Agents¶

LLM agents run as native dimOS modules. They subscribe to camera, LiDAR, odometry, and spatial memory streams and they control the robot through skills.

Architecture¶

color = white
fill = none
boxrad = 5px

Input: box "humancli / WebInput" "dimos agent-send" fit wid 170% ht 170%
arrow right 0.6in "human_input" above "In[str]" below
Agent: box "McpClient" "LangGraph + LLM" fit wid 170% ht 170%
Skills: box "@skill methods" "on any Module" fit wid 170% ht 170% \
    with .w at (Agent.e.x + 0.9in, Agent.e.y)
arrow right 0.5in from Skills.e
Robot: box "Robot" fit wid 200% ht 190%

# The agent calls a skill and waits for what it returns, so the two directions
# get their own lane rather than one arrow standing in for both.
arrow from (Agent.e.x, Agent.e.y + 0.13in) to (Skills.w.x, Skills.w.y + 0.13in) \
    "skill call (RPC)" above
arrow from (Skills.w.x, Skills.w.y - 0.13in) to (Agent.e.x, Agent.e.y - 0.13in) \
    "result" below

Streams: box "color_image  ·  odom  ·  spatial_memory" fit wid 120% ht 170% \
    with .n at (Agent.s.x, Agent.s.y - 0.6in)
arrow from Streams.n to Agent.s "subscribes" ljust

arrow from Agent.n up 0.5in then left until even with Input.n then to Input.n \
    "agent: Out[BaseMessage]" above

McpClient (dimos/agents/mcp/mcp_client.py) is a Module with: - human_input: In[str]: receives text from humancli, WebInput, or agent-send - agent: Out[BaseMessage]: publishes agent responses (text, tool calls, images) - agent_idle: Out[bool]: signals when the agent is waiting for input

The agent uses LangGraph with a configurable LLM. The default is gpt-5.6-luna and you need to provide an OPENAI_API_KEY environment variable. On startup, it discovers all @skill-annotated methods across deployed modules via RPC and exposes them as LangChain tools.

Skills¶

Skills are methods decorated with @skill on any Module. The agent discovers them automatically at startup.

from dimos.agents.annotation import skill
from dimos.core.module import Module

class MySkillContainer(Module):
    @skill
    def wave_hello(self) -> str:
        """Wave at the nearest person."""
        # ... robot control logic ...
        return "Waving!"

Rules: - Parameters must be JSON-serializable primitives (str, int, float, bool, list, dict). - Docstrings become the tool description the LLM sees. Write them clearly so the agent has sufficient context. - The function should return a str, or any object implementing agent_encode() (such as an Image or a SkillResult, dimos/agents/skill_result.py); other return values are converted with str(). The result is what the agent uses to decide what to do next.

Built-in Skills¶

MCP¶

All agentic blueprints use two modules: McpServer and McpClient.

• McpServer exposes the methods annotated with @skill as MCP tools. Any external client can connect to the server to use the MCP tools.
• McpClient has a LangGraph LLM which calls MCP tools from McpServer.

CLI access:

dimos mcp list-tools                                # List available skills
dimos mcp call move_to --arg x=0.5 --arg relative=true  # Call a skill
dimos mcp status                                    # Server status

Input Methods¶

Models¶