refactor(config): resolve config type from annotation instead of generics

Replace Generic-based config resolution with simple type annotation lookup.
Classes now declare `config: MyConfig` instead of `Parent[MyConfig]`.
Configurable.__init__ uses get_type_hints to find the config type.

- Remove default_config from all classes
- Remove Generic[ConfigT] from Configurable, Service, Module hierarchy
- Simplify RPCClient and PubSubRPCMixin to use defaults directly

Author: leshy

dimos/agents/agent_test_runner.py

@@ -31,7 +31,8 @@ class Config(ModuleConfig):
     messages: Iterable[BaseMessage]
 
 
-class AgentTestRunner(Module[Config]):
+class AgentTestRunner(Module):
+    config: Config
     agent_spec: AgentSpec
     agent: In[BaseMessage]
     agent_idle: In[bool]

dimos/agents/mcp/mcp_client.py

@@ -46,7 +46,8 @@ class McpClientConfig(ModuleConfig):
     mcp_server_url: str = "http://localhost:9990/mcp"
 
 
-class McpClient(Module[McpClientConfig]):
+class McpClient(Module):
+    config: McpClientConfig
     agent: Out[BaseMessage]
     human_input: In[str]
     agent_idle: Out[bool]

dimos/agents/skills/person_follow.py

@@ -50,7 +50,7 @@ class Config(ModuleConfig):
     use_3d_navigation: bool = False
 
 
-class PersonFollowSkillContainer(Module[Config]):
+class PersonFollowSkillContainer(Module):
     """Skill container for following a person.
 
     This skill uses:
@@ -60,6 +60,8 @@ class PersonFollowSkillContainer(Module[Config]):
     - Does not do obstacle avoidance; assumes a clear path.
     """
 
+    config: Config
+
     color_image: In[Image]
     global_map: In[PointCloud2]
     cmd_vel: Out[Twist]

dimos/agents/vlm_agent.py

@@ -35,9 +35,11 @@ class VLMAgentConfig(ModuleConfig):
     system_prompt: str | None = SYSTEM_PROMPT
 
 
-class VLMAgent(Module[VLMAgentConfig]):
+class VLMAgent(Module):
     """Stream-first agent for vision queries with optional RPC access."""
 
+    config: VLMAgentConfig
+
     color_image: In[Image]
     query_stream: In[HumanMessage]
     answer_stream: Out[AIMessage]

dimos/agents_deprecated/modules/base_agent.py

@@ -46,12 +46,13 @@ class BaseAgentConfig(ModuleConfig):
     rag_threshold: float = 0.45
     process_all_inputs: bool = False
 
-class BaseAgentModule(BaseAgent, Module[BaseAgentConfig]):  # type: ignore[misc]
+class BaseAgentModule(BaseAgent, Module):  # type: ignore[misc]
     """Agent module that inherits from BaseAgent and adds DimOS module interface.
 
     This provides a thin wrapper around BaseAgent functionality, exposing it
     through the DimOS module system with RPC methods and stream I/O.
     """
+    config: BaseAgentConfig
 
     # Module I/O - AgentMessage based communication
     message_in: In[AgentMessage]  # Primary input for AgentMessage

dimos/control/coordinator.py

@@ -114,7 +114,7 @@ class ControlCoordinatorConfig(ModuleConfig):
     tasks: list[TaskConfig] = field(default_factory=lambda: [])
 
 
-class ControlCoordinator(Module[ControlCoordinatorConfig]):
+class ControlCoordinator(Module):
     """Centralized control coordinator with per-joint arbitration.
 
     Single tick loop that:
@@ -142,6 +142,8 @@ class ControlCoordinator(Module[ControlCoordinatorConfig]):
         >>> orch.start()
     """
 
+    config: ControlCoordinatorConfig
+
     # Output: Aggregated joint state for external consumers
     joint_state: Out[JointState]
 

dimos/core/coordination/blueprints.py

@@ -79,12 +79,12 @@ class ModuleRef:
 @dataclass(frozen=True)
 class _BlueprintAtom:
     kwargs: dict[str, Any]
-    module: type[ModuleBase[Any]]
+    module: type[ModuleBase]
     streams: tuple[StreamRef, ...]
     module_refs: tuple[ModuleRef, ...]
 
     @classmethod
-    def create(cls, module: type[ModuleBase[Any]], kwargs: dict[str, Any]) -> Self:
+    def create(cls, module: type[ModuleBase], kwargs: dict[str, Any]) -> Self:
         streams: list[StreamRef] = []
         module_refs: list[ModuleRef] = []
 
@@ -171,9 +171,7 @@ def global_config(self, **kwargs: Any) -> "Blueprint":
 
     def remappings(
         self,
-        remappings: list[
-            tuple[type[ModuleBase[Any]], str, str | type[ModuleBase[Any]] | type[Spec]]
-        ],
+        remappings: list[tuple[type[ModuleBase], str, str | type[ModuleBase] | type[Spec]]],
     ) -> "Blueprint":
         remappings_dict = dict(self.remapping_map)
         for module, old, new in remappings:

dimos/core/coordination/module_coordinator.py

@@ -96,7 +96,7 @@ def suppress_console(self) -> None:
 
     def deploy(
         self,
-        module_class: type[ModuleBase[Any]],
+        module_class: type[ModuleBase],
         global_config: GlobalConfig = global_config,
         **kwargs: Any,
     ) -> ModuleProxy:
@@ -291,7 +291,7 @@ def load_blueprint(
             if hasattr(module, "on_system_modules"):
                 module.on_system_modules(all_modules)
 
-    def load_module(self, module_class: type[ModuleBase[Any]], **kwargs: Any) -> None:
+    def load_module(self, module_class: type[ModuleBase], **kwargs: Any) -> None:
         self.load_blueprint(module_class.blueprint(**kwargs))
 
     def loop(self) -> None:

dimos/core/docker_module.py

@@ -24,7 +24,7 @@
 import subprocess
 import threading
 import time
-from typing import TYPE_CHECKING, Any
+from typing import TYPE_CHECKING, Any, get_type_hints
 
 from dimos.core.module import ModuleBase, ModuleConfig
 from dimos.core.rpc_client import ModuleProxyProtocol, RpcCall
@@ -126,7 +126,7 @@ class DockerModuleProxy(ModuleProxyProtocol):
     config: DockerModuleConfig
 
     def __init__(self, module_class: type[ModuleBase], *args: Any, **kwargs: Any) -> None:
-        config_class = module_class._resolve_config_type()
+        config_class = get_type_hints(module_class).get("config", DockerModuleConfig)
         if not issubclass(config_class, DockerModuleConfig):
             raise TypeError(
                 f"{module_class.__name__} config must be a DockerModuleConfig subclass, "

dimos/core/module.py

@@ -97,13 +97,14 @@ class _BlueprintPartial(Protocol):
     def __call__(self, **kwargs: Any) -> "Blueprint": ...
 
 
-class ModuleBase(Configurable[ModuleConfigT], Resource):
+class ModuleBase(Configurable, Resource):
+    config: ModuleConfig
     # Deployment target. Worker managers declare which deployment type they
     # handle; the coordinator routes modules accordingly.
     deployment: ClassVar[Deployment] = "python"
 
     _rpc: RPCSpec | None = None
-    _tf: TFSpec[Any] | None = None
+    _tf: TFSpec | None = None
     _loop: asyncio.AbstractEventLoop | None = None
     _loop_thread: threading.Thread | None
     _disposables: CompositeDisposable
@@ -393,7 +394,7 @@ def get_skills(self) -> list[SkillInfo]:
         return skills
 
 
-class Module(ModuleBase[ModuleConfigT]):
+class Module(ModuleBase):
     def __init_subclass__(cls, **kwargs: Any) -> None:
         """Set class-level None attributes for In/Out type annotations.