6dfb15ca58 100644
--- a/dimos/agents/mcp/mcp_server.py
+++ b/dimos/agents/mcp/mcp_server.py
@@ -31,7 +31,7 @@
 from dimos.core import Module, rpc  # noqa: I001
 from dimos.core.rpc_client import RpcCall, RPCClient
 
-from starlette.requests import Request  # noqa: TC002
+from starlette.requests import Request
 
 if TYPE_CHECKING:
     import concurrent.futures
diff --git a/dimos/control/coordinator.py b/dimos/control/coordinator.py
index f2fca8b301..34e7ab7cac 100644
--- a/dimos/control/coordinator.py
+++ b/dimos/control/coordinator.py
@@ -49,14 +49,14 @@
     TwistBaseAdapter,
 )
 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
 
diff --git a/dimos/core/_test_future_annotations_helper.py b/dimos/core/_test_future_annotations_helper.py
index 08c5ec0063..a96ce0f587 100644
--- a/dimos/core/_test_future_annotations_helper.py
+++ b/dimos/core/_test_future_annotations_helper.py
@@ -21,7 +21,7 @@
 from __future__ import annotations
 
 from dimos.core.module import Module
-from dimos.core.stream import In, Out  # noqa
+from dimos.core.stream import In, Out
 
 
 class FutureData:
diff --git a/dimos/core/module.py b/dimos/core/module.py
index 76b298d21b..65e150d57e 100644
--- a/dimos/core/module.py
+++ b/dimos/core/module.py
@@ -46,7 +46,7 @@
 from dimos.core.global_config import GlobalConfig, global_config
 from dimos.core.introspection.module import extract_module_info, render_module_io
 from dimos.core.resource import Resource
-from dimos.core.rpc_client import RpcCall  # noqa: TC001
+from dimos.core.rpc_client import RpcCall
 from dimos.core.stream import In, Out, RemoteIn, RemoteOut, Transport
 from dimos.protocol.rpc import LCMRPC, RPCSpec
 from dimos.protocol.service import BaseConfig, Configurable
diff --git a/dimos/hardware/sensors/lidar/fastlio2/module.py b/dimos/hardware/sensors/lidar/fastlio2/module.py
index ee9a0783a0..fcd20ee9dd 100644
--- a/dimos/hardware/sensors/lidar/fastlio2/module.py
+++ b/dimos/hardware/sensors/lidar/fastlio2/module.py
@@ -34,7 +34,7 @@
 from pathlib import Path
 from typing import TYPE_CHECKING
 
-from dimos.core import Out  # noqa: TC001
+from dimos.core import Out
 from dimos.core.native_module import NativeModule, NativeModuleConfig
 from dimos.hardware.sensors.lidar.livox.ports import (
     SDK_CMD_DATA_PORT,
@@ -48,8 +48,8 @@
     SDK_POINT_DATA_PORT,
     SDK_PUSH_MSG_PORT,
 )
-from dimos.msgs.nav_msgs.Odometry import Odometry  # noqa: TC001
-from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2  # noqa: TC001
+from dimos.msgs.nav_msgs.Odometry import Odometry
+from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
 from dimos.spec import mapping, perception
 
 _CONFIG_DIR = Path(__file__).parent / "config"
diff --git a/dimos/hardware/sensors/lidar/livox/module.py b/dimos/hardware/sensors/lidar/livox/module.py
index 8d6982dcf8..f87384657f 100644
--- a/dimos/hardware/sensors/lidar/livox/module.py
+++ b/dimos/hardware/sensors/lidar/livox/module.py
@@ -28,7 +28,7 @@
 
 from typing import TYPE_CHECKING
 
-from dimos.core import Out  # noqa: TC001
+from dimos.core import Out
 from dimos.core.native_module import NativeModule, NativeModuleConfig
 from dimos.hardware.sensors.lidar.livox.ports import (
     SDK_CMD_DATA_PORT,
@@ -42,8 +42,8 @@
     SDK_POINT_DATA_PORT,
     SDK_PUSH_MSG_PORT,
 )
-from dimos.msgs.sensor_msgs.Imu import Imu  # noqa: TC001
-from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2  # noqa: TC001
+from dimos.msgs.sensor_msgs.Imu import Imu
+from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
 from dimos.spec import perception
 
 
diff --git a/dimos/models/base.py b/dimos/models/base.py
index 0d1ea97f12..d03ce5c539 100644
--- a/dimos/models/base.py
+++ b/dimos/models/base.py
@@ -16,7 +16,6 @@
 
 from __future__ import annotations
 
-from dataclasses import dataclass
 from functools import cached_property
 from typing import Annotated, Any
 
diff --git a/dimos/models/vl/base.py b/dimos/models/vl/base.py
index 4cc6e75750..cc8c2081bb 100644
--- a/dimos/models/vl/base.py
+++ b/dimos/models/vl/base.py
@@ -1,5 +1,4 @@
 from abc import ABC, abstractmethod
-from dataclasses import dataclass
 import json
 import logging
 import sys
diff --git a/dimos/models/vl/moondream.py b/dimos/models/vl/moondream.py
index 7b79a6d6f2..c444d8b9ed 100644
--- a/dimos/models/vl/moondream.py
+++ b/dimos/models/vl/moondream.py
@@ -1,4 +1,3 @@
-from dataclasses import dataclass
 from functools import cached_property
 from typing import Any
 import warnings
diff --git a/dimos/models/vl/openai.py b/dimos/models/vl/openai.py
index 94f6e20b62..ec774189e4 100644
--- a/dimos/models/vl/openai.py
+++ b/dimos/models/vl/openai.py
@@ -1,4 +1,3 @@
-from dataclasses import dataclass
 from functools import cached_property
 import os
 from typing import Any
diff --git a/dimos/models/vl/qwen.py b/dimos/models/vl/qwen.py
index dfcf3e7809..014c6f73a5 100644
--- a/dimos/models/vl/qwen.py
+++ b/dimos/models/vl/qwen.py
@@ -1,4 +1,3 @@
-from dataclasses import dataclass
 from functools import cached_property
 import os
 from typing import Any
diff --git a/dimos/protocol/pubsub/impl/lcmpubsub.py b/dimos/protocol/pubsub/impl/lcmpubsub.py
index 09b84ff644..4e792f5965 100644
--- a/dimos/protocol/pubsub/impl/lcmpubsub.py
+++ b/dimos/protocol/pubsub/impl/lcmpubsub.py
@@ -14,10 +14,13 @@
 
 from __future__ import annotations
 
+from collections.abc import Callable
 from dataclasses import dataclass
 import re
-from typing import TYPE_CHECKING, Any
+import threading
+from typing import Any
 
+from dimos.msgs import DimosMsg
 from dimos.protocol.pubsub.encoders import (
     JpegEncoderMixin,
     LCMEncoderMixin,
@@ -28,12 +31,6 @@
 from dimos.protocol.service.lcmservice import LCMService, autoconf
 from dimos.utils.logging_config import setup_logger
 
-if TYPE_CHECKING:
-    from collections.abc import Callable
-    import threading
-
-    from dimos.msgs import DimosMsg
-
 logger = setup_logger()
 
 
diff --git a/dimos/simulation/manipulators/sim_module.py b/dimos/simulation/manipulators/sim_module.py
index 964ddcbee0..dbc9ce3c28 100644
--- a/dimos/simulation/manipulators/sim_module.py
+++ b/dimos/simulation/manipulators/sim_module.py
@@ -16,9 +16,11 @@
 
 from __future__ import annotations
 
+from collections.abc import Callable
+from pathlib import Path
 import threading
 import time
-from typing import TYPE_CHECKING, Any
+from typing import Any
 
 from reactivex.disposable import Disposable
 
@@ -29,10 +31,6 @@
 from dimos.simulation.engines import EngineType, get_engine
 from dimos.simulation.manipulators.sim_manip_interface import SimManipInterface
 
-if TYPE_CHECKING:
-    from collections.abc import Callable
-    from pathlib import Path
-
 
 class SimulationModuleConfig(ModuleConfig):
     engine: EngineType
diff --git a/pyproject.toml b/pyproject.toml
index b34bee992c..5401d4c277 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -324,8 +324,12 @@ exclude = [
 
 [tool.ruff.lint]
 extend-select = ["E", "W", "F", "B", "UP", "N", "I", "C90", "A", "RUF", "TCH"]
-# TODO: All of these should be fixed, but it's easier commit autofixes first
-ignore = ["A001", "A002", "B008", "B017", "B019", "B024", "B026", "B904", "C901", "E402", "E501", "E721", "E722", "E741", "F811", "F821", "F821", "F821", "N801", "N802", "N803", "N806", "N817", "N999", "RUF003", "RUF009", "RUF012", "RUF034", "RUF043", "RUF059", "UP007"]
+ignore = [
+    # TODO: All of these should be fixed, but it's easier commit autofixes first
+    "A001", "A002", "B008", "B017", "B019", "B024", "B026", "B904", "C901", "E402", "E501", "E721", "E722", "E741", "F811", "F821", "F821", "F821", "N801", "N802", "N803", "N806", "N817", "N999", "RUF003", "RUF009", "RUF012", "RUF034", "RUF043", "RUF059", "UP007",
+    # This breaks runtime type checking (both for us, and users introspecting our APIs)
+    "TC001", "TC002", "TC003"
+]
 
 [tool.ruff.lint.per-file-ignores]
 "dimos/models/Detic/*" = ["ALL"]

From 9ebc89c89f87224fc5ae32b3a84cc420cdbd974b Mon Sep 17 00:00:00 2001
From: Sam Bull <git@sambull.org>
Date: Fri, 27 Feb 2026 13:46:19 +0000
Subject: [PATCH 9/9] Apply suggestion from @Dreamsorcerer

---
 dimos/agents/skills/person_follow.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/dimos/agents/skills/person_follow.py b/dimos/agents/skills/person_follow.py
index 86feb99363..0a90974cce 100644
--- a/dimos/agents/skills/person_follow.py
+++ b/dimos/agents/skills/person_follow.py
@@ -68,7 +68,8 @@ def __init__(self, global_config: GlobalConfig = global_config, **kwargs: Any) -
         super().__init__(global_config, **kwargs)
         self._latest_image: Image | None = None
         self._latest_pointcloud: PointCloud2 | None = None
-        self._vl_model = QwenVlModel()
+        # Use VlModel to keep usage in this class generic
+        self._vl_model: VlModel = QwenVlModel()
         self._tracker: EdgeTAMProcessor | None = None
         self._thread: Thread | None = None
         self._should_stop: Event = Event()